US6106511A — Methods and devices for positioning a surgical in…

Claim 1

Independent Claim 281 words

A surgical manipulator for moving an instrument about a desired spherical center of rotation at a desired fixed location along the instrument, the manipulator comprising: a base support adapted to be fixedly mounted to a surface; a first linkage, including at least a first rod, pivotally mounted on the base support for rotation about a first axis; an instrument holder having a longitudinal second axis wherein the instrument is held parallel to the second axis, such that the desired remote center of spherical rotation of the instrument is at the intersection of the first and second axes; a second linkage having a proximal end and a distal end, including at least a second rod, the proximal end of the second linkage being pivotally connected to the first linkage and the distal end of the second linkage being pivotally connected to the instrument holder for moving the instrument holder in a parallel plane relationship to the first linkage such that the spherical center of rotation is maintained at the desired fixed location; and an instrument drive unit coupled to the instrument holder, the instrument drive unit controlling movement of the instrument relative to the spherical center of rotation, the instrument drive unit comprising a linear actuator for reciprocating the instrument in a direction parallel to the second axis; the instrument drive unit further comprising a first drive coupled to the instrument holder, the first drive having an actuator for rotating the instrument about the second axis, said instrument having an end effector for interacting with a surgical site; wherein the instrument drive unit further comprises a second drive coupled to the instrument holder for actuating the end effector about a third axis.

Claim 2

Dependent Claim 281 words

A surgical manipulator for moving an instrument about a desired spherical center of rotation at a desired fixed location along the instrument, the manipulator comprising: a base support adapted to be fixedly mounted to a surface; a first linkage, including at least a first rod, pivotally mounted on the base support for rotation about a first axis; an instrument holder having a longitudinal second axis wherein the instrument is held parallel to the second axis, such that the desired remote center of spherical rotation of the instrument is at the intersection of the first and second axes; a second linkage having a proximal end and a distal end, including at least a second rod, the proximal end of the second linkage being pivotally connected to the first linkage and the distal end of the second linkage being pivotally connected to the instrument holder for moving the instrument holder in a parallel plane relationship to the first linkage such that the spherical center of rotation is maintained at the desired fixed location; and an instrument drive unit coupled to the instrument holder, the instrument drive unit controlling movement of the instrument relative to the spherical center of rotation, the instrument drive unit comprising a linear actuator for reciprocating the instrument in a direction parallel to the second axis; the instrument drive unit further comprising a first drive coupled to the instrument holder, the first drive having an actuator for rotating the instrument about the second axis, said instrument having an end effector for interacting with a surgical site; wherein the instrument drive unit further comprises a second drive coupled to the instrument holder for actuating the end effector about a third axis.

Claim 3

Dependent Claim 233 words

A surgical manipulator system comprising: a surgical instrument having a longitudinal instrument axis, the instrument further comprising a shaft having proximal and distal ends and an end effector coupled to the distal end, wherein the end effector is movably coupled to the distal end of the shaft at a pivot; an instrument holder for positioning the instrument in a direction so the instrument axis intersects a desired point; a base; a first linkage, including at least a first rod having a proximal end and a distal end, wherein the proximal end of the first linkage is mounted to the base; a second linkage, including at least a second rod pivotally connected to the distal end of the first linkage, the second linkage being pivotally connected to the instrument holder such that the first linkage and second linkage can rotate the instrument about the desired point; and an instrument drive unit mounted on the second linkage and coupled to the surgical instrument, the instrument drive unit manipulating the instrument relative to the desired point, wherein the instrument drive unit comprises a linear actuator for reciprocating the instrument along the instrument axis and a first drive coupled to the instrument holder, the drive having an actuator for rotating the instrument about the instrument axis, and wherein the instrument drive unit further comprises a second drive coupled to the instrument holder for actuating the end effector.

Claim 4

Dependent Claim 233 words

A surgical manipulator system comprising: a surgical instrument having a longitudinal instrument axis, the instrument further comprising a shaft having proximal and distal ends and an end effector coupled to the distal end, wherein the end effector is movably coupled to the distal end of the shaft at a pivot; an instrument holder for positioning the instrument in a direction so the instrument axis intersects a desired point; a base; a first linkage, including at least a first rod having a proximal end and a distal end, wherein the proximal end of the first linkage is mounted to the base; a second linkage, including at least a second rod pivotally connected to the distal end of the first linkage, the second linkage being pivotally connected to the instrument holder such that the first linkage and second linkage can rotate the instrument about the desired point; and an instrument drive unit mounted on the second linkage and coupled to the surgical instrument, the instrument drive unit manipulating the instrument relative to the desired point, wherein the instrument drive unit comprises a linear actuator for reciprocating the instrument along the instrument axis and a first drive coupled to the instrument holder, the drive having an actuator for rotating the instrument about the instrument axis, and wherein the instrument drive unit further comprises a second drive coupled to the instrument holder for actuating the end effector.

