Surgical instrument
First Claim
1. A medical procedure instrument comprising:
- a medical implement including a mechanically drivable mechanism coupled with a tool used in executing a medical procedure;
a drive unit for mechanically driving said medical implement; and
said medical implement being decouplable from said drive unit and manually insertable into a patient so as to dispose said tool at an operative site within the patient;
and said medical implement being attachable and detachable with said drive unit for coupling and decoupling said drive unit to said mechanically drivable mechanism;
said medical implement further comprising an elongated guide and an elongated instrument shaft that supports said tool at a distal end thereof and said mechanically drivable mechanism at the proximal end thereof;
said elongated guide member for removably receiving said elongated instrument so that a distal end of said elongated guide member is adapted, upon insertion into the patient, to be positioned at the operative site.
5 Assignments
0 Petitions
Accused Products
Abstract
A robotic surgery apparatus comprising: a surgical instrument for use at an internal operative site of a subject; a mechanically drivable mounting unit on which the surgical instrument is mounted, the mounting unit being drivably movable outside the operative site of the subject; an electrically driven drive unit for driving movement of the mounting unit; mechanical cabling drivably intercoupled to the mounting unit at one end of the cabling; the mechanical cabling having another end which is readily drivably couplable to and decouplable from the drive unit. The drive unit being readily manually portable and readily attachable to and detachable from a fixed support on or relative to which the subject is mounted.
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Citations
83 Claims
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1. A medical procedure instrument comprising:
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a medical implement including a mechanically drivable mechanism coupled with a tool used in executing a medical procedure;
a drive unit for mechanically driving said medical implement; and
said medical implement being decouplable from said drive unit and manually insertable into a patient so as to dispose said tool at an operative site within the patient;
and said medical implement being attachable and detachable with said drive unit for coupling and decoupling said drive unit to said mechanically drivable mechanism;
said medical implement further comprising an elongated guide and an elongated instrument shaft that supports said tool at a distal end thereof and said mechanically drivable mechanism at the proximal end thereof;
said elongated guide member for removably receiving said elongated instrument so that a distal end of said elongated guide member is adapted, upon insertion into the patient, to be positioned at the operative site. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A slave station of a robotic surgery system in which manipulations by a surgeon control motion of a surgical instrument at the slave station, said slave station comprising:
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a manually portable support for holding the surgical instrument at a position over an operating table so that the instrument may be disposed at an operative site;
mechanical cabling coupled to said instrument for controlling movement of said surgical instrument;
a plurality of remotely-disposed motors controlled, by way of a computer interface, and by surgeon manipulations for driving said mechanical cabling;
said mechanical cabling being driven by said plurality of motors in a manner to be attachable to and detachable therefrom;
an attachable and detachable two-section housing, one housing section accommodating the ends of said mechanical cabling, and another housing section accommodating said plurality of motors; and
a plurality of coupler spindles by said one housing section, each coupler spindler receiving a cable of the mechanical cabling. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A robotic surgery system comprising:
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a mechanically driven surgical instrument;
a fixed position support for holding said instrument from a fixed position directly over an operating table so that said instrument may be disposed at an operative site in a patient for remote control thereof via a computer interface from a manually operated input device;
mechanical cabling drivably coupled to said instrument for controlling movement or operation of said instrument;
an array of stationary electrically driven actuators controlled by way of said computer interface from the input device for driving said mechanical cabling; and
an engagement member coupling said mechanical cabling to said array of actuators so that said mechanical cabling is attachable and detachable from said array of actuators;
said engagement member comprising separate sections that are engageable for attaching the mechanical cabling with the actuators and disengageable for detaching the mechanical cabling from the actuators. - View Dependent Claims (29, 30, 31, 32)
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33. A robotic surgery apparatus comprising:
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a mechanically drivable surgical instrument for use at an internal operative site of a subject;
an electrically driven drive unit for driving said surgical instrument and disposed at a location remote from said surgical instrument; and
mechanical cabling having one end readily drivably couplable to and decouplable from said surgical instrument;
said mechanical cabling having another end readily drivably couplable to and decouplable from said drive unit;
wherein said drive unit is manually portable and readily attachable to and detachable from a fixed support on which the subject is positioned. - View Dependent Claims (34, 35, 36, 37)
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38. A robotic surgery apparatus comprising:
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a surgical instrument for use at an internal operative site of a subject;
