Extendable suction surface for bracing medical devices during robotically assisted medical procedures
Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at a surgical site is performed by extending a suction surface disposed at a distal end of the bundled unit towards a bracing surface at the surgical site and applying a suction force between the suction surface and the bracing surface. The suction surface is ring-shaped with holes distributed about the ring so that controllably extendable and retractable tubes coupled at distal ends to the holes provide suction to the suction surface when coupled at proximal ends to a vacuum source.
1. A medical system comprising:
an actuator;
an overtube having an outer wall, a central core, and a plurality of lumens, wherein the overtube has an annular face at the distal end of the overtube;
a suction surface having a suction face and a plurality of suction plenums, wherein the plurality of suction plenums is disposed on the suction face;
a plurality of tubes extending through corresponding ones of the plurality of lumens, wheren the plurality of tubes is coupled to corresponding ones of the plurality of suction plenums so that the suction surface is disposed relative to the overtube so that the suction face of the suction surface is substantially parallel to the annular face of the distal end of the overtube; and
an interface coupling the actuator to proximal ends of the plurality of tubes for extending and retracting the suction surface so that the suction face moves away from and towards a distal end of the overtube in a direction that is parallel to a line which is perpendicular to the suction face by pushing and pulling the proximal ends of the plurality of tubes in response to actuation of the actuator so that distal ends of the plurality of tubes move in unison away from and towards the distal end of the overtube.
2. The medical system of claim 1 , further comprising:
a plurality of articulated instruments extending through the central core of the overtube.
3. The medical system of claim 2 , wherein one or more of the plurality of articulated instruments comprise a plurality of links and joints individually extendable beyond the distal end of the overtube.
4. The medical system of claim 2 , wherein one or more of the plurality of articulated instruments comprise a distal working end extendable between the plurality of tubes when the plurality of tubes are extended away from the distal end of the overtube.
5. The medical system of claim 1 , wherein the overtube is a rigid elongate structure.
6. The medical system of claim 1 , wherein the overtube is a flexible structure.
7. The medical system of claim 6 , wherein the overtube is an actively bendable structure.