Repositionable medical instrument support systems, devices, and methods

• US 9,532,837 B2
• Filed: 04/19/2013
• Issued: 01/03/2017
• Est. Priority Date: 04/20/2012
• Status: Active Grant

• Current Assignee: Leapfrog Enterprises Pty Ltd
• Original Assignee: Jai Singh, Jiwan Steven Singh
• Inventors: Singh, Jiwan Steven, Singh, Jai
• Primary Examiner(s): Nguyen, Victor
• Application Number:
  US14/387,209
• Publication Number:
  US 20150133958A1
• Time in Patent Office: 1,355 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/42 Gynaecological or obstetrical instruments or methods ligaturing clamps or clips for the umbilical cord A61B17/122; curettage A61B17/320708; dilators A61M29/00
• CPC Class Codes: A61B 17/4241 Instruments for manoeuvring or retracting the uterus, e.g. during laparoscopic surgery
• CPC Class Codes: A61B 2017/4216 Operations on uterus, e.g. endometrium
• CPC Class Codes: A61B 2090/571 for clamping a support arm to a bed or other supports
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/57 Accessory clamps
• CPC Class Codes: A61G 13/101 Clamping means for connecting accessories to the operating table supports as part of surgical instruments A61B90/50
• CPC Class Codes: F16M 11/043 Allowing translations
• CPC Class Codes: F16M 11/14 with ball-joint ball-jointed hinges F16C11/06 ; adjustable mountings employing universal joints for lighting devices F21V21/26 - F21V21/30

Abstract

The disclosure herein provides repositionable medical instrument support systems, devices, and methods. A repositionable medical instrument support system comprises a frame for rigidly connecting the system to a patient support, a ball and socket joint configured to provide three degrees of rotational freedom, a frame mounting arm configured to releasably mount the ball and socket joint to the frame, a sliding joint configured to provide one degree of translational freedom, a connecting arm configured to connect the sliding joint to the ball and socket joint, and a docking member configured to engage a medical instrument to support the medical instrument during a medical procedure.

Claims

1. A repositionable friction-based medical instrument support system for supporting a medical instrument during laparoscopic uterine surgery and providing at least four degrees of freedom of movement for repositioning of the medical instrument during surgery, the medical instrument support system comprising:

an adjustable-friction ball and socket joint configured to provide three degrees of rotational freedom, the ball and socket joint comprising;

a ball member comprising a substantially spherical structure;

a socket comprising at least two clamping members, wherein each of the at least two clamping members comprises a concave surface in contact with the ball member; and

an actuator configured to apply a variable actuating force to the at least two clamping members to create a first friction force between the ball member and the clamping members;

a support coupling comprising;

a body with an axially extending lumen; and

a resilient member positioned within the axially extending lumen;

a connecting member attaching the support coupling to the ball and socket joint;

a support rod configured to be positioned at least partially within the axially extending lumen of the support coupling and in contact with the resilient member, the support rod configured to be translatable at least partially through the axially extending lumen to provide one degree of translational freedom; and

a docking port positioned at or near a distal end of the support rod, the docking port configured to receive a portion of the medical instrument,

wherein the actuator is capable of setting the first friction force at a magnitude sufficient to resist a gravitational force applied by the medical instrument to the docking port, but that enables rotational movement of the ball member with respect to the socket responsive to an externally applied force that overcomes the first friction force,

wherein the support coupling and support rod are configured such that a second friction force between the resilient member and the support rod is sufficient to resist the gravitational force applied by the medical instrument to the docking port, but that enables translational movement of the support rod through the axially extending lumen of the support coupling responsive to an externally applied force that overcomes the second friction force, and

wherein the support coupling further comprises at least one rotational stop configured to contact an outer surface of the support rod to limit rotational motion of the support rod about a longitudinal axis of the support coupling body.

2. The repositionable friction-based medical instrument support system of claim 1, wherein the first friction force is proportional to the actuating force.

3. The repositionable friction-based medical instrument support system of claim 1, wherein the actuator of the ball and socket joint comprises a threaded member configured to vary the actuating force when turned.

4. The repositionable friction-based medical instrument support system of claim 1, wherein the actuator comprises a powered actuator.