# US 11,439,377 B2 · Articulated tool positioner and system employing same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,439,377 B2 - Document ID: US11439377B2 - Status: Granted - Kind: B2 - Application number: 17/321,874 - Filed: 2021-05-17 - Published: 2021-09-02 - Granted: 2022-09-13 - Earliest claimed: 2013-06-19 - Assignees: Titan Medical Inc. - Applicants: Titan Medical Inc. - Inventors: Rene Robert; David Allen Zitnick; Peter John Kenneth Cameron; Leonard M. Faria; Andrea Bajo - Web page: https://patentgrep.com/patent/US11439377B2 ## CPC - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 1/0055: {Constructional details of insertion parts, e.g. vertebral elements} - A61B 1/0057: {Constructional details of force transmission elements, e.g. control wires} - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 34/30: Surgical robots - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 50/13: Trolleys{, e.g. carts} - A61M 25/0147: {with movable mechanical means, e.g. pull wires} - A61B 1/00193: {adapted for stereoscopic vision} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 2017/00314: {Separate linked members} - A61B 2017/00323: {Cables or rods} - A61B 2017/2903: {transferring rotary motion} - A61B 2017/2905: {flexible} - A61B 2017/2906: {Multiple forceps} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/306: {Wrists with multiple vertebrae} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body. ## Claims ### Claim 1 An apparatus for performing laparoscopic surgery, the apparatus comprising: a movable platform; a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including: a vertical post extending upwardly from the movable platform, wherein the vertical post defines a longitudinal axis; a first pivot arm having a proximal end pivotally connected to the vertical post, wherein the first pivot arm pivots about a first pivot axis coincident with the longitudinal axis defined by the vertical post; a second pivot arm having a proximal end pivotally connected to first pivot arm, wherein the second pivot arm pivots about a second pivot axis which is parallel to the first pivot axis; and a head movably coupled to a distal end of the second pivot arm; a tool coupler supported on the head for movement therewith, the tool coupler configured to connect a plurality of tool controllers to the head; a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including: a rigid conduit of the first tool controller having a distal end; and a tool assembly supported at the distal end of the rigid conduit of the first tool controller, the tool assembly of the first tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the tool assembly of the first tool controller includes: a first articulating section supported at a distal end of the rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the rigid conduit: a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the first tool controller, wherein the end effector of the first tool controller includes a pair of opposing jaws; a second tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the second tool controller including: a rigid conduit of the second tool controller having a distal end; and a tool assembly supported at the distal end of the rigid conduit of the second tool controller, the tool assembly of the second tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the second tool controller, wherein the plurality of coupled guides of the tool assembly of the second tool controller includes: a first articulating section supported at a distal end of the rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the rigid conduit; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the second tool controller, wherein the end effector of the second tool controller includes a pair of opposing jaws; and a camera assembly including: a support tube defining a longitudinal axis extending parallel to a longitudinal axis of the rigid conduit of the first tool controller and extending parallel to a longitudinal axis of the rigid conduit of the second tool controller; and a camera movably supported on a distal end of the support tube. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the head defines a pivot axis about which the head is pivotable to vary at least one of a pitch or yaw of a longitudinal axis of the tool assembly relative to a longitudinal axis of the second pivot arm. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein each of the plurality of coupled guides defines a respective articulating section. ### Claim 4 (depends on 1) The apparatus according to claim 1, wherein the end effector is supported at a distal end of a respective one of the third articulating sections. ### Claim 5 (depends on 1) The apparatus according to claim 1, further comprising a respective flexible tool control link connected to each end effector and extending along the plurality of coupled guides, wherein actuation of the respective flexible tool control link results in opening or closing the pair of jaws of the respective end effector. ### Claim 6 (depends on 1) The apparatus according to claim 1, wherein the camera is axially translatable relative to the of the first tool controller and the second tool controller upon axial reciprocation of the support tube. ### Claim 7 An apparatus for performing laparoscopic surgery, the apparatus comprising: a movable platform; a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including: a vertical post extending upwardly from the movable platform, wherein the vertical post defines a longitudinal axis; a plurality of pivot arms extending from the vertical post; and a head rotatably coupled to a distal end of the plurality of pivot arms; a tool coupler supported on the head for movement therewith, the tool coupler configured to connect a plurality of tool controllers to the head; a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including: a tool assembly supported at a distal end of a rigid conduit of the first tool controller, the tool assembly of the first tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the tool assembly of the first tool controller includes: a first articulating section supported at the distal end of the rigid conduit; a second articulating section supported at a distal end of the first articulating section; and a third articulating section supported at a distal end of the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the first tool controller, wherein the end effector of the first tool controller includes a pair of opposing jaws; a second tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the second tool controller including: a tool assembly supported at a distal end of a rigid conduit of the second tool controller, the tool assembly of the second tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the second tool controller, wherein the plurality of coupled guides of the tool assembly of the second tool controller includes: a first articulating section supported at the distal end of the rigid conduit: a second articulating section supported at a distal end of the first articulating section; and a third articulating section supported at a distal end of the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the second tool controller, wherein the end effector of the second tool controller includes a pair of opposing jaws; and a camera assembly including: a support tube defining a longitudinal axis extending parallel to a longitudinal axis of the rigid conduit of the first tool controller and extending parallel to a longitudinal axis of the