US20200129205A1 - Surgical tool positioning system - Google Patents

Abstract

Described is a tool positioning system comprising an introduction device, a first tool support and a second tool support. The introduction device is constructed and arranged to slidingly receive an articulating probe. The first tool support comprises at least one guide element constructed and arranged to slidingly receive a first tool. The first tool support is oriented toward a first operator location. The second tool support comprises at least one guide element constructed and arranged to slidingly receive a second tool. The second tool support is oriented toward a second operator location.

Description

RELATED APPLICATIONS
• This application is a continuation application of U.S. patent application Ser. No. 15/619,875 filed Jun. 12, 2017, which is a continuation application of U.S. patent application Ser. No. 14/418,993, filed on Feb. 2, 2015, which claims the benefit of United States PCT application serial number PCT/US2013/054326, filed on Aug. 9, 2013 which claims the benefit of U.S. Provisional Application No. 61/681,340, filed Aug. 9, 2012, the content of which is incorporated herein by reference in its entirety.
• This application claims the benefit of U.S. Provisional Application No. 61/751,498, filed Jan. 11, 2013, the content of which is incorporated herein by reference in its entirety.
• This application claims the benefit of U.S. Provisional Application No. 61/825,297, filed May 20, 2013, the content of which is incorporated herein by reference in its entirety.
• This application claims the benefit of U.S. Provisional Application No. 61/818,878, filed May 2, 2013, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No. PCT/US2012/040414, filed Jun. 1, 2012, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. Provisional Application No. 61/492,578, filed Jun. 2, 2011, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No PCT/US2012/032279, filed Apr. 5, 2012, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. Provisional Application No. 61/472,344, filed Apr. 6, 2011, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No PCT/US2011/060214, filed Nov. 10, 2011, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. Provisional Application No. 61/412,733, filed Nov. 11, 2010, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No PCT/US2012/054802, filed Sep. 12, 2012, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. Provisional Application No. 61/534,032, filed Sep. 13, 2011, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. Provisional Application No. 61/406,032, filed Oct. 22, 2010, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No PCT/US2011/057282, filed Oct. 21, 2011, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. Provisional Application No. 61/368,257, filed Jul. 28, 2010, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No PCT/US2011/044811, filed Jul. 21, 2011, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No PCT/US2012/070924, filed Dec. 20, 2012, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. Provisional Application No. 61/578,582, filed Dec. 21, 2011, the content of which is incorporated herein by reference in its entirety.
• This application is related to PCT Application No PCT/US2013/043858, filed Jun. 3, 2013, the content of which is incorporated herein by reference in its entirety.
• This application is related to U.S. patent application Ser. No. 11/630,279, filed Dec. 20, 2006, published as U.S. Patent Application Publication No. 2009/0171151, the content of which is incorporated herein by reference in its entirety.
TECHNICAL FIELD
• The present inventive concepts generally relate to the field of robotics, and more particularly, to multi-operator robotic systems for medical applications.
BACKGROUND
• As less invasive medical techniques and procedures become more widespread, medical professionals, such as surgeons or other clinicians, may require articulating surgical tools to perform such less invasive medical techniques and procedures from outside the human body. Conventional articulating surgical tools such as endoscopes and the like can be operated by a surgeon or other clinician at a single operator location.
SUMMARY
• In one aspect, a tool positioning system comprises an introduction device constructed and arranged to slidingly receive an articulating probe; a first tool support comprising at least one guide element constructed and arranged to slidingly receive a first tool, wherein the first tool support is oriented toward a first operator location; and a second tool support comprising at least one guide element constructed and arranged to slidingly receive a second tool, wherein the second tool support is oriented toward a second operator location.
• In some embodiments, at least one of the first tool or the second tool is positioned at a patient to perform a medical procedure on the patient.
• In some embodiments, the medical procedure comprises a transoral surgery procedure.
• In some embodiments, the transoral surgery procedure includes a resection at or near at least one of a base of a tongue, tonsils, a base of a skull, a hypopharynx, a larynx, a trachea, an esophagus, a stomach, or a small intestine.
• In some embodiments, the medical procedure includes at least one of a single or multiport transaxilla, thoracoscopic, pericardial, laparoscopic, transgastric, transenteric, transanal, or transvaginal procedure.
• In some embodiments, the single or multiport transaxilla procedure includes a laryngectomy.
• In some embodiments, the single or multiport thoracoscopic procedure includes a mediastinal nodal dissection.
• In some embodiments, the single or multiport pericardial procedure includes measuring and treating arrhythmias.
• In some embodiments, the single or multiport single or multiport laparoscopic procedure includes a revision of bariatric lap-band procedures.
• In some embodiments, the single or multiport transgastric or transenteric procedure includes at least one of a cholecystectomy or a splenectomy.
• In some embodiments, the single or multiport transanal or transvaginal procedure includes at least one of a hysterectomy, oophorectomy, cystectomy or colectomy.
• In some embodiments, the first tool support is coupled to the second tool support.
• In some embodiments, the first tool support and the second tool support are coupled to each other at a common element.
• In some embodiments, a connection at the common element maintains a fixed distance between the first tool support and the second tool support.
• In some embodiments, a connection at the common element maintains a fixed orientation between the first tool support and the second tool support.
