System and method for positioning a laparoscopic device
A system for positioning a laparoscopic device includes a curvilinear articulating arm and a holder. The holder has at least two rotational regions and a clamping portion for receiving the laparoscopic device, and the holder is coupled to the curvilinear articulating arm. The at least two rotational regions are permitted to articulate. In addition, a method of positioning a laparoscopic device in a skin port of a mammal includes: securing the laparoscopic device to a holder having at least two rotational joints; coupling the holder to a curvilinear articulating arm; disposing the laparoscopic device partially within the skin port; positioning the laparoscopic device by selectively articulating the curvilinear articulating arm and selectively rotating portions of the holder with respect to one another.
1. A system for positioning a laparoscopic device, the system having a holder comprising:
a central portion comprising a first member operatively associated with a second member, the members selectively movable with respect to one another along a central axis, the central portion having a proximal end defined by the first member and a distal end defined by the second member;
at least three proximal rotational joints coupled to the first member proximate the proximal end;
at least two distal rotational joints coupled to the second member proximate the distal end;
a clamp configured and dimensioned for retaining a laparoscopic device; and
a coupling portion proximate a first of the proximal rotational joints;
wherein a first of the distal rotational joints is coupled to the distal end of the central portion and a second of the distal rotational joints is coupled to the clamp, and
wherein each proximal rotational joint and each distal rotational joint permits 360° of rotation in a respective predetermined plane about a respective axis perpendicular to the predetermined plane.
2. The system of claim 1 , wherein the members telescope with respect to one another.
3. The system of claim 2 , wherein the second member is slidably received in the first member.
4. The system of claim 3 , wherein the first member comprises a slot and the second member comprises a protrusion, the protrusion movable within the slot.
5. The system of claim 4 , wherein the protrusion comprises a roller key.
6. The system of claim 4 , wherein the second member comprises a piston member proximate an end thereof, the piston member disposed within the first member.
7. The system of claim 6 , wherein the piston member is spring-loaded with a spring oriented transverse to the central axis.
8. The system of claim 2 , wherein the first member comprises a receiving end for receiving the second member and a bushing coupled to the receiving end.
9. The system of claim 8 , wherein the bushing comprises a plurality of fingers disposed radially with respect to the central axis.
10. The system of claim 1 , wherein each of the proximal and distal rotational joints comprises a thrust bearing.
11. The system of claim 10 , wherein the thrust bearing is a steel ball thrust bearing.
12. The system of claim 10 , wherein each of the proximal rotational joints comprises a washer abutting a spacer and rotatable with respect to each other.
13. The system of claim 12 , wherein the spacer is formed of a material that is polytetrafluoroethylene-based.
14. The system of claim 10 , wherein each of the distal rotational joints comprises a washer abutting a spacer and rotatable with respect to each other.
15. The system of claim 12 , wherein the spacer is formed of a material comprising acetal homopolymer.
16. The system of claim 10 , wherein each of the proximal and distal rotational joints comprises a spacer, each of the spacers of the proximal rotational joints having a first thickness and each of the spacers of the distal rotational joints having a second thickness, the first thickness being smaller than the second thickness.
17. The system of claim 1 , wherein the at least three proximal rotational joints comprises three proximal rotational joints that each permit movement in a separate plane.
18. The system of claim 17 , wherein at least two of the planes are parallel to one another.
19. The system of claim 1 , wherein:
the first of the distal rotational joints permits rotation about an axis coinciding with the main axis; and
the second of the distal rotational joints permits rotation about an axis transverse to the main axis.
20. The system of claim 19 , wherein the second of the distal rotational joints permits rotation about an axis generally perpendicular to the main axis.
21. The system of claim 1 , wherein the clamp comprises a pair of spring-biased jaw members each having a cover formed of a material softer than aluminum, the clamp being configured and dimensioned to retain the laparoscopic device while contacting the covers.
22. The system of claim 21 , wherein each cover is formed of polyurethane.
23. The system of claim 22 , wherein the laparoscopic device comprises a cylindrical portion.
24. The system of claim 1 , wherein the first member is tubular.
25. The system of claim 1 , wherein each of the proximal and distal rotational joints comprises a first portion rotatable with respect to a second portion about a fixed axis.
26. The system of claim 1 , wherein the first and second members are movable with respect to each other along the central axis but are not rotatable with respect to each other.
27. The system of claim 1 , further comprising a curvilinear articulating arm, the holder being coupled to the curvilinear articulating arm.
28. The system of claim 27 , further comprising a tray configured and dimensioned for supporting a mammal, the curvilinear articulating arm being coupled to the tray.
29. The system of claim 1 , wherein the coupling portion comprises a clamp for coupling to a support.
30. The system of claim 29 , wherein the support is selected from the group consisting of a rail of a table and a rail of a bed.
31. The system of claim 1 wherein the axes of the three proximal rotational joints are mutually perpendicular to one another and wherein the axes of the two distal rotational joints are perpendicular to each other.
32. The system of claim 1 additionally comprising a curvilinear articulating arm coupled to the holder.