a mechanically drivable mounting unit on which said surgical instrument is mounted, said mounting unit being drivably movable outside the operative site of the subject; and
an electrically driven drive unit for driving movement of said mounting unit;
mechanical cabling having one end drivably coupled to said mounting unit. said mechanical cabling having another end readily drivably couplable to and decouplable from said drive unit via an engageable interface;
wherein said drive unit is manually portable and readily attachable to and detachable from a fixed support upon which the subject rests;
wherein said drive unit is remotely controlled by a computer from a manually operated input device. - View Dependent Claims (39, 40, 41)
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42. A robotic surgery apparatus comprising:
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a mechanically drivable surgical instrument for use at an internal operative site of a subject;
an electrically driven drive unit for driving said surgical instrument;
mechanical cabling drivably coupled to said surgical instrument at one end of said cabling;
said drive unit being readily manually portable and readily attachable to and detachable from a fixed support on or relative to which the subject is positioned. - View Dependent Claims (43, 44, 45, 46, 47)
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48. A medical procedure instrument comprising:
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a medical implement including an instrument shaft having a mechanically drivable mechanism coupled with a tool used in executing a medical procedure;
a guide member for removeably receiving therethrough said instrument shaft;
said instrument shaft being manually insertable into a patient through said guide member so as to dispose said tool at an operative site within the patient, said guide member being drivably movable outside the operative site of the patient; and
a drive unit, for mechanically driving said guide member, the distal end of said guide member, upon insertion into the patient, being disposed at the operative site and maintained at the operative site even upon withdrawal of said instrument shaft away from the operative site. - View Dependent Claims (49, 50, 51, 52, 53, 54, 55, 56, 57, 58)
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59. A medical procedure instrument comprising:
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a medical implement including an instrument shaft and a mechanically drivable mechanism coupled with a tool used in executing a medical procedure;
said medical implement being removably introduced through an elongated guide shaft into a patient so as to dispose said tool at an operative site within the patient;
a mechanically drivable mounting unit on which the medical implement is mounted, said mounting unit being drivable outside the operative site of the patient; and
a drive unit for mechanically driving said medical implement through said mechanically drivable mounting unit;
said drive unit being maintained in a stationary position relative to the medical implement even as said medical implement is actuated. - View Dependent Claims (60, 61, 62, 63, 64, 65, 66)
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67. A robotically controlled medical device comprising:
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a medical instrument including an instrument shaft having a proximal end supporting a mechanically drivable mechanism, and a distal end supporting a tool for insertion into a subject to an operative site;
a guide member for removably receiving said instrument shaft so that said tool is, upon insertion into the patient, positioned at the operative site;
a drive unit coupled with said mechanically drivable mechanism and disposed outside of a sterile field, said drive unit capable of activating said medical instrument via said mechanically drivable mechanism for actuation of said tool and positioning of said tool at the operative site within the subject; and
a computation system for receiving electrical control signals receive from a user input device for controlling said drive unit, and in turn, said medical instrument. - View Dependent Claims (68, 69, 70, 71, 72, 73, 74, 75)
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76. A method of remotely controlling a medical instrument, comprising:
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providing an instrument shaft having a distal end supporting a tool, and a proximal end supporting a mechanically drivable mechanism for controlling disposition of the tool at a target site in a patient;
removably inserting the instrument shaft into a subject through a guide member so as to dispose the tool at the target site;
mechanically controlling the tool, via a drive unit, and from an user input device;
activating from the user input device at least one flexible segment associated with a distal end of the instrument shaft by operating the drive unit from a location that is separate from the instrument shaft, so as to thereby bend the distal end of the instrument shaft to effect positioning of the tool at the target site. - View Dependent Claims (77, 78)
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79. A robotically controlled medical instrument comprising:
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a medical implement including a mechanically drivable mechanism coupled with a tool used in performing a medical procedure at an internal target site of a subject;
a receiver for the medical implement to hold said medical implement in position;
a drive unit for mechanically driving said medical implement via mechanical cabling, and controlled from a remote location via a user input device;
said medical implement being manually insertable into the subject so as to dispose said tool at the target site;
a first interface for releasably intercoupling said medical implement with said receiver; and
a second interface for releasably intercoupling said medical implement and said receiver with said drive unit. - View Dependent Claims (80, 81, 82, 83)
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Specification