Surgical instruments
View Patent ↗A medical system comprises a rigid support configured for being affixed relative to a patient table, a carriage assembly configured for being removably mounted to the rigid support, a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, and a drive unit configured for being coupled to the surgical instrument to control the movement of the surgical instrument within at least one degree-of-freedom.
1. A medical system, comprising:
a rigid support configured for being affixed relative to a patient table;
a carriage assembly configured for being removably mounted to the rigid support;
a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient; and
a drive unit coupled to the surgical instrument through the carriage assembly to control the movement of the surgical instrument within at least one degree-of-freedom.
2. The medical system of claim 1 , wherein the rigid support is a rigid post configured for being mounted to the patient table.
3. The medical system of claim 1 , wherein the carriage assembly comprises at least one rail and a carriage slidably disposed on the at least one rail, the surgical instrument affixed to the carriage.
4. The medical system of claim 1 , wherein the carriage assembly is pivotably affixed to the rigid support.
5. The medical system of claim 1 , wherein the drive unit is coupled to the surgical instrument via external mechanical cabling.
6. The medical system of claim 1 , wherein the drive unit has a motor array.
7. The medical system of claim 1 , wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.
8. The medical system of claim 1 , wherein the at least one degree-of-freedom is an actuation of the distal tool.
9. The medical system of claim 1 , wherein the at least one degree-of-freedom is a linear sliding of the surgical instrument relative to the rigid support.
10. The medical system of claim 1 , wherein the at least one degree-of-freedom is a pivoting of the surgical instrument about the rigid support.
11. The medical system of claim 1 , further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.
12. The medical system of claim 11 , wherein the remote controller has a user interface for receiving commands from a user.
13. The medical system of claim 12 , wherein movements made at the user interface correspond to movements of the surgical instrument.
14. The medical system of claim 11 , wherein the remote controller is coupled to the drive unit via external electrical cabling.
15. The medical system of claim 1 , wherein the drive unit is located outside of a sterile field.
16. The medical system of claim 5 , wherein the mechanical cabling is detachable from the drive unit.
17. The medical system of claim 1 , wherein the drive unit is mechanically coupled to a side of the patient table, and the surgical instrument is positioned above the patient table.
18. The medical system of claim 17 , wherein the drive unit is mechanically coupled to the patient table through a brace, the brace carries an attachment member, the drive unit is coupled to the attachment member, and a lower portion of the rigid support is secured to the attachment member by a clamp.
19. A medical system, comprising:
a rigid support configured for being affixed relative to a patient table;
a carriage assembly configured for being removably mounted to the rigid support;
a yoke configured for being mounted to the rigid support, wherein the carriage assembly further comprises a pivot piece configured for being pivotably secured to the yoke;
a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient; and
a drive unit configured for being coupled to the surgical instrument to control the movement of the surgical instrument within at least one degree-of-freedom.
20. The medical system of claim 19 , further comprising a bracket configured for being mounted to the rigid support, and a pin configured for removably mounting the yoke to the rigid support.
21. The medical system of claim 19 , wherein the drive unit is coupled to the surgical instrument through the carriage assembly.
22. The medical system of claim 19 , wherein the carriage assembly comprises at least one rail and a carriage slidably disposed on the at least one rail, the surgical instrument affixed to the carriage.
23. The medical system of claim 19 , wherein the carriage assembly is pivotably affixed to the rigid support.
24. The medical system of claim 19 , wherein the rigid support is a rigid post configured for being mounted to the patient table.
25. The medical system of claim 19 , wherein the drive unit is coupled to the surgical instrument via external mechanical cabling.
26. The medical system of claim 19 , wherein the drive unit has a motor array.
27. The medical system of claim 19 , wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.
28. The medical system of claim 19 , wherein the at least one degree-of-freedom is an actuation of the distal tool.
29. The medical system of claim 19 , wherein the at least one degree-of-freedom is a linear sliding of the surgical instrument relative to the rigid support.
30. The medical system of claim 19 , wherein the at least one degree-of-freedom is a pivoting of the surgical instrument about the rigid support.
31. The medical system of claim 19 , further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.
32. The medical system of claim 31 , wherein the remote controller has a user interface for receiving commands from a user.
33. The medical system of claim 32 , wherein movements made at the user interface correspond to movements of the surgical instrument.
34. The medical system of claim 31 , wherein the remote controller is coupled to the drive unit via external electrical cabling.
35. A medical system, comprising:
a rigid support configured for being affixed relative to a patient table;
a carriage assembly configured for being removably mounted to the rigid support;
a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, wherein the surgical instrument comprises an adapter to which the drive unit is coupled and an instrument insert carrying the distal tool and removably disposed within the adapter; and
a drive unit configured for being coupled to the surgical instrument to control the movement of the surgical instrument within at least one degree-of-freedom.
36. The medical system of claim 35 , wherein the drive unit is coupled to the surgical instrument through the carriage assembly.
37. The medical system of claim 35 , wherein the carriage assembly comprises at least one rail and a carriage slidably disposed on the at least one rail, the surgical instrument affixed to the carriage.
38. The medical system of claim 35 , wherein the carriage assembly is pivotably affixed to the rigid support.
39. The medical system of claim 35 , wherein the rigid support is a rigid post configured for being mounted to the patient table.
40. The medical system of claim 35 , wherein the drive unit is coupled to the surgical instrument via external mechanical cabling.
41. The medical system of claim 35 , wherein the drive unit has a motor array.
42. The medical system of claim 35 , wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.
43. The medical system of claim 35 , wherein the at least one degree-of-freedom is an actuation of the distal tool.
44. The medical system of claim 35 , wherein the at least one degree-of-freedom is a linear sliding of the surgical instrument relative to the rigid support.
45. The medical system of claim 35 , wherein the at least one degree-of-freedom is a pivoting of the surgical instrument about the rigid support.
46. The medical system of claim 35 , further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.
47. The medical system of claim 46 , wherein the remote controller has a user interface for receiving commands from a user.
48. The medical system of claim 47 , wherein movements made at the user interface correspond to movements of the surgical instrument.
49. The medical system of claim 46 , wherein the remote controller is coupled to the drive unit via external electrical cabling.