Claim 5

Dependent Claim 180 words

A surgical manipulator system comprising: a base support adapted to a fixedly mounted to a surface; a surgical instrument having an elongate shaft with a proximal end and a distal end, an instrument axis therebetween, and an end effector movably coupled to the distal end at a pivot; a first linkage, including at least a first rod having a proximal end and a distal end, wherein the proximal end of the first linkage is mounted to the base support; a second linkage, including at least a second rod pivotally connected to the distal end of the first linkage, the second linkage pivotally supporting the instrument such that the first linkage and second linkage can position the end effector about a desired center of rotation; and an instrument drive unit mounted on the second linkage near the surgical instrument, the drive unit having a linear actuator for reciprocating the instrument in a direction parallel to the instrument axis, a first drive for rotating the instrument about the instrument axis, and a second drive for rotating the end effector about the pivot.

Claim 6

Dependent Claim 180 words

A surgical manipulator system comprising: a base support adapted to a fixedly mounted to a surface; a surgical instrument having an elongate shaft with a proximal end and a distal end, an instrument axis therebetween, and an end effector movably coupled to the distal end at a pivot; a first linkage, including at least a first rod having a proximal end and a distal end, wherein the proximal end of the first linkage is mounted to the base support; a second linkage, including at least a second rod pivotally connected to the distal end of the first linkage, the second linkage pivotally supporting the instrument such that the first linkage and second linkage can position the end effector about a desired center of rotation; and an instrument drive unit mounted on the second linkage near the surgical instrument, the drive unit having a linear actuator for reciprocating the instrument in a direction parallel to the instrument axis, a first drive for rotating the instrument about the instrument axis, and a second drive for rotating the end effector about the pivot.

Claim 7

Dependent Claim 33 words

The system of claim 3 further comprising an instrument holder, the instrument holder positioning the instrument along the instrument axis so that the desired center of rotation is fixed along the instrument axis.

Claim 8

Dependent Claim 15 words

The system of claim 3, wherein the desired center of rotation is an insertion point.

Claim 9

Dependent Claim 13 words

The system of claim 3, wherein the desired center of rotation is movable.

Claim 10

Dependent Claim 98 words

A robotic surgical apparatus for delivering an endoscopic surgical instrument to a surgical site in a patient comprising: an articulate arm assembly having a plurality of linkages and joints and a distal portion; and an elongate tubular structure having a longitudinal aperture therethrough, said tubular structure coupled to said distal portion of said articulate arm assembly, said tubular structure adapted to be inserted through an aperture in a body wall of said patient, wherein said longitudinal aperture of said tubular structure is able to slidably engage an elongate shaft of an endoscopic surgical instrument having an end effector.

Claim 11

Dependent Claim 98 words

A robotic surgical apparatus for delivering an endoscopic surgical instrument to a surgical site in a patient comprising: an articulate arm assembly having a plurality of linkages and joints and a distal portion; and an elongate tubular structure having a longitudinal aperture therethrough, said tubular structure coupled to said distal portion of said articulate arm assembly, said tubular structure adapted to be inserted through an aperture in a body wall of said patient, wherein said longitudinal aperture of said tubular structure is able to slidably engage an elongate shaft of an endoscopic surgical instrument having an end effector.

Claim 12

Dependent Claim 30 words

The apparatus of claim 7, wherein said tubular structure is used to guide said instrument through said body aperture so that the end effector is positioned adjacent the surgical site.

Claim 13

Dependent Claim 17 words

The apparatus of claim 7, wherein said tubular structure is removably connected to said articulate arm assembly.

Claim 14

Dependent Claim 25 words

The apparatus of claim 7, wherein said instrument is secured to said articulate arm assembly by engagement with said longitudinal aperture of said cylindrical structure.

Claim 15

Dependent Claim 40 words

The apparatus of claim 7 or 10, wherein said instrument is engaged by said longitudinal aperture in such a manner that a remotely-operated drive assembly can move the end effector of said instrument to manipulate tissue at the surgical site.

Claim 16

Dependent Claim 21 words

The apparatus of claim 11, wherein said drive assembly comprises an actuator for rotating the instrument about an instrument longitudinal axis.

Claim 17

Dependent Claim 26 words

The apparatus of claim 11, wherein said drive assembly comprises a servomechanism coupled to an input control device for remotely controlling movement of the surgical instrument.

Claim 18

Dependent Claim 27 words

The apparatus of claim 11 further comprising a sensor coupled to the drive assembly for detecting forces or torques applied to the instrument by the drive assembly.

Claim 19

Dependent Claim 69 words

The apparatus of claim 14, wherein said drive assembly comprises a servomechanism operatively coupled to an input control device for remotely controlling movement of the surgical instrument according to an operator's input; and a feed back control assembly operatively coupled to the sensor and the servomechanism for transmitting signals representative of the forces or torques applied to the instrument to the input control device for sensing by an operator.

Claim 20

Dependent Claim 40 words

The apparatus of claim 7, wherein said instrument comprises said end effector coupled to a wrist member coupled to said elongate shaft, wherein said end effector can move relative to said elongate shaft in at least two degrees of freedom.