• In some embodiments, the at least one of the first and second tool supports moves linearly relative to the common element.
• In some embodiments, the first tool support and second tool support are fixed in position relative to each other.
• In some embodiments, positions of the first and second tool supports are maintained during an operation of the tool positioning system.
• In some embodiments, the first tool support and second tool support are fixed in orientation relative to each other.
• In some embodiments, orientations of the first and second tool supports are maintained during an operation of the tool positioning system.
• In some embodiments, at least one of the first tool support or second tool support is rotatable relative to the other.
• In some embodiments, at least one of the first tool support or the second tool support is rotatable relative to the other at a common element to which each of the first and second tool supports is coupled.
• In some embodiments, at least one of the first and second tool supports is locked in a fixed position relative to the common element.
• In some embodiments, the system further comprises a locking mechanism that locks the at least one of the first and second tool supports in the fixed position.
• In some embodiments, at least one of the first tool support and the second tool support is directly anchored to the introduction device.
• In some embodiments, at least one of the first tool support and second tool support is bonded to the introduction device.
• In some embodiments, at least one of the first tool support and second tool support is welded to the introduction device.
• In some embodiments, the system further comprises a base, wherein the first tool support and the second tool support are coupled to the base.
• In some embodiments, the introduction device is coupled to the base.
• In some embodiments, the base comprises a collar that surrounds at least a portion of the introduction device.
• In some embodiments, the collar extends in a lateral direction relative to a direction of extension of the introduction device.
• In some embodiments, the collar has first and second openings aligned with the first and second tool supports.
• In some embodiments, the collar has first and second openings, wherein the first and second tool supports extend through the first and second openings.
• In some embodiments, at least one of the first tool support or the second tool support comprises at least one guide element that rotatably engages the base.
• In some embodiments, the at least one of the first tool support and the second tool support comprises a gimbal which rotatably engages the at least one guide element at the base.
• In some embodiments, the least one guide element of the first tool support comprises a mid-portion that rotatably engages the base.
• In some embodiments, the first tool support rotatably engages the base and the second tool support rotatably engages the base.
• In some embodiments, the at least one guide element of the first tool support is fixedly attached to the base.
• In some embodiments, the at least one guide element of the first tool support comprises a mid-portion that rotatably engages the base.
• In some embodiments, the at least one of the first or second tool supports moves linearly relative to the base.
• In some embodiments, the system is constructed and arranged to slidingly receive two tools.
• In some embodiments, the system is constructed and arranged to slidingly receive three tools.
• In some embodiments, the system is constructed and arranged to slidingly receive four tools.
• In some embodiments, the system is constructed and arranged to slidingly receive five or more tools.
• In some embodiments, the at least one guide element of the first tool support is constructed and arranged to receive a shaft of the first tool, and wherein the at least one guide element of the second tool support is constructed and arranged to receive a shaft of the second tool.
• In some embodiments, the first tool is positioned at a first side of a distal end of the articulating probe and the second tool is positioned at a second side of the distal end of the articulating probe relatively opposite the first side.
• In some embodiments, the first tool is controlled by an operator at the first operator location at the first side of the distal end of the articulating probe, and the second tool is controlled by an operator at the second operator location at the second side of the distal end of the articulating probe.
• In some embodiments, the first tool and a third tool are positioned at a first side of a distal end of the articulating probe and the second tool and a fourth tool are positioned at a second side of the distal end of the articulating probe relatively opposite the first side.
• In some embodiments, the first and third tools are controlled by an operator at the first operator location at the first side of the distal end of the articulating probe, and the second and fourth tools are controlled by an operator at the second operator location at the second side of the distal end of the articulating probe.
• In some embodiments, at least one of the first tool support or the second tool support comprises a funnel shaped proximal end.
• In some embodiments, at least one guide element of at least one of the first tool support or the second tool support comprises an inner guide element and an outer guide element.
• In some embodiments, the outer guide element comprises a first tube and the inner guide element comprises a second tube slidingly positioned in the first tube.
• In some embodiments, the inner guide element movably extends from the outer guide element.
• In some embodiments, at least a portion of the inner guide element is flexible.
• In some embodiments, the system further comprises a third tool support, the third tool support comprising at least one guide element constructed and arranged to slidingly receive a third tool.
• In some embodiments, the third tool support is oriented toward the first operator location.
• In some embodiments, the system further comprises a connector coupled to the first tool support and the third tool support, wherein the connector is constructed and arranged to maintain a relative position between the first tool support and the third tool support.
• In some embodiments, the system further comprises a fourth tool support, the fourth tool support comprising at least one guide element constructed and arranged to slidingly receive a fourth tool.
• In some embodiments, the fourth tool support is oriented toward the second operator location.
• In some embodiments, the system further comprises a connector coupled to the second tool support and the fourth tool support, wherein the connector is constructed and arranged to maintain a relative position between the second tool support and the fourth tool support.
• In some embodiments, the system further comprises a connector coupled to a proximal end of each of the first and third tool supports, and a connector attached to a proximal end of each of the second and fourth tool supports.
• In some embodiments, the system further comprises a connector coupled to the first tool support and the second tool support, wherein the connector is constructed and arranged to maintain a relative position between the first tool support and second tool support.