rigid conduit of the second tool controller; and a camera movably supported on a distal end of the support tube. ### Claim 8 (depends on 7) The apparatus according to claim 7, wherein the plurality of pivot arms includes: a first pivot arm having a proximal end pivotally connected to the vertical post, wherein the first pivot arm pivots about a first pivot axis coincident with the longitudinal axis defined by the vertical post; and a second pivot arm having a proximal end pivotally connected to first pivot arm, wherein the second pivot arm pivots about a second pivot axis which is parallel to the first pivot axis. ### Claim 9 (depends on 7) The apparatus according to claim 7, wherein the head defines a pivot axis about which the head is pivotable to vary at least one of a pitch or yaw of a longitudinal axis of the tool assembly of the first tool controller and the tool assembly of the second tool controller relative to a longitudinal axis of the second pivot arm. ### Claim 10 (depends on 7) The apparatus according to claim 7, wherein each of the plurality of coupled guides defines a respective articulating section. ### Claim 11 (depends on 10) The apparatus according to claim 10, whereby, for each of the plurality of coupled guides: the first articulating section enables the tool assembly to articulate relative to the rigid conduit; the second articulating section enables the tool assembly to articulate relative to the first articulating section; and the third articulating section enables the tool assembly to articulate relative to the second articulating section. ### Claim 12 (depends on 7) The apparatus according to claim 7, wherein the end effector is supported at a distal end of a respective one of the third articulating sections. ### Claim 13 (depends on 7) The apparatus according to claim 7, further comprising a respective flexible tool control link connected to each end effector and extending along the plurality of coupled guides, wherein actuation of the respective flexible tool control link results in opening or closing the pair of jaws of the respective end effector. ### Claim 14 (depends on 7) The apparatus according to claim 7, wherein the support tube of the camera assembly defines a gooseneck. ### Claim 15 (depends on 7) The apparatus according to claim 7, wherein the camera is axially translatable relative to the of the first tool controller and the second tool controller upon axial reciprocation of the support tube. ### Claim 16 An apparatus for performing laparoscopic surgery, the apparatus comprising: a movable platform; a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including: a vertical post extending upwardly from the movable platform, wherein the vertical post defines a longitudinal axis; a plurality of pivot arms extending from the vertical post; and a head pivotably coupled to a distal end of a distal most arm of the plurality of pivot arms, wherein the distal-most arm defines a longitudinal axis, and wherein the head is pivotable about a pivot axis oriented orthogonally relative to the longitudinal axis of the distal-most arm; a tool coupler supported on the head, the tool coupler configured to connect a plurality of tool controllers to the head, wherein the tool coupler defines a connector portion; a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including: a rigid conduit having a distal end; a tool assembly supported at the distal end of the rigid conduit of the first tool controller, the tool assembly of the first tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly of the first tool controller relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the first tool controller includes: a first articulating section supported at a distal end of the rigid conduit of the first tool controller, whereby the first articulating section enables the tool assembly to articulate relative to the rigid conduit of the first tool controller; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the first tool controller, wherein the end effector of the first tool controller includes a pair of opposing jaws; a second tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the second tool controller including: a rigid conduit having a distal end; a tool assembly supported at the distal end of the rigid conduit of the second tool controller, the tool assembly of the second tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly of the second tool controller relative to the longitudinal axis of the plurality of coupled guides of the second tool controller, wherein the plurality of coupled guides of the second tool controller includes: a first articulating section supported at a distal end of the rigid conduit of the second tool controller, whereby the first articulating section enables the tool assembly to articulate relative to the rigid conduit of the second tool controller; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the second tool controller, wherein the end effector includes a pair of opposing jaws; and a camera assembly including: a support tube defining a longitudinal axis extending parallel to a longitudinal axis of the rigid conduit of the first tool controller and extending parallel to a longitudinal axis of the rigid conduit of the second tool controller; and a camera movably supported on a distal end of the support tube. ### Claim 17 (depends on 16) The apparatus according to claim 16, wherein the plurality of pivot arms includes: a first pivot arm having a proximal end pivotally connected to the vertical post, wherein the first pivot arm pivots about a first pivot axis coincident with the longitudinal axis defined by the vertical post; and a second pivot arm having a proximal end pivotally connected to first pivot arm, wherein the second pivot arm pivots about a second pivot axis which is parallel to the first pivot axis. ### Claim 18 (depends on 16) The apparatus according to claim 16, wherein the head pivotably coupled to a distal end of the plurality of pivot arms; and wherein the head defines a pivot axis about which the head is pivotable to vary at least one of a pitch or yaw of a longitudinal axis of the tool assembly relative to a longitudinal axis of the second pivot arm. ### Claim 19 (depends on 16) The apparatus according to claim 16, wherein each of the plurality of coupled guides defines a respective articulating section. ### Claim 20 (depends on 19) The apparatus according to claim 19, wherein each of the plurality of coupled guides includes: a first articulating section supported at a distal end of the rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the rigid conduit; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section. ### Claim 21 (depends on 20) The apparatus according to claim 20, wherein the end effector is supported at a distal end of a respective one of the third articulating sections. ### Claim 22 (depends on 16) The apparatus according to claim 16, further comprising a respective flexible tool control link connected to each end effector and extending along the plurality of coupled guides, wherein actuation of the respective flexible tool control link results in opening or closing the pair of jaws of the respective end effector. ### Claim 23 (depends on 16) The apparatus according to claim 16, wherein the support tube of the camera assembly defines a gooseneck. ### Claim 24 (depends on 16) The apparatus according to claim 16, wherein the camera is axially translatable relative to the of the first tool controller and the second tool controller upon axial reciprocation of the support tube.