Mounting device for surgical systems and method of use
A surgical mounting device may detachably couple to a patient access device to maintain alignment between a surgical instrument and the access device as instruments are interchangeably inserted and removed from the access device. The mounting device may include arms that pivot between a closed configuration in which the arms grip the access device inserted therebetween and an open configuration in which arm are spaced further apart from each other than in the closed configuration. A drive member may transition the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member.
1. A surgical mounting device comprising:
a surgical robotic arm;
a first arm and a second arm protruding from the surgical robotic arm and pivotable between a closed configuration in which the first and second arms grip a patient access device inserted therebetween and an open configuration in which a portion of the first and second arms are spaced further apart from each other than in the closed configuration;
a first biasing member including a first portion coupled to the first arm and a second portion coupled to the second arm, the first biasing member extending in a first direction and biasing the first arm and the second arm in the open configuration;
a drive member coupled between the first and second arms, the drive member driving the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member, the drive member movable in a second direction which is perpendicular to the first direction; and
a release mechanism biasing the first and the second arms toward the open configuration when actuated, wherein the release mechanism defines an actuation pivot point, such that the release mechanism is pivotable between a non-actuated position and an actuated position.
2. The surgical mounting device of claim 1 , wherein the release mechanism includes a hooked end cooperatively engaging with a surface of the drive member in an actuated position.
3. The surgical mounting device of claim 1 , wherein the release mechanism includes a chamfered profile engaging with a proximal surface of the drive member in an actuated position.
4. The surgical mounting device of claim 1 , wherein the release mechanism is biased towards a non-actuated position.
5. The surgical mounting device of claim 4 , wherein the release mechanism includes two release mechanisms disposed on opposing sides of a housing, actuation of both biases of the first and the second arms toward the open configuration.
6. The surgical mounting device of claim 4 , wherein the release mechanism includes two release mechanisms disposed on opposing sides of a housing, actuation of either biases the first and the second arms toward the open configuration.
7. The surgical mounting device of claim 1 , wherein the first and second arms have an arcuate surface corresponding to an arcuate surface of the patient access device gripped by the first and second arms.
8. A surgical mounting device for selectively gripping a patient access device therein, the surgical mounting device comprising:
a housing;
a clamping assembly supported in the housing and extending therefrom, the clamping assembly including:
a surgical robotic arm;
a plunger assembly supported on the housing and including a drive member disposed in the housing coupled to a middle segment disposed distal to the housing, wherein the drive member and middle segment simultaneously translate between a proximal position and a distal position with respect to the housing; and
a first and second arm supported by the housing, protruding from the surgical robotic arm, and including a proximal portion disposed in the housing and a distal portion extending therefrom, each of the first and second arms coupled at the proximal end to the drive member and pivotable with respect to the housing between an open position and a closed position, wherein in the open position the first and second arms are spaced apart relative to one another and in the closed position the first and second arms are in an approximated position relative to one another;
a first biasing member including a first portion coupled to the first arm and a second portion coupled to the second arm, the first biasing member biasing the first arm and the second arm in the open position;
a second biasing member including a first portion coupled to the middle segment and a second portion coupled to the drive member, the second biasing member biasing the middle segment distally with respect to the drive member,
wherein the clamping assembly is transitionable between an unlocked configuration and a locked configuration, such that in the unlocked configuration the drive member and the middle segment are in the distal position and the first and second arms are in the open position, and in the locked configuration the drive member and middle segment are in the proximal position and the first and second arms are in the closed position, and
at least one release mechanism including:
a contact surface disposed in the housing; and
an articulation member in operative communication with the contact surface, a portion of the articulation member disposed externally from the housing,
wherein the at least one release mechanism is transitionable between an initial position and a release position, such that in the initial position the contact surface is spaced away from the drive member, and in the release position the contact surface is in abutment with the drive member, the release position translating the drive member into the distal position, such that the clamping assembly is transitioned into the unlocked configuration.
9. The surgical mounting device claim 8 , wherein the at least one release mechanism including two release mechanisms disposed in opposite sides of the housing.