• In some embodiments, the connector is rotatably coupled to the first tool support.
• In some embodiments, the connector is rotatably coupled to the first tool support and the second tool support.
• In some embodiments, the connector is attached to a proximal end of the first and second tool supports.
• In some embodiments, the connector extends in a direction that is transverse the directions of extension of proximal ends of the first and second tool supports.
• In some embodiments, the system further comprises a fixation point on the connector constructed and arranged to attach to a stabilizing brace.
• In some embodiments, the system further comprises a third tool support and a connector coupled to the first, second and third tool supports, wherein the connector is constructed and arranged to maintain a relative position between the first, second, and third tool supports.
• In some embodiments, the at least one guide element of the first tool support or the second tool support comprises a hollow elongate member.
• In some embodiments, the hollow elongate member comprises a structure selected from the group consisting of: a hollow tube, a coil such as a helical coil, a plastic tube such as a braided plastic tube, and combinations thereof.
• In some embodiments, at least a portion of the hollow elongate member is rigid.
• In some embodiments, at least a portion of the hollow elongate member is flexible.
• In some embodiments the first operator location and the second operator location comprise side-by-side locations.
• In some embodiments, the first tool support is constructed and arranged to provide tool access to a patient's head.
• In some embodiments, the first tool support is constructed and arranged to provide tool access to a patient's esophagus.
• In some embodiments, the first operator location and the second operator location comprise face-to-face locations.
• In some embodiments, the first tool support is constructed and arranged to provide tool access to at least one of a patient chest or a patient abdomen.
• In some embodiments, the system further comprises a fixation point constructed and arranged to attach to a stabilizing brace.
• In some embodiments, the first tool support comprises the fixation point.
• In some embodiments, the system further comprises a connector coupled to the first tool support and the second tool support.
• In some embodiments, the connector is constructed and arranged to maintain a relative position between the first tool support and second tool support, wherein the connector comprises the fixation point.
• In some embodiments, the introduction device comprises the fixation point.
• In some embodiments, the system further comprises a base coupling the first tool support and the second tool support, wherein the base comprises the fixation point.
• In some embodiments, the system further comprises a brace attachable to the fixation point.
• In some embodiments, the brace is further attachable to a location selected from the group consisting of: a floor, a patient operating table, an articulating probe feeder, and combinations thereof.
• In some embodiments, the system further comprises a second fixation point constructed and arranged to attach to a stabilizing brace.
• In some embodiments, the system further comprises a first brace for attachment to the first fixation point and a second brace for attachment to the second fixation point.
• In some embodiments, the system further comprises the articulating probe.
• In some embodiments, the articulating probe comprises a distal link.
• In some embodiments, the distal link comprises at least a first sideport coupled to the first tool support and a second sideport coupled to the second tool support.
• In some embodiments, the system further comprises a third tool support, wherein the distal link comprises at least a first sideport coupled to the first tool support, a second sideport coupled to the second tool support and a third sideport coupled to the third tool support.
• In some embodiments, the first, second and third sideports are symmetrically spaced about a periphery of the distal link.
• In some embodiments, the first, second and third sideports are asymmetrically spaced about a periphery of the distal link.
• In some embodiments, the first and second sideports are positioned 30° to 180° apart about a periphery of the distal link.
• In some embodiments, the system further comprises a fourth tool support wherein the distal link further comprises a fourth sideport coupled to the fourth tool support.
• In some embodiments, the system further comprises a fifth tool support wherein the distal link further comprise a fifth sideport coupled to the fifth tool support.
• In some embodiments, the system further comprises a controller constructed and arranged to manipulate the articulating probe.
• In some embodiments, the system further comprises a first human interface device oriented toward the first operator location, the first human interface generating a first control signal received by the controller for manipulating the articulating probe.
• In some embodiments, the system further comprises a tool wherein the tool comprises the first human interface device.
• In some embodiments, the system further comprises a second human interface device oriented toward the second operator location and constructed and arranged to generate a second control signal received by the controller for manipulating the articulating probe.
• In some embodiments, the system further comprises a tool wherein the tool comprises the second human interface device.
• In some embodiments, the system further comprises a connector coupled to the first tool support and the second tool support, wherein the connector is constructed and arranged to maintain a relative position between the first tool support and second tool support, wherein the first human interface device is positioned on the connector.
• In some embodiments, the human interface device on the connector communicates with the controller via a wireless connection.
• In some embodiments, the system further comprises at least one tool constructed and arranged to be slidingly received by at least one of the first tool support or the second tool support.
• In some embodiments, the at least one tool comprises at least two tools, wherein each tool comprises a shaft constructed and arranged to be slidingly received by at least one of the first tool support or the second tool support.
• In some embodiments, the at least one tool comprises a tool selected from the group consisting of: a suction device, a ventilator, a light, a camera, a grasper, a laser, a cautery, a clip applier, a scissors, a needle, a needle driver, a scalpel, an RF energy delivery device, a cryogenic energy delivery device, and combinations thereof.
• In another aspect, a tool positioning system comprises a first tool support comprising at least one guide element constructed and arranged to slidingly receive a first tool, wherein the first tool support is oriented toward a first operator location; a second tool support comprising at least one guide element constructed and arranged to slidingly receive a second tool, wherein the second tool support is oriented toward a second operator location; and a base that couples the first tool support and the second tool support.
