Pivot point arm for a robotic system used to perform a surgical procedure
First Claim
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1. A medical system comprising:
- a medical instrument; and
a pivot port supporting the medical instrument, wherein the pivot port includes;
a pivot arm;
a ring having an inner annular ring lip;
a first link configured as a single connecting piece having pivotal ends;
an adapter that has an aperture and an outer annular flange, wherein the aperture is adapted to receive the surgical instrument, and wherein the outer annular flange rests on the inner annular ring lip of the ring so that the ring supports the adapter; and
first and second joints, wherein a proximal end of the first link is directly connected to the pivot arm by the first joint so that the proximal end of the first link is constrained to only rotatable at the first joint about a first axis of rotation that is parallel with a longitudinal axis of the pivot arm and a distal end of the first link is directly connected to only one outer side of the ring by the second joint so that the ring and the adapter are rotatable at the second joint about a second axis of rotation that is maintained by a shape of the first link to be approximately orthogonal to the first axis of rotation so as to allow the surgical instrument to pivot about said aperture when the pivot arm is locked in place and the instrument is received in the aperture.
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Abstract
A pivot port that can provide a pivot point for a surgical instrument. The pivot port may be held in a stationary position by a support arm assembly that is attached to a table. The pivot port may include either an adapter or a ball joint that can support the surgical instrument. The pivot port allows the instrument to pivot relative to a patient.
228 Citations
7 Claims
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1. A medical system comprising:
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a medical instrument; and a pivot port supporting the medical instrument, wherein the pivot port includes; a pivot arm; a ring having an inner annular ring lip; a first link configured as a single connecting piece having pivotal ends; an adapter that has an aperture and an outer annular flange, wherein the aperture is adapted to receive the surgical instrument, and wherein the outer annular flange rests on the inner annular ring lip of the ring so that the ring supports the adapter; and first and second joints, wherein a proximal end of the first link is directly connected to the pivot arm by the first joint so that the proximal end of the first link is constrained to only rotatable at the first joint about a first axis of rotation that is parallel with a longitudinal axis of the pivot arm and a distal end of the first link is directly connected to only one outer side of the ring by the second joint so that the ring and the adapter are rotatable at the second joint about a second axis of rotation that is maintained by a shape of the first link to be approximately orthogonal to the first axis of rotation so as to allow the surgical instrument to pivot about said aperture when the pivot arm is locked in place and the instrument is received in the aperture. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification