Surgical apparatus
The disclosure provides a surgical apparatus comprising: a steerable member that is bendable and comprises a plurality of bending segments with channels therein; and a plurality of bending actuation wires that are arranged to pass through the steerable member and cause the steerable member to bend, the steerable member comprising at least one outwardly opening lumen through which the bending actuation wires pass.
1. An endoluminal surgical apparatus comprising:
a bendable endoscope having a proximal end and a distal end;
a robotic surgical arm comprising
an end-effector,
at least one steerable segment having a proximal end and a distal end, wherein the end effector position is controlled by the position of the distal end of the at least one steerable segment,
a flexible tubular member having a proximal end and a distal end, the at least one steerable segment operatively connected to the distal end of the flexible tubular member;
an instrument connector operatively connected to the proximal end of the flexible tubular member, and a plurality of wires extending through the instrument connector, and the flexible tubular member and into the at least one steerable segment where at least a first portion thereof are connected to the at least one steerable segment, wherein, within at least the flexible tubular member, each of the wires is enclosed in a sheath; and
a robotic surgical arm positioner comprising:
a base;
a moveable housing moveable with respect to the base, and
a positioning member received in the moveable housing and moveable with respect to the moveable housing and extendable inwardly and outwardly thereof, the proximal end of the flexible tubular member connected to the positioning member through the instrument connector, the moveable housing moveable linearly, along the base, by a first linear actuator and moveable in an arcuate path by a rotational actuator interposed between the first linear actuator and the moveable housing;
a distal coupler, wherein the distal end of the endoscope is extendable from the distal coupler;
a first flexible sheath having a proximal end and a distal end, the first flexible sheath surrounding a portion of the flexible tubular member, the proximal end of the first flexible sheath fixed in position with respect to the positioning member and the distal end of the first flexible sheath connected to the distal coupler.
2. The endoluminal surgical apparatus of claim 1 , further comprising an intermediate coupler having at least a first opening and being connected to the endoscope between the proximal and distal ends thereof, wherein the endoscope extends through the first opening in the intermediate coupler.
3. The endoluminal surgical apparatus of claim 2 , wherein the flexible tubular member extends through a second opening in the intermediate coupler and is moveable in therein, but restrained from separation therefrom in a radial direction of the second opening.
4. The endoluminal surgical apparatus of claim 3 , further comprising a flexible second sheath surrounding the intermediate coupler and at least a portion of the endoscope and the flexible tubular member.
5. The endoluminal surgical apparatus of claim 1 , wherein the instrument connector is directly coupled to the positioning member and moveable therewith.
6. The endoluminal surgical apparatus of claim 1 , wherein the moveable housing further comprises at least one cage, and the positioning member is reciprocally moveable inwardly and outwardly thereof.
7. The endoluminal surgical apparatus of claim 1 , wherein the moveable housing comprises a mechanical carriage having at least a first cage and a bridge member operatively coupled thereto; and, the proximal end of the first flexible sheath is connected to the bridge member.
8. The endoluminal surgical apparatus of claim 1 , wherein the at least one steerable segment comprises a plurality of bending segments configured to bend in an arcuate direction.
9. The endoluminal surgical device of claim 8 , wherein the bending directions of at least two adjacent bendable segments are offset from parallel to each other.
10. The endoluminal surgical device of claim 8 , wherein the at least one steerable segment includes a first plurality of bendable segments and a second plurality of bendable segments, the first and second plurality of bendable segments are connected by a coupler.
11. The endoluminal surgical apparatus of claim 1 , further comprising a third flexible sheath having a proximal end and a distal end, the third flexible sheath surrounding a portion of the bendable endoscope, the proximal end of the third flexible sheath fixed in position with respect to the moveable housing and the distal end of the third flexible sheath connected to the distal coupler.