• In some embodiments, the system further comprises an introduction device coupled to the base.
• In some embodiments, the base comprises a collar that surrounds at least a portion of the introduction device.
• In some embodiments, the collar extends in a lateral direction relative to a direction of extension of the introduction device.
• In some embodiments, the collar has first and second openings aligned with the first and second tool supports.
• In some embodiments, the collar has first and second openings, wherein the first and second tool supports extend through the first and second openings.
• In some embodiments, at least one of the first tool support or the second tool support comprises at least one guide element that rotatably engages the base.
• In some embodiments, the at least one of the first tool support and the second tool support comprises a gimbal which rotatably engages the at least one guide element at the base.
• In some embodiments, the least one guide element of the first tool support comprises a mid-portion that rotatably engages the base.
• In some embodiments, the first tool support rotatably engages the base and the second tool support rotatably engages the base.
• In some embodiments, the at least one guide element of the first tool support is fixedly attached to the base.
• In some embodiments, the at least one guide element of the first tool support comprises a mid-portion that rotatably engages the base.
• In another aspect, a tool positioning system comprises a first tool support comprising at least one first guide element constructed and arranged to slidingly receive a first tool; a second tool support comprising at least one second guide element constructed and arranged to slidingly receive a second tool; and a first connector attached to the first tool support and the second tool support, wherein the connector is constructed and arranged to maintain a distance between the first tool support and second tool support.
• In some embodiments, the first connector is fixedly attached to at least the first tool support or the second tool support.
• In some embodiments, the first connector is rotatably attached to at least the first tool support or the second tool support.
• In some embodiments, the system further comprises a gimbal which rotatably engages the at least one first or second guide element at the base.
• In some embodiments, the first connector comprises a first opening and a second opening each constructed and arranged to operably engage a tool support of the first and second tool supports.
• In some embodiments, the first opening and the second opening are constructed and arranged to position the first tool support and the second tool support in a non-parallel configuration.
• In some embodiments, at least one of the first opening or the second opening comprises a funnel-shaped opening.
• In some embodiments, the first connector further comprises a third opening constructed and arranged to operably engage a third tool support.
• In some embodiments, a single operator operates a tool extending from each of the first, second, and third tool supports from an operator location.
• In some embodiments, the first connector comprises a rigid structure.
• In some embodiments, the first connector comprises at least a portion that is flexible.
• In some embodiments, the first connector comprises an operator shapeable structure.
• In some embodiments, the first connector comprises a malleable structure.
• In some embodiments, the first connector comprises a hinged portion.
• In some embodiments, the first connector is constructed and arranged to be shaped after at least one of the application of hear or the removal of heat.
• In some embodiments, the first connector is constructed and arranged to be attachable to at least one of the first tool support or the second tool support.
• In some embodiments, the first connector is constructed and arranged to be detachable to at least one of the first tool support or the second tool support.
• In some embodiments, the system further comprises a second connector attachable to the first tool support and the second tool support, wherein the second connector is constructed and arranged to maintain a relative position between the first tool support and the second tool support.
• In some embodiments, the first connector is constructed and arranged to position the first tool support and the second tool support in a first geometry, and the second connector is constructed and arranged to position the first tool support and the second tool support in a second geometry different than the first geometry.
• In some embodiments, the first connector differs from the second connector by at least one of length, shape or curvature.
• In some embodiments, the system further comprises a third tool support comprising at least one guide element constructed and arranged to slidingly receive a shaft of a tool.
• In some embodiments, the first connector further maintains a relative position of the third tool support relative to the first tool support and the second tool support.
• In some embodiments, the system further comprises a fourth tool support comprising at least one guide element constructed and arranged to slidingly receive a shaft of a tool.
• In some embodiments, the system further comprises a second connector constructed and arranged to maintain a relative position between the second tool support and the fourth tool support, wherein the first connector is constructed and arranged to maintain a relative position between the first tool support and the third tool support.
• In some embodiments, a single operator operates a tool extending from each of the first, second, and third tool supports from an operator location,
• In some embodiments, a first operator operates tools extending from two of the first, second, and third tool supports, and a second operator operates a tool extending from the other of the first, second, and third tool supports.
• In some embodiments, the first connector can be removably coupled to the first and second tool supports.
• In some embodiments, the first connector is replaced with a third connector having different dimensions than the first connector.
• In some embodiments, the inventive concepts comprise an articulating probe as described in reference to the figures.
• In some embodiments, the inventive concepts comprise a surgical tool as described in reference to the figures.
• In some embodiments, the inventive concepts comprise a controller as described in reference to the figures.
• In some embodiments, the inventive concepts comprise a method of controlling a robotic system as described in reference to the figures.
• In some embodiments, the inventive concepts comprise a human interface device as described in reference to the figures.
• In some embodiments, the inventive concepts comprise a method of performing a medical procedure as described in reference to the figures.
BRIEF DESCRIPTION OF THE DRAWINGS
• The foregoing and other objects, features and advantages of embodiments of the present inventive concepts will be apparent from the more particular description of preferred embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same elements throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the preferred embodiments.
