System and method for releasably holding a surgical instrument
First Claim
1. A surgical method comprising:
- releasably coupling a surgical instrument to an instrument holder, the surgical instrument comprising an elongate shaft with proximal and distal ends, a longitudinal axis therebetween, and an end effector on the distal end;
locking the instrument to the instrument holder;
coupling a drive assembly of a manipulator to the surgical instrument with the holder;
manipulating the instrument holder and the surgical instrument with the manipulator; and
transferring at least two motion actuations from the drive assembly to the surgical instrument with the holder, the motion actuations including rotation of the instrument about the longitudinal axis and actuation of the end effector.
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Accused Products
Abstract
The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.
606 Citations
13 Claims
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1. A surgical method comprising:
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releasably coupling a surgical instrument to an instrument holder, the surgical instrument comprising an elongate shaft with proximal and distal ends, a longitudinal axis therebetween, and an end effector on the distal end;
locking the instrument to the instrument holder;
coupling a drive assembly of a manipulator to the surgical instrument with the holder;
manipulating the instrument holder and the surgical instrument with the manipulator; and
transferring at least two motion actuations from the drive assembly to the surgical instrument with the holder, the motion actuations including rotation of the instrument about the longitudinal axis and actuation of the end effector. - View Dependent Claims (2, 3, 4)
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5. A method for performing a surgical procedure, the method comprising:
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releasably coupling an instrument holder to a surgical instrument, the surgical instrument comprising a proximal end, a distal end, a longitudinal axis therebetween, and an end effector disposed at the distal end; and
manipulating the instrument holder and surgical instrument with a manipulator assembly to transfer at least two motions to the surgical instrument including spinning the surgical instrument about the longitudinal axis and actuating the end effector. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13)
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Specification