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 ( 262 A 1 ) of at least one ( 260 A 1 ) of the surgical instruments be bent between the base of the surgical instrument ( 260 A 1 ) and the point where the shaft contacts a channel in an entry guide ( 270 A). Each surgical instrument ( 260 A 1, 260 A 2 ) is positioned by an instrument manipulator positioning system ( 231 A) so that when the shaft is inserted in a channel of the entry guide ( 270 A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
1. A medical device apparatus comprising:
a first entry guide comprising a longitudinal axis and a first channel configuration, the first channel configuration of the first entry guide comprising a first instrument channel;
a second entry guide comprising a longitudinal axis and a second channel configuration different from the first channel configuration of the first entry guide, the second channel configuration of the second entry guide comprising a first instrument channel; and
a surgical system comprising one of the first entry guide and the second entry guide mounted in the surgical system, a lateral motion mechanism, and an instrument manipulator coupled to the lateral motion mechanism;
wherein:
the lateral motion mechanism comprises a disk including a lateral adjustment portion configured to move the instrument manipulator relative to the disk in a first direction, the first direction having a component perpendicular to the longitudinal axis of either the first entry guide or the second entry guide when mounted in the surgical system;
on the condition the first entry guide is mounted in the surgical system, the lateral motion mechanism is configured to move the instrument manipulator to a first predetermined location, guided by the lateral adjustment portion, so that a shaft of an instrument coupled to the instrument manipulator is moved relative to the disk to align with the first instrument channel of the first entry guide; and
on the condition the second entry guide is mounted in the surgical system, the lateral motion mechanism is configured to move the instrument manipulator to a second predetermined location, different from the first predetermined location, guided by the lateral adjustment portion, so that the shaft of the instrument coupled to the instrument manipulator is moved relative to the disk to align with the first instrument channel of the second entry guide.
2. The medical device apparatus of claim 1 , wherein:
the first channel configuration further comprises a second instrument channel;
the instrument manipulator is a first instrument manipulator;
the surgical system further comprises a second instrument manipulator; and
the lateral motion mechanism is configured to move the second instrument manipulator to a third predetermined location on the condition that the first entry guide is mounted in the surgical system, so that an instrument coupled to the second instrument manipulator is aligned with the second instrument channel of the first entry guide.
3. The medical device apparatus of claim 2 , wherein:
the first entry guide comprises a proximal end, a distal end, and the longitudinal axis of the first entry guide is defined between the proximal and distal ends of the first entry guide;
the lateral motion mechanism comprises a first platform and a second platform;
the first instrument manipulator is coupled to the first platform;
the second instrument manipulator is coupled to the second platform; and
the first platform and the second platform move in a plane perpendicular to the longitudinal axis of the first entry guide.
4. The medical device apparatus of claim 2 , wherein:
the lateral adjustment portion is a first adjustment cam defined in the disk;
the lateral motion mechanism comprises a second adjustment cam defined in the disk;
the lateral motion mechanism comprises a first platform and a second platform;
the first platform comprises a rod that engages the first adjustment cam;
the second platform comprises a rod that engages the second adjustment cam;
the first predetermined location of the first instrument manipulator is defined by the rod of the first platform at a first location with reference to the first adjustment cam;
the second predetermined location of the first instrument manipulator is defined by the rod of the first platform at a second location with reference to the first adjustment cam; and
the third predetermined location of the second instrument manipulator is defined by the rod of the second platform at a first location with reference to the second adjustment cam.
5. The medical device apparatus of claim 4 , wherein:
at a first position of the disk, the rod of the first platform is at the first location with reference to the first adjustment cam and the rod of the second platform is at the first location with reference to the second adjustment cam.
6. The medical device apparatus of claim 2 , wherein:
the second channel configuration further comprises a second instrument channel; and
the lateral motion mechanism is configured to move the second instrument manipulator to a fourth predetermined location, different from the third predetermined location, on the condition that the second entry guide is mounted in the surgical system, so that an instrument coupled to the second instrument manipulator is aligned with the second instrument channel of the second entry guide.
7. The medical device apparatus of claim 6 , wherein:
the first entry guide comprises a proximal end, a distal end, and the longitudinal axis of the first entry guide is defined between the proximal and distal ends of the first entry guide;
the lateral motion mechanism comprises a first platform and a second platform;
the first instrument manipulator is coupled to the first platform;
the second instrument manipulator is coupled to the second platform; and
the first platform and the second platform move in a plane perpendicular to the longitudinal axis of the first entry guide.
8. The medical device apparatus of claim 7 , wherein:
the lateral adjustment portion is a first adjustment cam;
the lateral motion mechanism comprises a disk, the first adjustment cam being defined in the disk, and a second adjustment cam being defined in the disk;
the first platform comprises a rod that engages the first adjustment cam;
the second platform comprises a rod that engages the second adjustment cam;
the first predetermined location of the first instrument manipulator is defined by the rod of the first platform at a first location with reference to the first adjustment cam;
the second predetermined location of the first instrument manipulator is defined by the rod of the first platform at a second location with reference to the first adjustment cam;
the third predetermined location of the second instrument manipulator is defined by the rod of the second platform at a first location with reference to the second adjustment cam; and
the fourth predetermined location of the second instrument manipulator is defined by the rod of the second platform at a second location with reference to the second adjustment cam.
