US 11,992,936 B2 · Surgical system with variable entry guide configurations

Abstract

A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

Claims20

Dependent claims

An apparatus comprising:

an entry guide, a lateral motion mechanism, and an instrument manipulator coupled to the lateral motion mechanism;
wherein:
the entry guide comprises a proximal end, a distal end, a channel extending from the proximal end to the distal end, and a longitudinal axis defined through the proximal end and the distal end of the entry guide;
and
the lateral motion mechanism is configured to move the instrument manipulator along a trajectory in a plane perpendicular to the longitudinal axis, the trajectory being different from a rotation of the instrument manipulator about the longitudinal axis.

2 more elements

A surgical system, comprising:

a lateral motion mechanism;
an instrument manipulator coupled to the lateral motion mechanism;
the lateral motion mechanism including an adjustment member and a lateral adjustment portion, the lateral adjustment portion configured to move the instrument manipulator relative to the adjustment member in a lateral direction, the lateral direction having a component perpendicular to a central axis of the adjustment member;
and
on a condition an entry guide is mounted in the surgical system, the lateral motion mechanism is configured to move the instrument manipulator to a predetermined location, guided by the lateral adjustment portion, so that an instrument coupled to the instrument manipulator is moved in the lateral direction relative to the adjustment member to align the instrument with an instrument channel of the entry guide.

2 more elements

Dependencies are inferred from the claim text.

Facts

Application

16/881,568Filed 22 May 2020 · continuation

Priority

15 Aug 2014

Published

US 2020/0282570 A110 Sep 2020

Granted

28 May 2024

Term ends

Not estimatedThe source records don’t support an estimate.

Classification14 codes

B25J 15/0028
Gripping heads and other end effectors: with movable, e.g. pivoting gripping jaw surfaces
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 34/70
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: manipulators specially adapted for use in surgery
A61B 90/50
Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00,…

Family

Application62/038,106Us provisional application · filed 15 Aug 2014

Application62/038,096Us provisional application · filed 15 Aug 2014

PCT/US2015/044757Parent of this continuation · filed 12 Aug 2015

US 2020/0282570 A1Pre-grant publication · published 10 Sep 2020

Application15/327,322Parent of this continuation

US 10,710,246 B2Parent of this continuation

US 2017/0156803 A1Published application

US 11,992,936 B2This patent

From the US filing history. Foreign family members aren’t listed.

Surgical system with variable entry guide configurations

Life of this patent

Surgical system with variable entry guide configurations

Life of this patent

Abstract

Claims20