Surgical instrument apparatus, actuator, and drive
A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link.
1. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising:
an elongate manipulator including a distal end configured to receive an end effector and including a plurality of control links extending through the manipulator and configured to cause movement of the distal end of the manipulator in response to movement of the control links in a longitudinal direction generally aligned with a length of the manipulator, wherein the elongate manipulator defines a manipulator central longitudinal axis; and
an actuator chassis disposed at a proximal end of the manipulator, the actuator chassis including a plurality of actuators mounted within the actuator chassis, each actuator being coupled to one of the control links configured to couple a drive force to the actuator to cause movement of the control link, wherein the actuator chassis defines a chassis central longitudinal axis, wherein a periphery of the actuator chassis includes a curved portion and a flat portion, and wherein the plurality of actuators are mounted within slots extending longitudinally along the curved portion and radially arranged about the curved portion, the flat portion facilitating location of the surgical instrument apparatus adjacent to another apparatus including a corresponding flat portion,
wherein the manipulator central longitudinal axis is parallel with and laterally offset from the chassis central longitudinal axis to facilitate positioning of the surgical instrument apparatus adjacent to another surgical instrument apparatus for insertion through a common access port positioned to provide access to the body cavity of the patient.
2. The apparatus of claim 1 wherein the manipulator comprises:
a rigid portion connected to the actuator chassis; and
an actuatable articulated portion configured to cause the movement of the distal end of the manipulator in response to longitudinal movement of the control links.
3. The apparatus of claim 2 further comprising an unactuated articulated portion disposed between the rigid portion and the actuator chassis, the unactuated articulated portion configured to permit the manipulator to be bent to reduce an overall length of the manipulator and actuator chassis during cleaning and sanitizing of the apparatus.
4. The apparatus of claim 1 wherein the proximate end of the manipulator is laterally offset to facilitate positioning of the surgical instrument apparatus adjacent to the another surgical instrument apparatus so that spacing between the manipulator and another manipulator of the another surgical instrument is between 10 millimeters and 35 millimeters.
5. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising:
an elongate manipulator comprising a distal end configured to receive an end effector and including a plurality of control links extending through the manipulator and configured to cause movement of the distal end of the manipulator in response to movement of the control links in a longitudinal direction generally aligned with a length of the manipulator, wherein the elongate manipulator defines a manipulator central longitudinal axis; and
an actuator chassis disposed at a proximal end of the manipulator, wherein a periphery of the actuator chassis includes a curved portion and a flat portion, the actuator chassis including a plurality of actuators slidingly mounted with respect to the actuator chassis and configured to move linearly in a direction aligned with the longitudinal direction, each actuator being coupled to one of the control links, the actuators being disposed about the periphery of the actuator chassis and including an outwardly oriented portion configured to couple a drive force to the actuator to cause movement of the control link, wherein the actuator chassis defines a chassis central longitudinal axis, wherein the plurality of actuators are mounted within slots extending longitudinally along the curved portion and radially arranged about the curved portion, the flat portion facilitating location of the surgical instrument apparatus adjacent to another apparatus including a corresponding flat portion, and wherein the manipulator central longitudinal axis is parallel with and laterally offset from the chassis central longitudinal axis.
6. The apparatus of claim 5 wherein the another apparatus including the corresponding flat portion comprises another of the surgical instrument apparatus, and wherein the respective flat portions facilitate location of the respective elongate manipulators in proximity for insertion through a common access port positioned to provide access to the body cavity of the patient.
7. The apparatus of claim 5 wherein the actuator chassis includes a transition portion between the manipulator and the actuator chassis, the transition portion configured to laterally displace the control links for coupling to the respective actuators.
8. The apparatus of claim 5 wherein the manipulator comprises at least one end effector control link configured to couple to an end effector, and wherein the actuator chassis comprises at least one end effector actuator coupled to the end effector control link to actuate movements of the end effector.
9. The apparatus of claim 8 wherein the at least one end effector actuator is mounted within the actuator chassis to permit at least one of:
longitudinal movement configured to actuate opening or closing of an end effector; or
rotational movement configured to cause a corresponding rotation of the end effector.
10. The apparatus of claim 9 wherein the at least one end effector actuator comprises a single end effector actuator configured to perform both the longitudinal movement and the rotational movement.
11. The apparatus of claim 8 wherein the at least one end effector control link is routed along a central bore of the actuator chassis.
12. The apparatus of claim 5 wherein the manipulator further comprises:
a rigid portion; and
a first articulated portion configured to cause the movement of the distal end of the manipulator in response to the longitudinal movement of the control links, the first actuatable articulated portion disposed at a distal end of the rigid portion.
13. The apparatus of claim 12 further comprising a second actuatable articulated portion disposed between a proximal end of the rigid portion and the chassis, the second actuatable articulated portion configured to permit the manipulator to be bent to reduce an overall length of the manipulator and actuator chassis during cleaning and sanitizing of the apparatus.
14. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising:
an elongate manipulator comprising a distal end configured to receive an end effector and including a plurality of control links extending through the manipulator and configured to cause movement of the distal end of the manipulator in response to movement of the control links in a longitudinal direction generally aligned with a length of the manipulator, wherein the elongate manipulator defines a manipulator central longitudinal axis; and
an actuator chassis disposed at a proximal end of the manipulator, the actuator chassis including a plurality of actuators slidingly mounted with respect to the actuator chassis and configured to move linearly in a direction aligned with the longitudinal direction, each actuator being coupled to one of the control links, the actuators being disposed about a periphery of the actuator chassis and including an outwardly oriented portion configured to couple a drive force to the actuator to cause movement of the control link, wherein the actuator chassis defines a chassis central longitudinal axis, wherein the outwardly oriented portions of the plurality of actuators are each shaped to engage a corresponding drive coupling configured to couple the drive force to the actuator, and wherein an actuator coupling portion of the actuator comprises an actuator protrusion that extends outwardly beyond the periphery of the actuator chassis, and
a drive chassis including a respective plurality of drive couplers configured to couple drive forces to the plurality of actuators, the drive couplers arranged about the periphery of the actuator chassis, each drive coupler comprising:
an open channel portion configured to receive the respective actuator protrusions when the actuator chassis is inserted into the drive chassis; and
a retaining portion configured to receive and retain the respective actuator protrusions when the drive chassis and the actuator chassis are rotated thorough an angle to cause the retaining portions to engage the respective actuator protrusions,
wherein the manipulator central longitudinal axis is parallel with and laterally offset from the chassis central longitudinal axis.
15. The apparatus of claim 14 wherein the drive chassis is configured to permit the manipulator to be inserted through the drive chassis to cause the open channel portions to receive the respective actuator protrusions.