Articulating surgical access system for laparoscopic surgery

• US 10,390,899 B2
• Filed: 07/03/2017
• Issued: 08/27/2019
• Est. Priority Date: 03/29/2011
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Malkowski, Jaroslaw T., Taylor, Eric, Kleyman, Gennady
• Primary Examiner(s): Harvey, Julianna N
• Application Number:
  US15/640,811
• Publication Number:
  US 20170296279A1
• Time in Patent Office: 785 Days
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 17/3431 being collapsible, e.g. made of thin flexible material A61B17/3423 takes precedence
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/3429 having a unitary compressible body, e.g. made of silicone or foam
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2017/3466 for simultaneous sealing of multiple instruments
• CPC Class Codes: A61B 2017/347 Locking means, e.g. for locking instrument in cannula
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A surgical system includes one or more arms defining a passageway therethrough. The arm includes a proximal portion configured for positioning externally of a patient'"'"'s body and a distal portion configured for positioning within an internal body cavity. The distal portion includes first and second articulatable segments spaced apart from one another and capable of independent articulation between a substantially straight configuration and an articulated configuration. A first articulation assembly is coupled to the proximal portion of the one arm and is transitionable between a first state and a second state for articulating the first articulatable segment between the substantially straight configuration and the articulated configuration. A second articulation assembly is coupled to the proximal portion of the arm and is configured to move between a plurality of positions for articulating the second articulatable segment between the substantially straight configuration and the articulated configuration.

Claims

1. A surgical system, comprising:

a first arm having a first longitudinal passageway defined therethrough and configured to receive a surgical instrument therein, the first arm having a proximal portion and a distal portion, the distal portion including a first articulatable segment and a second articulatable segment that are longitudinally spaced from one another;

a first articulation assembly coupled to the proximal portion of the first arm and having a first state and a second state, the first articulation assembly configured to transition the first articulatable segment of the first arm between a first articulated configuration and a second articulated configuration in response to the first articulation assembly transitioning between the first state and the second state; and

a second articulation assembly coupled to the proximal portion of the first arm, the second articulation assembly having a third state and a fourth state and configured to transition the second articulatable segment of the first arm between a third articulated configuration and a fourth articulated configuration independent of articulation of the first articulatable segment of the first arm in response to the second articulation assembly transitioning between the third state and the fourth state, the first and second articulatable segments transitionable to another articulated configuration from one of the articulated configurations.

2. The surgical system according to claim 1, wherein the proximal portion of the first arm is configured to be positioned external of a body of a patient and the distal portion of the first arm is configured to be positioned within a body cavity of the patient.

3. The surgical system according to claim 1, wherein the first articulatable segment is substantially straight in the first articulated configuration.

4. The surgical system according to claim 1, wherein the second articulatable segment is substantially straight in the third articulated configuration.

5. The surgical system according to claim 1, wherein the first articulation assembly includes a lever and a base and wherein transitioning the first articulation assembly between the first state and the second state includes moving the lever from a first position to a second position relative to the base.

6. The surgical system according to claim 5, further comprising a locking assembly configured to fix the lever in a position between the first position and the second position relative to the base to fix the configuration of the first articulatable segment.

7. The surgical system according to claim 6, wherein the locking assembly is automatically engaged to lock the lever in position when the lever is moved to the second state position such that the first articulatable segment is locked in the second articulated configuration.

8. The surgical system according to claim 1, wherein transitioning the second articulation assembly between the third state and the fourth state is different from transitioning the first articulation assembly between the first state and the second state.

10. The surgical system according to 1, further comprising:

a second arm having a second longitudinal passageway defined therethrough and configured to receive a surgical instrument therein, the second arm having a proximal portion and a distal portion, the distal portion including a third segment and a fourth segment that are longitudinally spaced from one another;

a third articulation assembly coupled to the proximal portion of the second arm and having a fifth state and a sixth state, the third articulation assembly configured to transition the third segment of the second arm between a fifth articulated configuration and a sixth articulated configuration in response to the third articulation assembly transitioning between the fifth state and the sixth state; and

a fourth articulation assembly coupled to the proximal portion of the second arm, the fourth articulation assembly having a seventh state and an eighth state and configured to transition the fourth segment of the second arm between a seventh articulated configuration and an eighth articulated configuration independent of articulation of the third segment of the second arm in response to the third articulation assembly transitioning between the fifth state and the sixth state.