10. The surgical mounting device of claim 8 , wherein each of the first and second arms further include an arcuate surface on the distal portion, and wherein the middle segment further includes an arcuate surface on a distally facing surface.
11. The surgical mounting device of claim 10 , wherein the first arm, the second arm, and the middle segment further includes a protruding ridge disposed on each of the arcuate surfaces.
12. The surgical mounting device of claim 8 , wherein each of the first and second arms further include a pivot point disposed distal to the proximal end, such that pivoting the arms from the open position to the closed position translates the drive member and the middle segment coupled therewith from the distal position to the proximal position transitioning the clamping assembly into the locked configuration.
13. The surgical mounting device of claim 8 , wherein the middle segment translates from the proximal position to the distal position, such that the drive member coupled therewith translates distally and the first and second arms pivot from the open position to the closed position transitioning the clamping assembly into the locked configuration.
14. The surgical mounting device of claim 8 , wherein the at least one release mechanism further includes a third biasing member biasing the at least one release mechanism into the initial condition.
15. A surgical mounting device comprising:
a surgical robotic arm;
a first arm and a second arm protruding from the surgical robotic arm and pivotable between a closed configuration in which the first and second arms grip a patient access device inserted therebetween and an open configuration in which a portion of the first and second arms are spaced further apart from each other than in the closed configuration;
a first biasing member including a first portion coupled to the first arm and a second portion coupled to the second arm, the first biasing member extending in a first direction and biasing the first arm and the second arm in the open configuration;
a drive member coupled between the first and second arms, the drive member driving the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member, the drive member movable in a second direction which is perpendicular to the first direction; and
a release mechanism biasing the first and the second arms toward the open configuration when actuated, wherein the release mechanism includes a hooked end cooperatively engaging with a surface of the drive member in an actuated position.
16. A surgical mounting device comprising:
a surgical robotic arm;
a first arm and a second arm protruding from the surgical robotic arm and pivotable between a closed configuration in which the first and second arms grip a patient access device inserted therebetween and an open configuration in which a portion of the first and second arms are spaced further apart from each other than in the closed configuration;
a first biasing member including a first portion coupled to the first arm and a second portion coupled to the second arm, the first biasing member extending in a first direction and biasing the first arm and the second arm in the open configuration;
a drive member coupled between the first and second arms, the drive member driving the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member, the drive member movable in a second direction which is perpendicular to the first direction; and
a release mechanism biasing the first and the second arms toward the open configuration when actuated, wherein the release mechanism includes a chamfered profile engaging with a proximal surface of the drive member in an actuated position.
17. A surgical mounting device comprising:
a surgical robotic arm;
a first arm and a second arm protruding from the surgical robotic arm and pivotable between a closed configuration in which the first and second arms grip a patient access device inserted therebetween and an open configuration in which a portion of the first and second arms are spaced further apart from each other than in the closed configuration;
a first biasing member including a first portion coupled to the first arm and a second portion coupled to the second arm, the first biasing member extending in a first direction and biasing the first arm and the second arm in the open configuration;
a drive member coupled between the first and second arms, the drive member driving the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member, the drive member movable in a second direction which is perpendicular to the first direction; and
a release mechanism biasing the first and the second arms toward the open configuration when actuated, wherein the release mechanism includes two release mechanisms disposed on opposing sides of a housing, actuation of both of the two release mechanisms biases of the first and the second arms toward the open configuration.
18. A surgical mounting device comprising:
a surgical robotic arm;
a first arm and a second arm protruding from the surgical robotic arm and pivotable between a closed configuration in which the first and second arms grip a patient access device inserted therebetween and an open configuration in which a portion of the first and second arms are spaced further apart from each other than in the closed configuration;
a first biasing member including a first portion coupled to the first arm and a second portion coupled to the second arm, the first biasing member extending in a first direction and biasing the first arm and the second arm in the open configuration;
a drive member coupled between the first and second arms, the drive member driving the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member, the drive member movable in a second direction which is perpendicular to the first direction; and
a release mechanism biasing the first and the second arms toward the open configuration when actuated, wherein the release mechanism includes two release mechanisms disposed on opposing sides of a housing, actuation of either of the two release mechanisms biases the first and the second arms toward the open configuration.