Claim 21

Dependent Claim 48 words

The apparatus of claim 16, wherein said elongate shaft has a longitudinal axis, wherein said at least said two degrees of freedom comprise actuation of the end effector and rotation of the end effector about a distal axis angularly disposed to the longitudinal axis of said elongate shaft.

Claim 22

Dependent Claim 16 words

The apparatus of claim 17, wherein said distal axis is substantially perpendicular to said longitudinal axis.

Claim 23

Dependent Claim 51 words

The apparatus of claim 7 or 16, wherein a drive assembly maneuvers said instrument in at least two degrees of proximal freedom of movement around a center of motion coincident with a longitudinal axis of said elongate shaft, said center of motion further substantially in the vicinity of said body aperture.

Claim 24

Dependent Claim 33 words

The apparatus of claim 19, wherein said plurality of linkages and joints comprise a parallelogram system useful for supporting the tubular structure and for retaining said center of motion on said longitudinal axis.

Claim 25

Dependent Claim 31 words

The apparatus of claim 7, wherein said elongate shaft has a distal end, wherein said end effector is movably coupled to the distal end of the elongate shaft at a pivot.

Claim 26

Independent Claim 122 words

A method of delivering an endoscopic surgical instrument to a surgical site in a patient comprising: providing an articulate arm assembly having a plurality of linkages and joints and a distal portion, said articulate arm assembly having an elongate tubular structure coupled to said distal portion, said tubular structure having a proximal end, a distal end, and a longitudinal aperture extending between said proximal and distal ends; inserting said tubular structure into a body aperture; and slidably engaging an elongate shaft of an endoscopic surgical instrument through said tubular structure longitudinal aperture so that said instrument extends through said body aperture distal of said distal end of said tubular structure; and positioning an end effector of said instrument adjacent said surgical site.

Claim 27

Independent Claim 122 words

A method of delivering an endoscopic surgical instrument to a surgical site in a patient comprising: providing an articulate arm assembly having a plurality of linkages and joints and a distal portion, said articulate arm assembly having an elongate tubular structure coupled to said distal portion, said tubular structure having a proximal end, a distal end, and a longitudinal aperture extending between said proximal and distal ends; inserting said tubular structure into a body aperture; and slidably engaging an elongate shaft of an endoscopic surgical instrument through said tubular structure longitudinal aperture so that said instrument extends through said body aperture distal of said distal end of said tubular structure; and positioning an end effector of said instrument adjacent said surgical site.

Claim 28

Dependent Claim 29 words

The method of claim 22, wherein said tubular structure is inserted into the body aperture after the instrument is slidably engaged in the longitudinal aperture of said tubular structure.

Claim 29

Dependent Claim 20 words

The method of claim 22, further comprising controlling movement of said end effector to manipulate tissue at the surgical site.

Claim 30

Dependent Claim 15 words

The method of claim 24, further comprising rotating the instrument about an instrument longitudinal axis.

Claim 31

Dependent Claim 45 words

The method of claim 22, wherein said instrument comprises said end effector coupled to a wrist member coupled to said elongate shaft, wherein said method further comprises controlling movement of said end effector in at least two degrees of freedom relative to said elongate shaft.

Claim 32

Dependent Claim 53 words

The method of claim 24 or 26, wherein said controlling movement of the end effector comprises manipulating an input device remote from the surgical site, said input device operatively connected to the articulate arm assembly and the instrument so that movement of the instrument corresponds to how an operator moves the input device.

Claim 33

Dependent Claim 44 words

The method of claim 22 or 26, said method further comprising maneuvering said surgical instrument in at least two degrees of proximal freedom of movement around a center of motion coincident with a longitudinal axis of said elongate shaft and with said body aperture.

Claim 34

Dependent Claim 33 words

The method of claim 28, wherein said plurality of linkages and joints comprise a parallelogram system useful for supporting the tubular structure and for retaining said center of motion on said longitudinal axis.

Claim 35

Dependent Claim 48 words

The method of claim 26, wherein said elongate shaft has a longitudinal axis, wherein said at least said two degrees of freedom comprise actuation of the end effector and rotation of the end effector about a distal axis angularly disposed to the longitudinal axis of said elongate shaft.

Claim 36

Dependent Claim 16 words

The method of claim 30, wherein said distal axis is substantially perpendicular to said longitudinal axis.

Claim 37

Dependent Claim 60 words

The method of claim 22, wherein said elongate shaft has a distal end, wherein said end effector is movably coupled to the distal end of the elongate shaft at a pivot, said method further comprising moving the end effector relative to the elongate shaft around said pivot and actuating the end effector to interact with tissue at the surgical site.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2003-08-22	2004-02-21	2004-08-22	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2007-08-22	2008-02-21	2008-08-22	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2011-08-22	2012-02-21	2012-08-22	$7700.00	Window Closed / Lapsed

Methods and devices for positioning a surgical instrument at a surgical site

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