US6406472B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Remote center positioner
Assignee: SRI International Inc
•
Filing: 2000-05-09
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Granted: 2002-06-18
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Expires: 2020-05-09
Abstract
Abstract The invention is directed to a remote center positioner used to support an instrument and provide a center of spherical rotation, remote from any bearings or mechanical supports, at a desired location of the instrument. The remote center positioner is particularly useful in laparoscopic surgery to constrain a surgical instrument to move around a fixed center of rotation remote from any bearings or mechanical supports and coincident with an entry incision in the abdominal wall.
Inventors
- 👤 Joel F. Jensen
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 10:30
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/10; B25J9/106; B25J9/1065; A; A61; A61B; A61B34/00; A61B34/70; A61B34/71; A61B34/76; A61B17/00; A61B17/00234; A61B90/00; A61B90/50; A61B2090/506
Claims Analysis
Total Claims: 24
Claim 1
Independent Claim
119 words
A method of performing an endoscopic surgical procedure on a target site within a body cavity of a patient comprising: coupling an elongate tubular structure to a robotic arm; introducing a distal portion of said elongate tubular structure through a percutaneous penetration into the body cavity within the patient; introducing an elongate shaft of a surgical instrument through said tubular structure and through said percutaneous penetration, at least a portion of a distal portion of said elongate shaft extending beyond said tubular structure into the body cavity; and pivoting the elongate structure and instrument about the percutaneous penetration by moving a proximal portion of said instrument outside the body cavity with a plurality of degrees of freedom of movement.
Claim 2
Independent Claim
119 words
A method of performing an endoscopic surgical procedure on a target site within a body cavity of a patient comprising: coupling an elongate tubular structure to a robotic arm; introducing a distal portion of said elongate tubular structure through a percutaneous penetration into the body cavity within the patient; introducing an elongate shaft of a surgical instrument through said tubular structure and through said percutaneous penetration, at least a portion of a distal portion of said elongate shaft extending beyond said tubular structure into the body cavity; and pivoting the elongate structure and instrument about the percutaneous penetration by moving a proximal portion of said instrument outside the body cavity with a plurality of degrees of freedom of movement.
Claim 3
Dependent Claim
32 words
The method of claim 1 further comprising moving a distal portion of the surgical instrument with a plurality of distal degrees of freedom of movement within the body cavity of the patient.
Claim 4
Dependent Claim
18 words
The method of claim 2 wherein the distal portion of the surgical instrument has three degrees of freedom.
Claim 5
Dependent Claim
25 words
The method of claim 2 wherein moving the distal portion of the surgical instrument comprises articulating a plurality of rotational joints coupling rigid shaft elements.
Claim 6
Dependent Claim
16 words
The method of claim 2 wherein the distal portion of the surgical instrument comprises end effectors.
Claim 7
Dependent Claim
30 words
The method of claim 5 wherein the end effectors comprise a wristed joint located along the instrument shaft, the method further comprising pivoting the end effectors about the wristed joint.
Claim 8
Dependent Claim
14 words
The method of claim 5 comprising opening and closing jaws of the end effector.
Claim 9
Dependent Claim
22 words
The method of claim 1 further comprising remotely controlling movement of the tubular structure and surgical instrument with an input control device.
Claim 10
Dependent Claim
16 words
The method of claim 8 further comprising detecting forces and torques applied to the surgical instrument.
Claim 11
Dependent Claim
25 words
The method of claim 9 comprising transmitting feedback signals to the input control device based on the forces and torques applied to the surgical instrument.
Claim 12
Dependent Claim
41 words
The method of claim 1 further including rotating and translating first and second linkages to constrain movement of the instrument such that the remote spherical center of rotation on the instrument remains at a fixed position relative to the percutaneous penetration.
Claim 13
Independent Claim
164 words
A method of performing an endoscopic surgical procedure on a target site within a body cavity of a patient, the method comprising: coupling an elongate tubular structure to a robotic arm; introducing a distal portion of said elongate tubular structure through a percutaneous penetration into the body cavity within the patient; introducing an elongate shaft of a surgical instrument through said tubular structure and through said percutaneous penetration, at least a portion of a distal portion of said elongate shaft extending beyond said tubular structure into the body cavity; establishing a center of rotation at a desired location along said elongate tubular structure, such that said robotic arm constrains movement of the instrument about said center of rotation in the course of manipulation of tissue with the instrument within the body cavity; and pivoting the elongate structure and instrument about the percutaneous penetration by moving a proximal portion of said instrument outside the body cavity with a plurality of degrees of freedom of movement.
Claim 14
Independent Claim
164 words
A method of performing an endoscopic surgical procedure on a target site within a body cavity of a patient, the method comprising: coupling an elongate tubular structure to a robotic arm; introducing a distal portion of said elongate tubular structure through a percutaneous penetration into the body cavity within the patient; introducing an elongate shaft of a surgical instrument through said tubular structure and through said percutaneous penetration, at least a portion of a distal portion of said elongate shaft extending beyond said tubular structure into the body cavity; establishing a center of rotation at a desired location along said elongate tubular structure, such that said robotic arm constrains movement of the instrument about said center of rotation in the course of manipulation of tissue with the instrument within the body cavity; and pivoting the elongate structure and instrument about the percutaneous penetration by moving a proximal portion of said instrument outside the body cavity with a plurality of degrees of freedom of movement.
Claim 15
Dependent Claim
32 words
The method of claim 12 further comprising moving a distal portion of the surgical instrument with a plurality of distal degrees of freedom of movement within the body cavity of the patient.
Claim 16
Dependent Claim
18 words
The method of claim 13 wherein the distal portion of the surgical instrument has three degrees of freedom.
Claim 17
Dependent Claim
24 words
The method of claim 13 wherein moving the distal portion of the instrument comprises articulating a plurality of rotational joints coupling rigid shaft elements.
Claim 18
Dependent Claim
16 words
The method of claim 13 wherein the distal portion of the surgical instrument comprises end effectors.
Claim 19
Dependent Claim
30 words
The method of claim 16 wherein the end effectors comprise a wristed joint located along the instrument shaft, the method further comprising pivoting the end effectors about the wristed joint.
Claim 20
Dependent Claim
14 words
The method of claim 16 comprising opening and closing jaws of the end effector.
Claim 21
Dependent Claim
22 words
The method of claim 12 further comprising remotely controlling movement of the tubular structure and surgical instrument with an input control device.
Claim 22
Dependent Claim
16 words
The method of claim 19 further comprising detecting forces and torques applied to the surgical instrument.
Claim 23
Dependent Claim
25 words
The method of claim 20 comprising transmitting feedback signals to the input control device based on the forces and torques applied to the surgical instrument.
Claim 24
Dependent Claim
41 words
The method of claim 12 further including rotating and translating first and second linkages to constrain movement of the instrument such that the remote spherical center of rotation on the instrument remains at a fixed position relative to the percutaneous penetration.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-06-17 | 2005-12-17 | 2006-06-18 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-06-17 | 2009-12-17 | 2010-06-18 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-06-17 | 2013-12-17 | 2014-06-18 | $7700.00 | Window Closed / Lapsed |