Two-part endoscope surgical device
AssigneeM.S.T. Medical Surgery Technologies Ltd
InventorMordehai SHOLEV
Life of this patent
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Abstract
The present invention provides a two-part robotic device for positioning of a hand tool, comprising: a. a fixed base unit constantly fix to its position; b. a detachable body unit reversibly coupled to said fixed base unit, coupled to said current medical instrument; wherein said fixed base unit is adapted to provide independent movement to said hand tool, said independent movement selected from the group consisting of rotation and translation, and further wherein said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said hand tool for a second hand tool, said second hand tool is placed in substantially the same location as the location of said hand tool prior to said exchange.
Claims36
A two-part robotic device for positioning of a medical instrument, comprising:
- a. a rigidly mountable fixed base unit attachable to a fixed point in space;
- and
- b. a detachable body unit reversibly coupleable to said fixed base unit, coupleable to said current medical instrument,
- wherein said fixed base unit is adapted to provide independent movement to said medical instrument, said independent movement selected from a group consisting of rotation and translation, and said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said medical instrument for a second medical instrument, said second medical instrument is placed in substantially the same location as the location of said medical instrument prior to said exchange,
- wherein said detachable body comprises k consecutive arm sections, where k is a positive integer, and k−1 joints, an sth joint coupling an sth arm section to an (s+1)st arm section, s being between 1 and k−1, such that different arm sections of said detachable body are removable and replaceable, and
- wherein at least one said joint comprises locking means;
- said locking means are adapted to lock at least one of said k−1 joints in a desired direction.
A two-part robotic device for positioning of a medical instrument, comprising:
- a. a rigidly mountable fixed base unit attachable to a fixed point in space;
- and
- b. a detachable body unit reversibly coupleable to said fixed base unit, coupleable to said current medical instrument,
- wherein said fixed base unit is adapted to provide independent movement to said medical instrument, said independent movement selected from a group consisting of rotation and translation, and said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said medical instrument for a second medical instrument, said second medical instrument is placed in substantially the same location as the location of said medical instrument prior to said exchange,
- wherein said detachable body unit is an endoscope positioning device comprising means for providing to an endoscope at least 7 degrees of freedom (DOF) selected from a group consisting of at least 6 rotation movements (1007, 1009, 1010, 1011, 1012, 1013, 1601, 1602), at least 1 translation movement (1008) and any combination thereof wherein said detachable body comprises k consecutive arm sections, where k is a positive integer, and k−1 joints, an sth joint coupling an sth arm section to an (s+1)st arm section, s being between 1 and k−1;
- said locking means having at least two states, a locked state and an unlocked state;
- wherein at least one said joint comprises locking means;
- said locking means are adapted to lock at least one of said k−1 joints in a desired direction.
Dependencies are inferred from the claim text.