• FIG. 1 is a top view of a tool positioning system for performing a medical procedure, in accordance with embodiments of the present inventive concepts;
• FIG. 2 is a top view of a tool positioning system for performing a medical procedure, in accordance with other embodiments of the present inventive concepts;
• FIG. 3 is a perspective view of a tool positioning system, in accordance with an embodiment of the present inventive concepts;
• FIG. 4 is a cross-sectional front view of a tool positioning system, in accordance with embodiments of the present inventive concepts;
• FIG. 5 is a perspective view of a tool positioning system having multiple connectors, in accordance with an embodiment of the present inventive concepts;
• FIG. 6 is a perspective view of a tool positioning system having three tools in communication with a connector, in accordance with an embodiment of the present inventive concepts;
• FIG. 7 is a perspective view of a distal end of a tool positioning system, in accordance with an embodiment of the present inventive concepts; and
• FIGS. 8A-8D are perspective views of distal links having multiple side ports, in accordance with an embodiment of the present inventive concepts.
DETAILED DESCRIPTION OF EMBODIMENTS
• The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting of the inventive concepts. As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises,” “comprising,” “includes” and/or “including,” when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
• It will be understood that, although the terms first, second, third etc. may be used herein to describe various limitations, elements, components, regions, layers and/or sections, these limitations, elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one limitation, element, component, region, layer or section from another limitation, element, component, region, layer or section. Thus, a first limitation, element, component, region, layer or section discussed below could be termed a second limitation, element, component, region, layer or section without departing from the teachings of the present application.
• It will be further understood that when an element is referred to as being “on” or “connected” or “coupled” to another element, it can be directly on or above, or connected or coupled to, the other element or intervening elements can be present. In contrast, when an element is referred to as being “directly on” or “directly connected” or “directly coupled” to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). When an element is referred to herein as being “over” another element, it can be over or under the other element, and either directly coupled to the other element, or intervening elements may be present, or the elements may be spaced apart by a void or gap.
• FIG. 1 is a top view of atool positioning system100 for performing a medical procedure, in accordance with embodiments of the present inventive concepts. Thetool positioning system100 is constructed and arranged to position one or more tools (not shown inFIG. 1) for performing a medical procedure on a patient P, for example, a transoral robotic surgery procedure or the like. The medical procedure can include a surgical procedure that includes inserting one or more tools into a cavity of the patient (P), or a region of the patient (P) formed by an incision or related opening. A surgical procedure can include one or more transoral procedures. Typical transoral procedures include resections or other procedures performed at or near a location selected from the group consisting of: base of a tongue; tonsils; base of skull; hypopharynx; larynx; trachea; esophagus; stomach; small intestine; and combinations of these. Other procedures can include but not be limited to single or multiport transaxilla procedures, such as a laryngectomy, single or multiport thoracoscopic procedures, such as a mediastinal nodal dissection, single or multiport pericardial procedures, for example, related to measuring and treating arrhythmias, single or multiport laparoscopic procedures, such as revision of bariatric lap-band procedures, single or multiport transgastric or transenteric procedures, such as a cholecystectomy or splenectomy, and/or single or multiport transanal or transvaginal procedures, such as a hysterectomy, oophorectomy, cystectomy and colectomy.
• Thetool positioning system100 comprises anintroduction device250, afirst tool support260a, and asecond tool support260b. Although two tool supports260a,260b(generally,260) are shown, thetool positioning system100 can be constructed and arranged to include more than two tool supports260. In one embodiment, as shown inFIG. 5, thetool positioning system100 includes two, three, or four tool supports260, each constructed and arranged to slidingly receive a tool, for example, a shaft of a tool. In other embodiments, thetool positioning system100 includes five or more tool supports260, each constructed and arranged to slidingly receive a tool.
• As shown inFIG. 4, theintroduction device250 can be constructed and arranged to slidingly receive an articulating probe such as the articulatingprobe10, and support, stabilize, and/or guide the articulating probe to a region of interest. The region of interest may be a lumen of a body of a patient (P), such as a cavity at the patient's head (H), e.g., a nose or mouth, or an opening formed by an incision. In clinical applications, typical regions of interest can include but not be limited to the esophagus or other locations within the gastrointestinal tract, the pericardial space, the peritoneal space, and combinations thereof. The region of interest may alternatively be a mechanical device, a building, or another open or closed environment in which theprobe10 can be used.
• The articulatingprobe10 may be configured to guide one or more surgical tools, for example, during a medical procedure. The articulatingprobe10 may include inner and outer sleeves, which can advance or retract with respect to one another during manipulation of the articulatingprobe10. For example, the inner and outer sleeves of the articulatingprobe10, which may include a plurality of inner links and a plurality of outer links (seeFIG. 4), can be configured in one of a limp mode and a rigid mode so as to facilitate the manipulation of the articulatingprobe10. For example, the inner and outer sleeves may be configured in one of the limp mode and the rigid mode via one or more steering cables (not shown) of thearticulation probe10.
