Surgical system with variable entry guide configurations
A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
1. An apparatus comprising:
an entry guide, a lateral motion mechanism, and an instrument manipulator coupled to the lateral motion mechanism;
wherein:
the entry guide comprises a proximal end, a distal end, a channel extending from the proximal end to the distal end, and a longitudinal axis defined through the proximal end and the distal end of the entry guide; and
the lateral motion mechanism is configured to move the instrument manipulator along a trajectory in a plane perpendicular to the longitudinal axis, the trajectory being different from a rotation of the instrument manipulator about the longitudinal axis.
2. The apparatus of claim 1 , wherein:
the lateral motion mechanism comprises a gearbox; and
the instrument manipulator is coupled to the gearbox.
3. The apparatus of claim 2 , wherein:
the gearbox comprises a gear and a pin;
the gear comprises a side surface; and
the pin is coupled to the side surface of the gear and is moveably coupled to the instrument manipulator so that movement of the pin moves the instrument manipulator.
4. The apparatus of claim 3 , wherein:
the side surface of the gear comprises a cam;
the pin rides on the cam; and
the pin moves in two degrees of freedom.
5. The apparatus of claim 1 , wherein:
the instrument manipulator comprises a movable platform;
the apparatus further comprises an adjustment member and a lock;
the adjustment member comprises at least one of a plurality of through holes or an adjustment path; and
the lock is configured to lock the movable platform at a location corresponding to any one of the plurality of through holes or a path location along the adjustment path.
6. The apparatus of claim 1 , wherein:
the entry guide comprises identification information;
the apparatus further comprises a control system configured to receive the identification information; and
the control system is configured to command the lateral motion mechanism to move along the trajectory based on the identification information.
7. The apparatus of claim 6 , wherein:
the identification information is first identification information;
an instrument mounted on the instrument manipulator further comprises second identification information;
the control system is configured to receive the second identification information; and
the control system is configured to command the lateral motion mechanism to move along the trajectory based on the second identification information.
8. The apparatus of claim 1 , wherein:
the instrument manipulator is a first instrument manipulator and the trajectory is a first trajectory;
the apparatus further comprising a second instrument manipulator coupled to the lateral motion mechanism; and
the lateral motion mechanism is configured to move the second instrument manipulator along a second trajectory in the plane perpendicular to the longitudinal axis, the second trajectory being different from a rotation of the second instrument manipulator about the longitudinal axis, and the second trajectory being different from the first trajectory of the first instrument manipulator.
9. The apparatus of claim 1 , wherein:
the lateral motion mechanism is configured to move the instrument manipulator along the trajectory from a first position to a second position;
at the first position, an end portion of an instrument mounted to the instrument manipulator is not aligned with the channel of the entry guide; and
at the second position, the end portion of the instrument mounted to the instrument manipulator is aligned with the channel of the entry guide.
10. The apparatus of claim 9 , wherein:
the instrument manipulator is a first instrument manipulator, the trajectory is a first trajectory, and the channel is a first channel;
the apparatus further comprises a second instrument manipulator coupled to the lateral motion mechanism;
the entry guide comprises a second channel extending from the proximal end to the distal end of the entry guide; and
the lateral motion mechanism is configured to move the second instrument manipulator along a second trajectory in the plane perpendicular to the longitudinal axis from a third position to a fourth position, the second trajectory being different from a rotation of the second instrument manipulator about the longitudinal axis, and the second trajectory being different from the first trajectory of the first instrument manipulator.
11. The apparatus of claim 10 , wherein:
the instrument is a first instrument;
at the third position, an end portion of a second instrument mounted to the second instrument manipulator is not aligned with the second channel of the entry guide; and
at the fourth position, the end portion of the second instrument mounted to the second instrument manipulator is aligned with the second channel of the entry guide.
12. The apparatus of claim 10 , wherein:
the first channel defines a first central axis;
the second channel defines a second central axis; and
the first central axis is non-parallel with the second central axis.
13. A surgical system, comprising:
a lateral motion mechanism;
an instrument manipulator coupled to the lateral motion mechanism;
the lateral motion mechanism including an adjustment member and a lateral adjustment portion, the lateral adjustment portion configured to move the instrument manipulator relative to the adjustment member in a lateral direction, the lateral direction having a component perpendicular to a central axis of the adjustment member; and
on a condition an entry guide is mounted in the surgical system, the lateral motion mechanism is configured to move the instrument manipulator to a predetermined location, guided by the lateral adjustment portion, so that an instrument coupled to the instrument manipulator is moved in the lateral direction relative to the adjustment member to align the instrument with an instrument channel of the entry guide.
14. The surgical system of claim 13 , wherein:
the lateral motion mechanism comprises an anchor, a support coupled to the anchor, and a platform coupled to the support;
the instrument manipulator is coupled to the platform;
the support is configured to rotate about the anchor to move the platform along a first axis in a plane perpendicular a longitudinal axis of the entry guide; and
the platform is configured to move on the support along a second axis in the plane perpendicular to the longitudinal axis of the entry guide.
15. The surgical system of claim 14 , wherein:
the support is configured to rotate about a third axis; and
the platform is configured to move on the support along a rail system, the platform being movable along the rail system about a fourth axis.
16. The surgical system of claim 13 , wherein:
the lateral adjustment portion is an adjustment cam defined in the adjustment member;
the lateral motion mechanism comprises a platform, the platform including a rod that engages the adjustment cam; and
the predetermined location of the instrument manipulator is defined by the rod of the platform at a rod location relative to the adjustment cam.
17. The surgical system of claim 13 , wherein:
the lateral motion mechanism comprises a platform, the instrument manipulator being coupled to the platform; and
the platform is configured to move in a plane perpendicular to a longitudinal axis of the entry guide.
18. The surgical system of claim 17 , wherein:
the lateral motion mechanism comprises a rail system;
the platform is coupled to the rail system; and
the platform is configured to move on the rail system in the plane perpendicular to the longitudinal axis of the entry guide.
19. The surgical system of claim 17 , wherein:
the lateral adjustment portion is an adjustment cam defined in the adjustment member;
the platform comprises a rod that extends into the adjustment cam; and
the predetermined location of the instrument manipulator is defined by the rod at a rod location relative to the adjustment cam.
20. The surgical system of claim 13 , further comprising a control system, the control system being configured to receive identification information and being configured to command the lateral motion mechanism to move in the lateral direction based on the identification information.