Remote center positioner
First Claim
Patent Images
1. Apparatus for moving an instrument about a spherical center of rotation at a desired location of said instrument comprising:
- a base support means adapted to be fixedly mounted to a surface;
a first linkage means, including at least a first rod, pivotally mounted on said base support means for rotation about an axis;
an instrument;
holding means holding said instrument in a position so that the desired remote center of spherical rotation of said instrument intersects said axis; and
a second linkage means, including at least a second rod, connected to said holding means for moving said holding means in a plane parallel to said second linkage means, said second linkage means being pivotally connected to said first linkage means so that said second rod remains parallel to said axis and said first rod remains parallel to said instrument, whereby said spherical center of rotation is maintained at the desired location of said instrument.
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Abstract
The invention is directed to a remote center positioner used to support an instrument and provide a center of spherical rotation, remote from any bearings or mechanical supports, at a desired location of the instrument. The remote center positioner is particularly useful in laparoscopic surgery to constrain a surgical instrument to move around a fixed center of rotation remote from any bearings or mechanical supports and coincident with an entry incision in the abdominal wall.
22 Citations
13 Claims
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1. Apparatus for moving an instrument about a spherical center of rotation at a desired location of said instrument comprising:
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a base support means adapted to be fixedly mounted to a surface;
a first linkage means, including at least a first rod, pivotally mounted on said base support means for rotation about an axis;
an instrument;
holding means holding said instrument in a position so that the desired remote center of spherical rotation of said instrument intersects said axis; and
a second linkage means, including at least a second rod, connected to said holding means for moving said holding means in a plane parallel to said second linkage means, said second linkage means being pivotally connected to said first linkage means so that said second rod remains parallel to said axis and said first rod remains parallel to said instrument, whereby said spherical center of rotation is maintained at the desired location of said instrument.
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2. A minimally invasive surgical apparatus comprising:
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a first linkage mounted on a base, said first linkage axially rotatable relative to said base about a first linkage longitudinal axis;
a second linkage coupled to said first linkage, wherein axial rotation of said first linkage about said first linkage longitudinal axis causes corresponding rotation of said second linkage about said first linkage longitudinal axis;
an elongate shaft comprising a proximal portion, a distal portion, and a shaft longitudinal axis;
a holder coupled to said second linkage, wherein the holder is adapted to hold said proximal portion of said elongate shaft, said shaft operably coupled to said holder;
an end effector operatively coupled to a distal portion of said elongate shaft, said end effector movable in a first degree of freedom about a first internal axis, and said end effector also movable in a second degree of freedom about a second internal axis;
wherein said shaft longitudinal axis and said first linkage longitudinal axis intersect at a remote center of rotation lying on said elongate shaft. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A minimally invasive surgical apparatus comprising:
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a first linkage mounted on a base, said first linkage axially rotatable relative to said base about a first linkage longitudinal axis;
a second linkage coupled to said first linkage, wherein axial rotation of said first linkage about said first linkage longitudinal axis causes corresponding rotation of said second linkage about said first linkage longitudinal axis;
an elongate shaft comprising a proximal portion, a distal portion, and a shaft longitudinal axis;
a holder coupled to said second linkage, wherein the holder is adapted to hold said proximal portion of said elongate shaft;
a wrist member having a proximal portion and a distal portion, wherein the proximal portion of said wrist member is coupled to the distal portion of said elongate shaft, said wrist member pivotable relative to said shaft about a pitch axis;
an end effector coupled to a distal portion of said wrist member, said end effector actuatable for closing and opening by rotating jaws on said end effector about a yaw axis, said yaw axis perpendicular to said pitch axis;
wherein said shaft longitudinal axis and said first linkage longitudinal axis intersect at a remote center of rotation lying on said elongate shaft. - View Dependent Claims (13)
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Specification