• The articulatingprobe10 can be a highly articulated probe, for example, a highly articulated probe as described in U.S. Patent Application Publication No. 2009-0171151 entitled STEERABLE, FOLLOW THE LEADER DEVICE, U.S. Patent Publication No. 2008-0039690 entitled STEERABLE MULTI LINKED DEVICE HAVING MULTIPLE WORKING PORTS, or PCT Application No. PCT/US2011/044811 entitled “SURGICAL POSITIONING AND SUPPORT SYSTEM, each incorporated by reference in their entirety herein. The articulatingprobe10 may include one or more light sources, image capturing devices, e.g., a camera, provided at the distal end of the articulatingprobe10 and/or proximal the distal end of the tool supports260.
• The articulatingprobe10 comprises afeeder110 which controllably advances one or more cables within an outer sleeve of theprobe10, such as a cable (not shown) extending to a distal link, for example, adistal link631 shown inFIG. 7. Thefeeder110 can comprise one or more cable control assemblies such as bobbin-driven motors and one or more link translating assemblies such as linearly advanceable carts.
• Returning toFIG. 1, thefirst tool support260acan be constructed and arranged to slidingly receive a shaft of a tool (not shown). Thefirst tool support260ais oriented toward a first operator location (L1). Thesecond tool support260bcan also be constructed and arranged to slidingly receive a shaft of a tool (not shown). Thesecond tool support260bis oriented toward a second operator location (L2). The first and second tool supports260a,260bcan have similar configurations, or different configurations such as different lengths. First and second tool supports260a,260bcan be attached to one or more locations on the distal end ofprobe10. In some embodiments, tool supports260a,260bare on opposite sides of the distal end ofprobe10. In some embodiments,tool support260ais attached to the same side of the distal end ofprobe10 as operator location L1 is positioned (e.g. the left side of the page as shown), andtool support260bis attached to the same side of the distal end ofprobe10 as operator location L2 is positioned, e.g. the right side of the page as shown. Alternatively,tool support260ais attached to the opposite side of the distal end ofprobe10 as operator location L1 is positioned (e.g. the right side of the page), andtool support260bis attached to the opposite side of the distal end ofprobe10 as operator location L2 is positioned, e.g. the left side of the page. One operator can control a first tool at one side of theintroduction device250 at which extends from a distal end of the articulatingprobe10. Another operator can control a second tool positioned at another side of the distal end of the articulatingprobe10. In another embodiment, both operators can have tools positioned at both sides of theintroduction device250 and the distal end of the articulatingprobe10.
• Thetool positioning system100 can include abase285. The base285 can comprise openings for receiving the tool supports260 and theintroducer250, which can be attached to the base285 at their midportions, or at distal ends thereof. Thefirst tool support260aand thesecond tool support260bare coupled to the base285 to maintain a relative position between thefirst tool support260aand thesecond tool support260band/or maintain a fixed orientation between thefirst tool support260aand thesecond tool support260b.
• The base285 can comprise a collar or the like that surrounds at least a portion of theintroduction device250. The collar can extend in a lateral direction relative to a direction of extension of theintroduction device250. As shown inFIG. 4, the base285 can have anopening287 aligned with aguide element261 of eachtool support260. Theguide element261 can be affixed to theopening287 of thebase285.
• Thetool positioning system100 can include aconnector280, also referred to as a dogbone connector, coupled to thefirst tool support260aand thesecond tool support260b. Theconnector280 is constructed and arranged to maintain a relative position between thefirst tool support260aand thesecond tool support260b. In some embodiments,connector280 is constructed and arranged to maintain a relative orientation between thefirst tool support260aand thesecond tool support260b.
• Theconnector280 can comprise a rigid structure. Theconnector280 can comprise at least a portion that is flexible. Theconnector280 can comprise an operator shapeable structure. Theconnector280 can comprise a malleable structure. Theconnector280 can comprise two segments connected by a hinge, such as a butt hinge, a butterfly hinge, a barrel hinge or a hinge comprising a flexible portion positioned between two rigid portions. Theconnector280 can comprise a telescopically adjustable structure, such as to allow separation of tool supports260aand260b. Theconnector280 can comprise two segments connected by a rotatable connector, such as a universal joint.
• Theconnector280 can be constructed and arranged to be shaped, molded, or the like, such as after the application of heat. Theconnector280 can be constructed and arranged to be attachable to at least one of thefirst tool support260aor thesecond tool support260b. Theconnector280 can be constructed and arranged to be detachable to at least one of thefirst tool support260aor thesecond tool support260b.
• An alternative connector can be provided, for example,connector280″ shown inFIG. 5, that is attachable to thefirst tool support260aand thesecond tool support260b. Thealternative connector280″ can be constructed and arranged to maintain a relative position between thefirst tool support260aand thesecond tool support260b. Theoriginal connector280 can be constructed and arranged to position thefirst tool support260aand thesecond tool support260bin a first geometry, and thealternative connector280″ can be constructed and arranged to position thefirst tool support260aand thesecond tool support260bin a second geometry different than the first geometry. Theoriginal connector280 can differ from thealternative connector280″ by at least one of length, shape or curvature.
• Theconnector280 comprises a first opening and a second opening, each constructed and arranged to operably engage a guide element of the first and second tool supports260a,260b. The first opening and the second opening can be constructed and arranged to position thefirst tool support260aand thesecond tool support260bin a non-parallel configuration. At least one of the first opening or the second opening can comprise a funnel-shaped opening, for example, for receiving aguide element261, more specifically, a funnel-shapedproximal end264 of anouter guide element262 as shown inFIG. 3.
