Articulating surgical access system for laparoscopic surgery

• US 9,259,240 B2
• Filed: 03/05/2012
• Issued: 02/16/2016
• Est. Priority Date: 03/29/2011
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Malkowski, Jaroslaw T., Taylor, Eric, Kleyman, Gennady
• Primary Examiner(s): HOFFMAN, MARY C
• Application Number:
  US13/412,079
• Publication Number:
  US 20120253131A1
• Time in Patent Office: 1,443 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 17/3431 being collapsible, e.g. made of thin flexible material A61B17/3423 takes precedence
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/3429 having a unitary compressible body, e.g. made of silicone or foam
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2017/3466 for simultaneous sealing of multiple instruments
• CPC Class Codes: A61B 2017/347 Locking means, e.g. for locking instrument in cannula
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A surgical system includes one or more arms defining a passageway therethrough. The arm includes a proximal portion configured for positioning externally of a patient'"'"'s body and a distal portion configured for positioning within an internal body cavity. The distal portion includes first and second articulatable segments spaced apart from one another and capable of independent articulation between a substantially straight configuration and an articulated configuration. A first articulation assembly is coupled to the proximal portion of the one arm and is transitionable between a first state and a second state for articulating the first articulatable segment between the substantially straight configuration and the articulated configuration. A second articulation assembly is coupled to the proximal portion of the arm and is configured to move between a plurality of positions for articulating the second articulatable segment between the substantially straight configuration and the articulated configuration.

Claims

1. A surgical system, comprising:

at least one arm defining a longitudinal passageway extending therethrough configured to receive a surgical instrument therein, the at least one arm including a proximal portion configured for positioning externally of a patient'"'"'s body and a distal portion configured for positioning within an internal body cavity, the distal portion including first and second articulatable segments spaced-apart from one another and capable of independent articulation between a substantially straight configuration and an articulated configuration;

a first articulation assembly coupled to the proximal portion of the at least one arm, the first articulation assembly transitionable between a first state and a second state for articulating the first articulatable segment between the substantially straight configuration and the articulated configuration, the first articulation assembly including a lever and a base, the first articulatable segment articulating between the substantially straight configuration and the articulated configuration in response to the lever moving relative to the base between a spaced-apart position and an approximated position; and

a second articulation assembly coupled to the proximal portion of the at least one arm, the second articulation assembly different from the first articulation assembly, the second articulation assembly configured to move between a plurality of positions for articulating the second articulatable segment between the substantially straight configuration and the articulated configuration.

2. The surgical system according to claim 1, wherein at least one set of articulation cables extends from each of the first and second articulatable segments to the first and second articulation assemblies, respectively, each set of articulation cables selectively tensionable for articulating one of the first and second articulatable segments.

3. The surgical system according to claim 1, further comprising a locking assembly configured to fix the lever in position relative to the base to fix the position of the first articulatable segment.

4. The surgical system according to claim 1, wherein the locking assembly is automatically engaged to lock the lever in position when the lever is moved to the approximated position such that the first articulatable segment is locked in the articulated position.

8. The surgical system according to claim 1, further comprising an access portal configured for positioning within an incision in tissue, the access portal configured to receive the at least one arm therethrough for positioning of the distal portion of the at least one arm within the internal body cavity.

5. A surgical system, comprising:

at least one arm defining a longitudinal passageway extending therethrough configured to receive a surgical instrument therein, the at least one arm including a proximal portion configured for positioning externally of a patient'"'"'s body and a distal portion configured for positioning within an internal body cavity, the distal portion including first and second articulatable segments spaced-apart from one another and capable of independent articulation between a substantially straight configuration and an articulated configuration;

a first articulation assembly coupled to the proximal portion of the at least one arm, the first articulation assembly transitionable between a first state and a second state for articulating the first articulatable segment between the substantially straight configuration and the articulated configuration, wherein the first articulation assembly includes first and second components pivotable relative to one another between a substantially aligned position and a substantially transverse position for articulating the first articulatable segment between the substantially straight configuration and the articulated configuration; and

a second articulation assembly coupled to the proximal portion of the at least one arm, the second articulation assembly different from the first articulation assembly, the second articulation assembly configured to move between a plurality of positions for articulating the second articulatable segment between the substantially straight configuration and the articulated configuration.

6. The surgical system according to claim 5, further comprising a locking assembly, the locking assembly configured to fix the first and second components in position relative to one another upon pivotable movement of the first and second components to at least one pre-determined position relative to one another.

7. The surgical system according to claim 6, wherein the locking assembly includes a slide block, the slide block selectively translatable to release the first and second components from fixed positions relative to one another.

12. The surgical system according to claim 5, wherein at least one set of articulation cables extends from each of the first and second articulatable segments to the first and second articulation assemblies, respectively, each set of articulation cables selectively tensionable for articulating one of the first and second articulatable segments.

13. The surgical system according to claim 5, further comprising an access portal configured for positioning within an incision in tissue, the access portal configured to receive the at least one arm therethrough for positioning of the distal portion of the at least one arm within the internal body cavity.

9. A surgical system, comprising:

at least one arm defining a longitudinal passageway extending therethrough configured to receive a surgical instrument therein, the at least one arm including a proximal portion configured for positioning externally of a patient'"'"'s body and a distal portion configured for positioning within an internal body cavity, the distal portion including first and second articulatable segments spaced-apart from one another and capable of independent articulation between a substantially straight configuration and an articulated configuration;

a first articulation assembly coupled to the proximal portion of the at least one arm, the first articulation assembly transitionable between a first state and a second state for articulating the first articulatable segment between the substantially straight configuration and the articulated configuration; and

a second articulation assembly coupled to the proximal portion of the at least one arm, the second articulation assembly different from the first articulation assembly, the second articulation assembly configured to move between a plurality of positions for articulating the second articulatable segment between the substantially straight configuration and the articulated configuration, wherein the second articulation assembly includes;

a base defining a cavity; and

a rotatable member movably disposed in the cavity of the base and movable relative to the base to articulate the second articulatable segment between the substantially straight and articulated configurations, the rotatable member transitionable between an unlocked state, wherein the rotatable member is movable within the cavity of the base relative to the base, and a locked state, wherein an orientation of the rotatable member is fixed relative to the base.

10. The surgical system according to claim 9, wherein the rotatable member includes a port extending therethrough in communication with the longitudinal passageway of the at least one arm, the port configured to receive the surgical instrument therein.

11. The surgical system according to claim 10, wherein movement of the surgical instrument disposed within the port of the rotatable member relative to the base articulates the second articulatable segment between the substantially straight and articulated configurations.

14. The surgical system according to claim 9, wherein at least one set of articulation cables extends from each of the first and second articulatable segments to the first and second articulation assemblies, respectively, each set of articulation cables selectively tensionable for articulating one of the first and second articulatable segments.

15. The surgical system according to claim 9, further comprising an access portal configured for positioning within an incision in tissue, the access portal configured to receive the at least one arm therethrough for positioning of the distal portion of the at least one arm within the internal body cavity.