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 instrument manipulator; and
an instrument manipulator positioning system, the instrument manipulator positioning system including an adjustment gear and a gearbox, the gearbox including an input gear, an output gear, and a positioning element;
wherein:
the input gear is engaged with and driven by the adjustment gear and is configured to rotate the output gear;
a proximal end of the positioning element is coupled to the output gear such that the positioning element is offset from a center of rotation of the output gear;
a distal end of the positioning element is coupled to the instrument manipulator; and
the instrument manipulator positioning system is configured to move the instrument manipulator in response to movement of the positioning element.
2 . The apparatus of claim 1 , wherein:
the instrument manipulator positioning system is configured to move the instrument manipulator along a planar trajectory.
3 . The apparatus of claim 1 , wherein:
the instrument manipulator positioning system is configured to move the instrument manipulator along a trajectory in a plane perpendicular to an entry guide longitudinal axis, the trajectory being different from a rotation of the instrument manipulator about the entry guide longitudinal axis.
4 . The apparatus of claim 1 , wherein:
the positioning element is an output pin; and
the proximal end of the output pin is coupled to a side surface of the output gear.
5 . The apparatus of claim 4 , wherein:
the proximal end of the output pin is coupled to the side surface of the output gear by a pair of linear rails that restrict the movement of the output pin to a linear motion.
6 . The apparatus of claim 4 , wherein:
the proximal end of the output pin is movably coupled within a curved slot defined in the side surface of the output gear such that movement of the output pin in response to rotation of the output gear is guided by a profile of the curved slot.
7 . The apparatus of claim 6 , wherein:
the proximal end of the output pin is coupled within the curved slot by any of a bushing or a bearing.
8 . The apparatus of claim 6 , wherein:
the gearbox includes a housing that supports the input gear and the output gear, the housing defining a slot through which the output pin extends, the slot shaped to restrain movement of the output pin.
9 . The apparatus of claim 8 , wherein the slot is one of a curved slot or a linear slot.
10 . The apparatus of claim 4 , wherein:
the gearbox includes a release pin configured to prevent rotation of the input gear and the output gear during installation of the gearbox in which the input gear is engaged with the adjustment gear, the release pin configured to be removed after the input gear is engaged with the adjustment gear.
11 . The apparatus of claim 1 , wherein the instrument manipulator is a first instrument manipulator and the gearbox is a first gearbox, the input gear is a first input gear, the output gear is a first output gear, and the positioning element is a first positioning element, the apparatus further comprising:
a second instrument manipulator; and
the instrument manipulator positioning system includes a second gearbox, the second gearbox including a second input gear, a second output gear, and a second positioning element;
wherein:
the input gear of the second gearbox is engaged with and driven by the adjustment gear and is configured to rotate the second output gear;
a proximal end of the second positioning element is coupled to the second output gear;
a distal end of the second positioning element is coupled to the second instrument manipulator; and
the instrument manipulator positioning system is configured to move the second instrument manipulator in response to movement of the second positioning element.
12 . The apparatus of claim 11 , wherein:
the first positioning element is a first output pin;
the second positioning element is a second output pin;
the proximal end of the first output pin is movably coupled within a first curved slot defined in a side surface of the first output gear such that movement of the first output pin in response to rotation of the first output gear is guided by a profile of the first curved slot; and
the proximal end of the second output pin is movably coupled within a second curved slot defined in a side surface of the second output gear such that movement of the second output pin in response to rotation of the second output gear is guided by a profile of the second curved slot, a shape of the second curved slot being different than a shape of the first curved slot.
13 . The apparatus of claim 1 , wherein:
the instrument manipulator positioning system includes a roll ring gear operably coupled to the gearbox; and
the positioning element is configured to be moved in response to rotation of the roll ring gear to move the instrument manipulator.
14 . The apparatus of claim 13 , wherein:
the roll ring gear is configured to be moved independently from movement of the adjustment gear.
15 . An apparatus comprising:
an instrument manipulator positioning system including an adjustment gear, a roll ring gear, and a positioning element, the positioning element configured to be coupled to and move an instrument manipulator, the positioning element configured to be moved in response to rotation of either of the adjustment gear or the roll ring gear; and
a drive assembly including a clutch, an adjustment output gear, and a roll output gear, the adjustment output gear engaged with and configured to drive the adjustment gear, the roll output gear engaged with and configured to drive the roll ring gear, the roll output gear operably coupled to and rotates with the adjustment output gear on condition that the clutch is in a disengaged state, the roll output gear decoupled from and rotates independently of the adjustment output gear on condition that the clutch is in an engaged state.
16 . The apparatus of claim 15 , wherein:
the drive assembly includes a brake, the brake configured to prevent rotation of the adjustment output gear on condition that the brake is in an engaged state.
17 . The apparatus of claim 16 , wherein:
the roll output gear and the adjustment output gear are both prevented from rotating on condition that the clutch is in the engaged state and the brake is in the engaged state.
18 . The apparatus of claim 16 , wherein:
the roll output gear is free to drive the roll ring gear and the adjustment output gear is prevented from rotating on condition that the clutch is in the disengaged state and the brake is in the engaged state.
19 . An apparatus comprising:
an instrument manipulator; and
an instrument manipulator positioning system, the instrument manipulator positioning system including a ring gear that surrounds a gearbox, the gearbox including an input gear, an output gear, and a positioning element;
wherein:
the input gear is engaged with and driven by the ring gear and is configured to rotate the output gear;
a proximal end of the positioning element is coupled to the output gear;
a distal end of the positioning element is coupled to the instrument manipulator; and
the instrument manipulator positioning system is configured to move the instrument manipulator in response to movement of the positioning element.
20 . The apparatus of claim 19 , wherein the instrument manipulator is a first instrument manipulator and the gearbox is a first gearbox, the apparatus further comprising:
a second instrument manipulator; and
the instrument manipulator positioning system includes a second gearbox, the ring gear surrounding the second gearbox.
21 . The apparatus of claim 19 , wherein:
the positioning element is an output pin; and
the proximal end of the output pin is coupled to a side surface of the output gear, the output pin offset from a center of rotation of the output gear.
22 . The apparatus of claim 19 , wherein:
the instrument manipulator positioning system is configured to move the instrument manipulator along a planar trajectory.