• Thetool positioning system100 can include at least one fixation point,133a-eshown (generally,133), each constructed and arranged to attach to a stabilizing brace. Afixation point133acan be positioned at theintroduction device250. Afixation point133bcan be positioned at thebase285. Afixation point133ccan be positioned at thefirst tool support260a. Afixation point133dcan be positioned at thesecond tool support260b. Afixation point133ecan be positioned at theconnector280. Abrace132, also referred to as a support, can be attached to thefixation point133a. Another end of thebrace132 can be attached to other locations related to thetool positioning system100, such as an operating room floor, the patient operating table (T) and/or an articulatingprobe feeder110. Thebrace132 can include a clamping device and the like for clamping to a floor table or other supporting object. Multiple braces can be coupled to different fixation points133. For example, a brace (not shown) can be coupled between thefixation point133bat thebase285 and afixation point133cat thefirst tool support260a. Anotherbrace131 can be attached to thefeeder110 and can be clamped or otherwise attached to a floor, table or other object providing stability.
• Thesystem100 can include a first human interface device (HID)80aand a second HID80bthat communicate with acontroller85. As shown inFIG. 1, the first HID80acan be proximate to or oriented toward the first operator location (L1) and the second HID80bcan be proximate to or oriented toward the second operator location (L2). In other embodiments, the first andsecond HIDs80a,80bcan be part of a same hardware platform, and can be at a single or multiple operator location, for example, location (L1), and can permit an operator at either location L1 or L2 to access theHIDs80a,80bat the same location. Some or all of the first HID80aand/or the second HID80bcan be integrated into a tool inserted at atool support260. In an embodiment, thesystem100 includes a third HID80cattached to integral withdogbone connector280, HID80cin wired or wireless communication with thecontroller85.
• One or more HIDs80a, b, c(generally,80) can be constructed and arranged to manipulate the articulatingprobe10, the tool supports260, one or more tools inserted into tool supports260, or a combination thereof. Insystem100 ofFIG. 1, the first HID80ais oriented toward the first operator location (L1). The second HID80bis oriented toward the second operator location (L2). A first operator, such as a medical professional, may control the articulatingprobe10 via the HID80ato steer, advance, retract or otherwise control the functions and movement of articulatingprobe10 via commands sent to thecontroller85. A light source, camera, or other device attached to the articulating probe may be activated in response to a control signal generated by the HID80a. Alternatively or additionally, a second operator may control the articulatingprobe10 via the second HID80b, to steer, advance, retract or otherwise control the functions and movement of the articulatingprobe10 via commands sent to thecontroller85. A light source, camera, or other device attached to the articulating probe may be activated in response to a control signal generated by the HID80b. The first HID80aand/or the second HID80bmay include a device selected from the group consisting of: a haptic controller, a joystick, a track ball, a mouse and an electromechanical device. The articulatingprobe10 may be controlled via an HID80, and the surgical tools may be controlled via a tool handle, for example, a tool handle as shown inFIG. 6. One or more HIDs80 can communicate with the controller by a physical connector, such as a conductive wire, or by a wireless connection, for example, a Bluetooth™ connection. An HID80 can include switches, joystick, buttons, and the like for applying forces related to the movement of an articulatingprobe10 shown inFIG. 4. In other embodiments, an HID80 can include force sensors such as strain gauges, which can detect forces applied to adogbone connector280, for example, push, pull, and/or twist forces. Such forces can be applied for controlling the articulatingprobe10 shown inFIG. 4, for example, to advance, retract, or steer theprobe10.
• During a medical procedure, the patient (P) can lie on an operation table (T), for example, face up as shown inFIG. 1. In an embodiment, as shown inFIG. 1, the first operator location (L1) and second operator location (L2) can be side-by-side, or neighboring each other in a manner that permits two or more operators to each maneuver one or more tools. Thefirst tool support260aand/or thesecond tool support260bcan be constructed and arranged to provide tool access to a patient's head (H). For example, thefirst tool support260acan provide tool access to a patient's esophagus via the patient's mouth. Thefirst tool support260aand/or thesecond tool support260bcan be constructed and arranged to provide tool access to at least one of a patient chest or a patient abdomen
• FIG. 2 is a top view of atool positioning system100 for performing a medical procedure, in accordance with other embodiments of the present inventive concepts. Many of the elements described with respect toFIG. 1 are the same as or similar to those ofFIG. 2, and will therefore not be described again for brevity.
• In the embodiment ofFIG. 2, the first operator location (L1) and the second operator location (L2) are at face-to-face locations, for example, at opposite sides of an operating table (T) so that an operator at the first operator location (L1) and an operator at the second operator location (L2) can face each other. Thefirst tool support260acan extend in a direction towards the first operator location (L1) at a first side of the table (T) and thesecond tool support260bcan extend in a direction towards the second operator location (L2) at a second side of the table (T) opposite the first side. Thefirst tool support260aand/or thesecond tool support260bcan be constructed and arranged to provide tool access to a region of the patient's (P) body, for example, at least one of a patient chest or a patient abdomen.
