Laparoscopic medical instrument holding device

• US 9,610,135 B2
• Filed: 09/28/2015
• Issued: 04/04/2017
• Est. Priority Date: 05/29/2015
• Status: Active Grant

• Current Assignee: Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi
• Original Assignee: Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi
• Inventors: Nawrat, Zbigniew, Mucha, Lukasz, Lehrich, Krzysztof, Lis, Krzysztof
• Primary Examiner(s): Liu, Jonathan
• Assistant Examiner(s): Guan, Guang H
• Application Number:
  US14/867,088
• Publication Number:
  US 20160346060A1
• Time in Patent Office: 554 Days
• Field of Search: 600102, 600106, 606 1, 606130, 2483161, 2483162, 2483163, 2483165, 24834601, 24834603, 24834604, 248 675, 248 677, 248 73, 2482304, 24823121, 24823151, 2482065, 2481221, 269 3, 269 6, 269 95
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: F16B 2/06 external, i.e. with contracting action F16B2/14 - F16B2/18 take precedence
• CPC Class Codes: F16B 2200/83 Use of a magnetic material
• CPC Class Codes: F16M 13/022 repositionable

Abstract

The laparoscopic medical instrument holding device has a platform with a holder for securing the instrument. The holder has at least two clamping claws arranged on the platform and each of the clamping claws comprises a two-arm base. Each arm of the base has movably mounted thereon a claw and each arm of the claw has at least two guide rollers. The arm of the claw has a ferromagnetic material footing located above a magnet mounted on the platform. A holding force between the footing and the magnet is adjustable. In the holder there is a releasably mounted instrument sleeve for securing the laparoscopic instrument. The instrument sleeve has a pair of internally mounted clamping elements and an externally mounted securing nut coupled via a deflecting transmission to a motor unit attached to the platform.

Claims

1. A laparoscopic medical instrument holding device, comprising:

a platform and at least two clamping claws for securing a laparoscopic medical instrument, wherein the at least two clamping claws are arranged on the platform at a distance from each other, and each of said at least two clamping claws comprises a base having two base arms, wherein a holding arm is movably attached at a connection to each of the two base arms of the base of each of said at least two clamping claws, each of the at least two clamping claws comprises at least two guide rollers attached to each holding arm and placed at opposite sides of the connection, each of the at least two clamping claws comprises a footing having a ferromagnetic element,

wherein each footing of each of the at least two clamping claws is located above a corresponding magnet mounted in the platform,

wherein in order to adjust a holding force between each footing of each of the at least two clamping claws and the corresponding magnet, each footing is slidably mounted to the corresponding holding arm of each of the at least two clamping claws while maintaining a distance from the corresponding magnet,

wherein the corresponding magnet is slidably mounted in the platform such that the distance between each footing of each of the at least two clamping claws and the corresponding magnet is configured to be adjusted,

wherein the laparoscopic medical instrument holding device further comprises an instrument sleeve releasably held by the at least two clamping claws and configured to secure the laparoscopic medical instrument and said instrument sleeve has a pair of clamping elements therein and a securing nut coupled via a deflecting transmission to a motor unit attached to the platform,

wherein an outside circumference of the instrument sleeve or an outside circumference of the securing nut includes at least one groove for the guide rollers of one of the at least two clamping claws.

2. The laparoscopic medical instrument holding device according to claim 1, wherein the corresponding magnet for each footing of one of the at least two clamping claws is mounted on a common base, wherein the common base is connected to the platform with screws.

3. The laparoscopic medical instrument holding device according to claim 1, wherein each holding arm of each of the at least two clamping claws is rotatably mounted to the corresponding base arm of the two base arms of the base of the at least two clamping claws with a bearing.

4. The laparoscopic medical instrument holding device according to claim 1, wherein a mount is attached to the platform, wherein the mount has an internal hole with a circular cross section, and wherein two flanged sleeves are rotatably mounted inside the internal hole of the mount, and a stator for the motor unit is mounted inside the two flanged sleeves.

5. The laparoscopic medical instrument holding device according to claim 4, wherein the deflecting transmission is immovably mounted to the stator of the motor unit, the deflecting transmission has a partly open body, a drive wheel is mounted inside the partly open body of the deflecting transmission on a shaft of the motor unit, and a driven wheel rotatably mounted on an axis mounted in the partly open body of the deflecting transmission.

6. The laparoscopic medical instrument holding device according to claim 5, wherein the partly open body of the deflecting transmission has a spline at a side adjacent to the instrument sleeve, the spline has a through hole, a screw is screwed inside the through hole of the spline and into the platform, and the spline is pressed down by a spring.

7. The laparoscopic medical instrument holding device according to claim 1, wherein the instrument sleeve has an outside surface with threads, the instrument sleeve has an inside hole with a longitudinal end, the longitudinal end has a shape of a cone, the pair of clamping elements define cone-shaped ends each with a taper corresponding to the shape of the longitudinal end of the instrument sleeve.

8. The laparoscopic medical instrument holding device according to claim 1, wherein the at least one groove on either the outside circumference of the securing nut or the outside circumference of the instrument sleeve has conical side surfaces which receive the guide rollers of one of the at least two clamping claws.

9. The laparoscopic medical instrument holding device according to claim 8, wherein the securing nut is coupled to the deflecting transmission with a toothed rim made on the outside circumference of the securing nut.

10. The laparoscopic medical instrument holding device according to claim 8, wherein the securing nut is coupled to the deflecting transmission with a friction surface on the outside circumference of the securing nut.