Remote center positioner

• US 7,108,688 B2
• Filed: 06/15/2004
• Issued: 09/19/2006
• Est. Priority Date: 05/14/1993
• Status: Expired due to Fees

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Jensen, Joel F.
• Primary Examiner(s): Johnson, III, Henry M.
• Application Number:
  US10/868,388
• Publication Number:
  US 20050119638A1
• Time in Patent Office: 826 Days
• Field of Search: 606/130, 606/1
• US Class Current: 606/1
• 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 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 9/1065 with parallelograms

Abstract

The invention is directed to a remote center positioner used to support an instrument and provide a center of spherical rotation, remote from any bearings or mechanical supports, at a desired location of the instrument. The remote center positioner is particularly useful in laparoscopic surgery to constrain a surgical instrument to move around a fixed center of rotation remote from any bearings or mechanical supports and coincident with an entry incision in the abdominal wall.

Claims

1. A surgical manipulator for moving an instrument about a desired spherical center of rotation at a desired location along the instrument, the manipulator comprising:

a first linkage, including at least a first rod, pivotally mounted for rotation about a first axis;

an instrument holder holding the instrument in a position so that the desired remote center of spherical rotation of the instrument intersects a second axis and the first axis;

a second linkage, including at least a second rod, pivotally connected to the first linkage and the instrument holder such that the spherical center of rotation is maintained at the desired location along the instrument; and

wherein the first or second linkages includes a flexible drive element comprising a pulley and a flexible element connected around the pulley, the pulley rotationally affixed to one of the rods such that a movement of one of the linkages is transmitted to the other of the linkages by the flexible drive element.

2. A surgical manipulator for moving an instrument about a desired spherical center of rotation at a desired location along the instrument, the manipulator comprising:

a base support adapted to be mounted to a surface;

a first linkage pivotally mounted on the base support, the first linkage including a pulley rotationally fixedly mounted thereon adjacent to the base support;

an instrument holder for holding the instrument in a position with the desired remote center of spherical rotation;

a second linkage connected to the instrument holder and pivotally connected to the first linkage, the second linkage including a pulley rotationally fixedly mounted thereon adjacent the pivotal connection to the first linkage; and

a flexible element connected around the pulleys such that the remote center of spherical rotation of the instrument is maintained at the desired location as the linkages are moved.

3. A surgical manipulator system comprising.

a surgical instrument having an elongate shaft with proximal and distal ends, an end effector coupled to the distal end, and means for actuating the end effector at the proximal end;

a rotatable joint having an x—

x axis of rotation;

a first linkage comprising one member having a first end pivotally mounted on the rotatable joint and a second end remote from the rotatable joint, the axis of rotation of the member of the first linkage being normal to and intersecting the x—

x axis, the first linkage further comprising a first pulley rotationally fixedly mounted on the rotatable joint in coaxial relationship with the axis of rotation of the member;

a parallelogram linkage having a driving end and a remote end, the parallelogram linkage including two sets of two corresponding members pivotally connected in a parallelogram, the parallelogram linkage being in a parallel-plane relationship with the first linkage and having the driving end pivotally connected to the remote end of the first linkage, a second pulley rotationally fixedly mounted to one of the two corresponding members at the driving end of the parallelogram linkage coaxial with the pivotal connection between the driving end and the remote end of the first linkage, the first and the second pulleys having the same diameter;

a flexible element coupling the first pulley to the second pulley;

a drive for pivoting the end effector with respect to the instrument shaft; and

a mount for the instrument extending from the remote end of the parallelogram linkage, the mount adapted to position the instrument axis to intersect the x—

x axis of the rotatable joint at a location on the instrument desired for a remote center of spherical rotation.

4. A surgical manipulator for moving an instrument about a desired spherical center of rotation at a desired location along the instrument, the manipulator comprising:

a first linkage, including at least a first pivotally mounted rod;

an instrument holder for holding the instrument;

a second linkage including a second rod connected to the instrument holder, the second linkage being pivotally connected to the first linkage so that the second rod such that the spherical center of rotation is maintained at the desired location of the instrument;

wherein the linkages include a channel-shaped element disposed around the second rod, the second rod and the channel-shaped element transmitting the movement of the first rod to the instrument holder.

5. The surgical manipulator of claim 4, wherein the channel-shaped element comprises a substantially rigid sleeve disposed around the second rod, the second rod and the rigid sleeve transmitting the movement of the first rod to the instrument holder such that the instrument is constrained to move in parallel relationship with the first rod.

6. A surgical manipulating system comprising:

a surgical instrument having an elongate shaft with a proximal end and a distal end configured for introduction into a patient;

an instrument holder coupled to the shaft of the surgical instrument;

a rotatable joint having an x—

x axis of rotation;

a first linkage including one member having one end pivotally mounted on the rotatable joint and the other end remote from the rotatable joint, an axis of rotation of the member intersecting the x—

x axis;

a second linkage comprising a sleeve and a rod disposed within the sleeve, the rod and sleeve being connected to the instrument holder for constraining the instrument holder to move such that the spherical center of rotation is maintained at the desired location of the instrument;

wherein the instrument comprises an end effector coupled to the distal end, means for actuating the end effector, and means for pivoting the end effector with respect to the instrument shaft.

7. A position constraint apparatus for constraining the position of a surgical instrument during operation in a minimally invasive surgical procedure, the surgical instrument including at least an elongate shaft, the shaft having a distal working end, at least the distal working end of the shaft configured for insertion into a body cavity of a patient, the position constraint apparatus comprising:

an articulate support assembly having a plurality of linkages and joints wherein the plurality of linkages and joints comprise at least one pulley and at least one flexible element coupled to the pulley that is configured to constrain shaft motion relative to a center of rotation;

an instrument engaging structure coupled to the a distal portion of the articulate support assembly;

the instrument engaging structure arranged to engage the surgical instrument so that the elongate shaft of the instrument is permitted to move relative to the instrument engaging structure;

the articulate support assembly configured to constrain the position of the elongate shaft of the instrument relative to the center of rotation, so that the shaft is maintained substantially aligned through the center of rotation; and

the position constraint apparatus configurable by an operator so as to permit the center of rotation to be positioned at a selected point.