9. The medical device apparatus of claim 1 , wherein:
at the first predetermined location of the instrument manipulator, the shaft of the instrument coupled to the instrument manipulator remains within a predetermined stress profile when the shaft of the instrument extends into the first instrument channel of the first entry guide; and
at the second predetermined location of the instrument manipulator, the shaft of the instrument coupled to the instrument manipulator remains within the predetermined stress profile when the shaft of the instrument extends into the first instrument channel of the second entry guide.
10. The medical device apparatus of claim 1 , wherein:
the first entry guide comprises a proximal end, a distal end, and the longitudinal axis is defined between the proximal and distal ends of the first entry guide;
the lateral motion mechanism comprises a platform to which the instrument manipulator is coupled; and
the platform moves in a plane perpendicular to the longitudinal axis of the first entry guide.
11. The medical device apparatus of claim 10 , wherein:
the lateral motion mechanism comprises a rail system;
the platform is coupled to the rail system; and
the platform moves on the rail system in the plane perpendicular to the longitudinal axis of the first entry guide.
12. The medical device apparatus of claim 10 , wherein:
the lateral adjustment portion is an adjustment cam defined in the disk;
the platform comprises a rod that extends into the adjustment cam; and
the first predetermined location of the instrument manipulator is defined by the rod at a first location with reference to the adjustment cam, and the second predetermined location of the instrument manipulator is defined by the rod at a second location with reference to the adjustment cam.
13. The medical device apparatus of claim 1 , wherein:
the first entry guide comprises a proximal end, a distal end, and the longitudinal axis defined between the proximal and distal ends of the first entry guide;
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 rotates about the anchor to move the instrument manipulator in yaw with reference to the longitudinal axis of the first entry guide; and
the platform rotates about the support to move the instrument manipulator in pitch with reference to the longitudinal axis of the first entry guide.
14. The medical device apparatus of claim 1 , further comprising:
a control system configured to:
command the lateral motion mechanism to move the instrument manipulator to the first predetermined location based on receiving first identification information that identifies the first channel configuration, and
command the lateral motion mechanism to move the instrument manipulator to the second predetermined location based on receiving second identification information that identifies the second channel configuration.
15. The medical device apparatus of claim 1 , further comprising:
a control system configured to:
command the lateral motion mechanism to move the instrument manipulator to the first predetermined location based on the control system receiving first identification information that identifies a first surgical instrument mounted on the instrument manipulator, and
command the lateral motion mechanism to move the instrument manipulator to the second predetermined location based on the control system receiving second identification information that identifies a second surgical instrument mounted on the instrument manipulator.
16. The medical device apparatus of claim 1 , wherein:
the first entry guide comprises a proximal end, a distal end, and the longitudinal axis of the first entry guide is defined between the proximal and distal ends of the first entry guide;
the first channel configuration of the first entry guide comprises a second instrument channel, and the second instrument channel comprises a proximal end, a distal end, and a longitudinal axis defined between the proximal and distal ends of the second instrument channel of the first entry guide; and
the longitudinal axis of the second instrument channel of the first entry guide is angled relative to the longitudinal axis of the first entry guide.
17. The medical device apparatus of claim 1 , further comprising:
a first camera instrument having a first shaft;
a second camera instrument having a second shaft;
wherein:
the second channel configuration comprises a second instrument channel;
the first shaft of the first camera instrument extends through the first instrument channel of the first entry guide, the first shaft comprising a first bend at a first location on the first shaft between a distal part of a proximal end body of the first camera instrument and a proximal end of the first entry guide;
the second shaft of the second camera instrument extends through the second instrument channel of the second entry guide, the second shaft comprising a second bend at a second location on the second shaft between a distal part of a proximal end body of the second camera instrument and a proximal end of the second shaft and a proximal end body of the second camera instrument the second entry guide; and
the first location on the first shaft is different from the second location on the second shaft.
18. The medical device apparatus of claim 1 , wherein:
the first entry guide comprises a circular cross section; and
the second entry guide comprises a non-circular cross section.
19. The medical device apparatus of claim 1 , wherein one or both of the first and second channel configurations comprises an instrument channel for a manual instrument.
20. A medical device apparatus comprising:
a first entry guide comprising a first channel configuration, the first channel configuration of the first entry guide comprising a first instrument channel;
a second entry guide comprising a second channel configuration different from the first channel configuration of the first entry guide, the second channel configuration of the second entry guide comprising a first instrument channel; and
a surgical system comprising one of the first entry guide and the second entry guide mounted in the surgical system, a lateral motion mechanism, and an instrument manipulator coupled to the lateral motion mechanism;
wherein:
the first entry guide comprises a proximal end, a distal end, and a longitudinal axis defined between the proximal and distal ends of the first entry guide;
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 rotates about the anchor to move the instrument manipulator in yaw with reference to the longitudinal axis of the first entry guide;
the platform rotates about the support to move the instrument manipulator in pitch with reference to the longitudinal axis of the first entry guide;
on the condition the first entry guide is mounted in the surgical system, the lateral motion mechanism is configured to move the instrument manipulator to a first predetermined location so that a shaft of an instrument coupled to the instrument manipulator is aligned with the first instrument channel of the first entry guide; and
on the condition the second entry guide is mounted in the surgical system, the lateral motion mechanism is configured to move the instrument manipulator to a second predetermined location, different from the first predetermined location so that the shaft of the instrument coupled to the instrument manipulator is aligned with the first instrument channel of the second entry guide.