Surgical tool positioning system

• US 9,675,380 B2
• Filed: 08/09/2013
• Issued: 06/13/2017
• Est. Priority Date: 08/09/2012
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Oyola, Arnold, Flaherty, J. Christopher, Castro, Michael Salvatore, Stand, III, Joseph A., Straface, Samuel F., DeGeorge, Christopher P., Flaherty, R. Maxwell
• Primary Examiner(s): Philogene, Pedro
• Assistant Examiner(s): Comstock, David C
• Application Number:
  US14/418,993
• Publication Number:
  US 20150282835A1
• Time in Patent Office: 1,404 Days
• Field of Search: 600204
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• 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 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2017/3407 including a base for support on the body
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

Described is a tool positioning system comprising an introduction device, a first tool support and a second tool support. The introduction device is constructed and arranged to slidingly receive an articulating probe. The first tool support comprises at least one guide element constructed and arranged to slidingly receive a first tool. The first tool support is oriented toward a first operator location. The second tool support comprises at least one guide element constructed and arranged to slidingly receive a second tool. The second tool support is oriented toward a second operator location.

Claims

1. A tool positioning system, comprising:

an introduction device constructed and arranged to slidingly receive an articulating probe;

a first tool support comprising at least one guide element constructed and arranged to slidingly receive a first tool, wherein the first tool support is oriented toward a first operator location; and

a second tool support comprising at least one guide element constructed and arranged to slidingly receive a second tool, wherein the second tool support is oriented toward a second operator location, the introduction device having a proximal region oriented away from the first and second tool supports and a distal region in communication with both the first and second tool supports.

2. The system of claim 1, wherein at least one of the first tool or the second tool is positioned at a patient to perform a medical procedure on the patient.

3. The system of claim 1, wherein at least one of the first tool support and the second tool support is directly anchored to the introduction device.

4. The system of claim 1 further comprising a base, wherein the first tool support and the second tool support are coupled to the base.

5. The system of claim 4, wherein the introduction device is coupled to the base and in communication with the first and second tool supports via the base.

6. The system of claim 5, wherein the base comprises a collar that surrounds at least a portion of the introduction device.

7. The system of claim 4, wherein at least one of the first tool support or the second tool support comprises at least one guide element that rotatably engages the base.

8. The system of claim 7, wherein the at least one of the first tool support and the second tool support comprises a gimbal which rotatably engages the at least one guide element at the base.

9. The system of claim 7, wherein the least one guide element of the first tool support comprises a mid-portion that rotatably engages the base.

10. The system of claim 7, wherein the at least one guide element of the first tool support is fixedly attached to the base.

11. The system of claim 4, wherein the first tool support rotatably engages the base and the second tool support rotatably engages the base.

12. The system of claim 4, wherein the at least one of the first or second tool supports moves linearly relative to the base.

13. The system of claim 1, wherein the system is constructed and arranged to slidingly receive two or more tools.

14. The system of claim 1, wherein the at least one guide element of the first tool support is constructed and arranged to receive a shaft of the first tool, and wherein the at least one guide element of the second tool support is constructed and arranged to receive a shaft of the second tool.

15. The system of claim 1, wherein the first tool is positioned at a first side of a distal end of the articulating probe and the second tool is positioned at a second side of the distal end of the articulating probe relatively opposite the first side.

16. The system of claim 15, wherein the first tool is controlled by an operator at the first operator location at the first side of the distal end of the articulating probe, and the second tool is controlled by an operator at the second operator location at the second side of the distal end of the articulating probe.

17. The system of claim 1, wherein the first tool and a third tool are positioned at a first side of a distal end of the articulating probe and the second tool and a fourth tool are positioned at a second side of the distal end of the articulating probe relatively opposite the first side.

18. The system of claim 17, wherein the first and third tools are controlled by an operator at the first operator location at the first side of the distal end of the articulating probe, and the second and fourth tools are controlled by an operator at the second operator location at the second side of the distal end of the articulating probe.

19. The system of claim 1, wherein at least one of the first tool support or the second tool support comprises a funnel shaped proximal end.

20. The system of claim 1, wherein at least one guide element of at least one of the first tool support or the second tool support comprises an inner guide element and an outer guide element.

21. The system of claim 20 wherein the outer guide element comprises a first tube and the inner guide element comprises a second tube slidingly positioned in the first tube.

22. The system of claim 20 wherein at least a portion of the inner guide element is flexible.

23. The system of claim 1 further comprising a third tool support, the third tool support comprising at least one guide element constructed and arranged to slidingly receive a third tool.