14. A surgical system, comprising:

a pair of arms each having a longitudinal passageway defined therethrough and configured to receive a surgical instrument therein, each arm including;

a proximal portion and a distal portion, the proximal portion including a rigid tubular member defining a longitudinal axis, the distal portion of each arm including a first segment and a second segment that are longitudinally spaced from one another;

a first articulation assembly coupled to the proximal portion of the each arm and having a first state and a second state, the first articulation assembly configured to reposition the first segment of the respective arm between a first configuration colinear with the longitudinal axis and a second configuration defining an angle with respect to the longitudinal axis in response to the first articulation assembly transitioning between the first state and the second state; and

a second articulation assembly coupled to the proximal portion of the each arm, the second articulation assembly having a third state and a fourth state and configured to reposition the second segment of the respective arm between a third articulated configuration and a fourth articulated configuration independent of articulation of the first segment of the respective arm in response to the second articulation assembly transitioning between the third state and the fourth state, the first and second segments repositionable from one of the configurations to an angle selected from a plurality of angles, the angle defined relative to the longitudinal axis.

9. The surgical system according to 15, wherein at least one set of articulation cables extends from each of the first and second articulatable segments to the first and second articulation assemblies, respectively, each set of articulation cables selectively tensionable for articulating one of the first and second articulatable segments.

11. The surgical system according to 15, wherein the first articulation assembly includes a first component and a second component pivotable relative to one another between a substantially aligned state and a substantially transverse state for transitioning the first articulatable segment between the first configuration and the second configuration.

12. The surgical system according to 15, further comprising an access portal configured for positioning within an incision in tissue, the access portal configured to receive the first arm therethrough and configured to position the distal portion of the first arm within a body cavity.

13. The surgical system according to 15, wherein the second articulation assembly includes:

a base defining a cavity; and

a rotatable member rotatably disposed in the cavity of the base and rotatable relative to the base to transition the second articulatable segment between the third configuration and the fourth configuration, the rotatable member transitionable between an unlocked state in which the rotatable member is rotatable within the cavity of the base relative to the base and a locked state in which an orientation of the rotatable member is fixed relative to the base.

15. The surgical system according to claim 14, wherein the proximal portion of each arm is configured to be positioned external of a body of a patient and the distal portion of each arm is configured to be positioned within the body cavity of the patient.

16. The surgical system according to claim 14, wherein each first articulation assembly includes a lever and a base and wherein transitioning the respective first articulation assembly from the first state to the second state includes moving the lever from a first position to a second position relative to the base.

17. The surgical system according to claim 16, wherein each arm includes a locking assembly configured to fix the lever of the respective first articulation assembly in position relative to the base to fix the configuration of the first segment.

18. A surgical system, comprising:

a pair of arms each having a longitudinal passageway defined therethrough and configured to receive a surgical instrument therein, each arm including;

a proximal portion defining a longitudinal axis; and

a distal portion having;

a first segment movable between a straight configuration in which the first segment is linear and aligned with the longitudinal axis and an articulated configuration in which the first segment is articulated relative to the longitudinal axis; and

a second segment longitudinally spaced from the first segment, the second segment having a straight configuration in which the second segment is linear and an articulated configuration in which the second segment is non-linear, the first and second segments repositionable relative to the longitudinal axis from either the linear or articulated configuration,

wherein distal ends of the arms are opposed to one another when the first and second segments of each arm are in the articulated configuration.

19. The surgical system according to claim 18, wherein the second segment of each arm is independently articulatable relative to the first segment of the respective arm.

20. The surgical system according to claim 18, wherein at least one of the arms includes a first articulation assembly having a lever and a base, and wherein transitioning the first articulation assembly from a first state to a second state includes moving the lever from a first position to a second position relative to the base such that the respective first segment transitions from the straight configuration to the articulated configuration.