SYSTEM FOR POSITIONING ENDOSCOPE AND SURGICAL INSTRUMENTS

• US 20100185212A1
• Filed: 07/01/2008
• Published: 07/22/2010
• Est. Priority Date: 07/02/2007
• Status: Active Grant

• Current Assignee: M.S.T. Medical Surgery Technologies Ltd (Asensus Surgical, Inc.)
• Original Assignee: M.S.T. Medical Surgery Technologies Ltd (Asensus Surgical, Inc.)
• Inventors: Sholev, Mordehai
• Granted Patent: US 8,702,590 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

The present invention discloses a system for handling a surgical instrument, useful for observation and/or intervention with respect to a patient'"'"'s body. The system comprising a fixed support; hinge which enable changing of the inclination of the system; actuators system that produce the rotation movement utilized by handling surgical instrument mechanism; a flexible power transmission system; gear housing adapted to change the direction of the motors rotation transmitted by the flexible power transmission system; and, handling surgical instrument mechanism, said mechanism comprising: a first small size moveable element, connected to the gear housing is adapted to simultaneous maneuver of a second moveable element to the four main directions, and/or any other maneuver, e.g., right and left, forward and backward; and, a second moveable element that which is adapted to move the surgical instrument to another directions, zoom in and zoom out, simultaneously rotate the surgical instrument, either clockwise or counter-clockwise, simultaneously rotate the camera housing in respect to the surgical instrument clockwise and counter-clockwise.

Claims

1-20. -20. (canceled)

21. A system for handling a surgical instrument, useful for observation and/or intervention with respect to a patient'"'"'s body;

said system comprising a fixed support;

hinge which enable changing of the inclination of said system;

actuators system that produce the rotation movement utilized by handling surgical instrument mechanism;

a flexible power transmission system;

gear housing adapted to change the direction of the motors rotation transmitted by the flexible power transmission system; and

, handling surgical instrument mechanism, said handling surgical instrument mechanism comprising;

a first small size moveable element, connected to the gear housing is adapted to simultaneous maneuver of a second moveable element to the four main directions selected from right and left, forward and backward; and

, a third moveable element adapted to move said surgical instrument in directions selected from zoom in and zoom out, rotation said surgical instrument, either clockwise or counter-clockwise, wherein said system further enables simultaneously rotation of the camera housing with respect to said surgical instrument clockwise and counter-clockwise.

22. The system according to claim 21, wherein the flexible power transmission system is comprised of a plurality of tubes interconnected via a plurality of joints, adapted to rotate to and to keep any desired angle.

23. The system according to claim 22, wherein said tubes contain shafts that transmits the actuators rotation to said gear housing

24. The system according to claim 21, wherein said gear housing comprises of a plurality of gear transmissions that may move simultaneous the moveable parts of said handling surgical instrument mechanism.

25. The system according to claim 24, wherein the power transmission to said second moveable part of said handling surgical instrument mechanism, is transferred via flexible means.

26. The system according to claim 24, wherein said gears transmission transfers the power to said moveable parts of said first said second moveable element via clutches that stops said power transmission at a desired threshold.

27. The system according to claim 26, wherein said clutches allows the surgeon to move said surgical instrument without the need to disconnect said surgical instrument from said handling surgical instrument.

28. The system according to claim 21, wherein said first small size moveable element having a spatial structure, wherein said element contains a pushing and pulling mechanism to produce said forward backward movement of said surgical instrument.

29. The system according to claim 21, wherein said first small size moveable element is connected to a gear transmission of said gear housing that rotates aid first moveable element in said right-left directions.

30. The system according to claim 21, wherein said first small size moveable element having a gimbal connection to said surgical instrument, insulating the patient body from the handling surgical instrument mechanism.

31. The system according to claim 21, wherein said second small size moveable element comprising a linear connection to said first small size moveable element.

32. The system according to claim 21, wherein said second small size moveable element comprising a gear housing allowing the transfer of the rotation power supplied by said flexible means to produce movements of said surgical instrument in desired directions.

33. The system according to claim 21, wherein said second small size moveable element comprising a gear housing allowing the transfer of the rotation power supplied by the flexible means to produce either a linear movement or a rotation movement of said surgical instrument.

34. The system according to claim 21, wherein said second small size moveable element comprising a gear housing allowing the transfer of the rotation power supplied by the flexible means to produce said rotation movement of said camera with respect to said surgical instrument.

35. The system according to claim 21, wherein said second small size moveable element having a quick release mechanism enabling fast removal and fast installation of said surgical instrument.

36. The system according to claim 21, wherein said second small size moveable element having an adopter allowing using several of surgical instruments.

37. The system according to claim 21, having a structure that has small presence above and near the patient body without distracting the surgeon activities.

38. The system of claim 21, wherein said handling surgical instrument mechanism having a structure and mechanism that may be manufactured from inexpensive materials.

39. A disposable handling surgical instrument mechanism of claim according to claim 21.

40. A method of handling a surgical instrument, useful for observation and/or intervention with respect to a patient'"'"'s body, said method comprising steps of:

a. obtaining a system comprising a fixed support;

hinge which enable changing of the inclination of said system;

actuators system that produce the rotation movement utilized by handling surgical instrument mechanism;

a flexible power transmission system;

gear housing adapted to change the direction of the motors rotation transmitted by the flexible power transmission system; and

, handling surgical instrument mechanism, said handling surgical instrument mechanism comprising;

a first small size moveable element, connected to the gear housing is adapted to simultaneous maneuver of a second moveable element to the four main directions selected from right and left, forward and backward; and

, a third moveable element adapted to move the surgical instrument in directions selected from zoom in and zoom out, rotation of said surgical instrument, either clockwise or counter-clockwise, wherein said system further enables simultaneously rotation of the camera housing with respect to the surgical instrument clockwise and counter-clockwise; and

,

b. maneuvering said surgical instrument in directions selected from right and left, forward and backward, zoom in and zoom out, rotation either clockwise or counter-clockwise of said surgical instrument, and rotation clockwise and counter-clockwise of the camera housing with respect to the surgical instrument.