24. The system of claim 23, wherein the third tool support is oriented toward the first operator location.

25. The system of claim 23 further comprising a connector coupled to the first tool support and the third tool support, wherein the connector is constructed and arranged to maintain a relative position between the first tool support and the third tool support.

26. The system of claim 23 further comprising a fourth tool support, the fourth tool support comprising at least one guide element constructed and arranged to slidingly receive a fourth tool.

27. The system of claim 26, wherein the fourth tool support is oriented toward the second operator location.

28. The system of claim 26 further comprising a connector coupled to the second tool support and the fourth tool support, wherein the connector is constructed and arranged to maintain a relative position between the second tool support and the fourth tool support.

29. The system of claim 26 further comprising a connector coupled to a proximal end of each of the first and third tool supports, and a connector attached to a proximal end of each of the second and fourth tool supports.

30. The system of claim 1 further comprising a connector coupled to the first tool support and the second tool support, wherein the connector is constructed and arranged to maintain a relative position between the first tool support and second tool support.

31. The system of claim 30, wherein the connector is rotatably coupled to at least one of the first or the second tool support.

32. The system of claim 1 further comprising a third tool support and a connector coupled to the first, second and third tool supports, wherein the connector is constructed and arranged to maintain a relative position between the first, second, and third tool supports.

33. The system of claim 1 wherein the at least one guide element of the first tool support or the second tool support comprises a hollow elongate member.

34. The system of claim 1, wherein the first operator location and the second operator location comprise side-by-side locations.

35. The system of claim 1, wherein the first operator location and the second operator location comprise face-to-face locations.

36. The system of claim 1 further comprising a fixation point constructed and arranged to attach to a stabilizing brace.

37. The system of claim 36 further comprising a connector coupled to the first tool support and the second tool support, wherein the connector is constructed and arranged to maintain a relative position between the first tool support and second tool support, and wherein the connector comprises the fixation point.

38. The system of claim 36, wherein the introduction device comprises the fixation point.

39. The system of claim 36 further comprising a base coupling the first tool support and the second tool support, wherein the base comprises the fixation point.

40. The system of claim 36 further comprising a brace attachable to the fixation point.

41. The system of claim 36 further comprising a second fixation point constructed and arranged to attach to a stabilizing brace.

42. The system of claim 41 further comprising a first brace for attachment to the first fixation point and a second brace for attachment to the second fixation point.

43. The system of claim 1 further comprising at least one tool constructed and arranged to be slidingly received by at least one of the first tool support or the second tool support.

44. The system of claim 43, wherein the at least one tool comprises at least two tools, wherein each tool comprises a shaft constructed and arranged to be slidingly received by at least one of the first tool support or the second tool support.

45. The system of claim 43, wherein the at least one tool comprises a tool selected from the group consisting of:

a suction device, a ventilator, a light, a camera, a grasper, a laser, a cautery, a clip applier, a scissors, a needle, a needle driver, a scalpel, an RF energy delivery device, a cryogenic energy delivery device, and combinations thereof.

46. A tool positioning system, comprising:

an articulating probe;

an introduction device constructed and arranged to slidingly receive the articulating probe;

a first tool support comprising at least one guide element constructed and arranged to slidingly receive a first tool, wherein the first tool support is oriented toward a first operator location; and

a second tool support comprising at least one guide element constructed and arranged to slidingly receive a second tool, wherein the second tool support is oriented toward a second operator location, the introduction device having a proximal region oriented away from the first and second tool supports and a distal region in communication with both the first and second tool supports.

47. The system of claim 46, wherein the articulating probe comprises a distal link.

48. The system of claim 47, wherein the distal link comprises at least a first sideport coupled to the first tool support and a second sideport coupled to the second tool support.

49. The system of claim 47, further comprising a third tool support wherein the distal link comprises at least a first sideport coupled to the first tool support, a second sideport coupled to the second tool support and a third sideport coupled to the third tool support.

50. The system of claim 46 further comprising a controller constructed and arranged to manipulate the articulating probe.

51. The system of claim 50 further comprising a first human interface device oriented toward the first operator location, the first human interface generating a first control signal received by the controller for manipulating the articulating probe.

52. A tool positioning system, comprising:

a first tool support comprising at least one guide element constructed and arranged to slidingly receive a first tool, wherein the first tool support is oriented toward a first operator location;

a second tool support comprising at least one guide element constructed and arranged to slidingly receive a second tool, wherein the second tool support is oriented toward a second operator location; and

a base that couples the first tool support and the second tool support, the base including a collar that surrounds at least a portion of the introduction device, that extends in a lateral direction relative to a direction of extension of the introduction device, and that has first and second openings for receiving the first and second tool supports, respectively.