• As shown inFIG. 3, thefirst tool support260aand thesecond tool support260bcan be fixedly coupled to a surface of theintroduction device250 instead of a base. In an embodiment, thefirst tool support260aand/or thesecond tool support260bare directly coupled to theintroduction device250 by attachment mechanisms, for example, welding points286a,286b, respectively. Alternatively, other bonding techniques, for example, adhesives and the like, can be applied. The connection at theintroduction device250 maintains a fixed distance and/or a fixed orientation between thefirst tool support260aand thesecond tool support260b. In some embodiments, the tool supports260aand260bcan be rotatably attached to each other and/or a base for maintaining a fixed distance but not a fixed orientation. Thefirst tool support260aand thesecond tool support260bcan be fixed in position relative to each other. Accordingly, positions of the first and second tool supports260a,260bare maintained during an operation of thetool positioning system100.
• At least one of thefirst tool support260aand thesecond tool support260bcan include first andsecond guide elements261a,261b, respectively. Thefirst guide element261acan include anouter guide element262a, also referred to as a proximal guide element, and aninner guide element263a, also referred to as a distal guide element. Thesecond guide element261bcan include anouter guide element262band aninner guide element263b. At least a portion of theinner guide element263a, b(generally,263) is flexible. Theinner guide element263 can be formed of plastic or related material. Materials can include but are not limited to fluoropolymers (e.g., polytetrafluoroethylene), fluorinated ethylene propylene, polyether block amide, high density polyethylene, low density polyethylene and/or nickel titanium alloy.Inner guide element263 can comprise laser cut tubes (e.g. polymer or metal tubes) and/or coils or braids of plastic or metal. In some embodiments,inner guide element263 comprises a polytetrafluoroethylene liner. In some embodiments,inner guide element263 comprises a stainless steel coil. In some embodiments,inner guide element263 comprises a coil covered by a polyether block amide. In some embodiments,inner guide element263 comprises different varying stiffness along its length, such as when comprising a tube of varying durometers along its length. At least a portion of theouter guide element262a,262b(generally,262) is rigid, with limited or no flexibility. As shown inFIG. 3, theouter guide elements262a,262bcan be directly anchored to theintroduction device250 by aweld286a,286b, respectively.
• Theouter guide elements262 can include a first tube. Theinner guide elements263 can include a second tube, a portion of which can be positioned in, and move relative to, the first tube of theouter guide element262. In this manner, theinner guide element263 can movably extend from theouter guide element262, for example, in a telescoping configuration.
• As shown inFIG. 4, atool support260 can rotatably engage thebase285. Asingle tool support260 is shown inFIG. 4, however any tool support described herein (e.g.first tool support260a,second tool support260b,third tool support260c, and/orfourth tool support260d) can be configured as shown. Thetool support260 can be coupled to thebase285 by agimbal630, permitting thetool support260 to rotate relative to thebase285, for example, allowing for three degrees of freedom betweentool support260 andbase285, which can include two-dimensional (X-Y) movement plus rotation. Thegimbal630 or other pivoted or ball and joint mechanism permits theguide element261 of thetool support260 to rotatably or fixedly engage thebase285, for example, at a mid-portion of theguide element261. In embodiments where atool support260 is slidably adjustable, thus allowing for a shortening of a portion of thesupport260 that attaches to thedogbone connector280, thedogbone connector280 may require adjustability of the distance between connector openings. Depending on the desired relative orientation of onesupport260 to the other, parallel or angled, then the adjustability in theconnector280 for the distance between openings can occur along a straight or curved path. Alternatively, theguide element261 of thetool support260 can be fixedly attached to a base, for example, at a mid-portion of theguide element261. Thetool support260 can be locked in a fixed position relative to thebase285. Thesystem100 can include alocking mechanism635 to lock the at least onetool support260 in the fixed position. The locking mechanism may be constructed to secure a position of the tool supports260 with respect to thebase285, thus preventing the tool supports260 from sliding or otherwise moving axially during movement of the tools by one or more operators.
• Theouter guide element262 of theguide element261 of atool support260 can be constructed and arranged to have a hollow elongate member. The hollow elongate member can be constructed and arranged as a structure known to those of ordinary skill in the art, for example, a hollow tube; a coil such as a helical coil, or combinations thereof. In an embodiment, the entire hollow elongate member is rigid. In another embodiment, at least a portion of the hollow elongate member can be rigid. Theinner guide element263 can be likewise constructed and arranged to have a hollow elongate member. In an embodiment, the entire hollow elongate member can include a flexible tube. Alternatively, the hollow elongate member can include at least a flexible portion. Theinner guide element263 can slide along an inner surface in the opening of theouter guide element262 in which theinner guide element263 is positioned.
• Theouter guide element262 can have a funnel-shapedproximal end264. Theinner guide element263 can likewise have a funnel shapedproximal end265. Either or bothfunnels264,265 can be configured to readily and atraumatically introduce tools to thetool support260. As shown inFIG. 3, a funnel shapedproximal end264a, bof eachtool support260a, b, respectively, can be positioned about an opening in aconnector280.
• Theouter guide element262 and/orinner guide element263 can be constructed and arranged to guide or otherwise provide a support for a tool shaft so that it can be guided to aside port637 coupled to an outer surface of the articulatingprobe10.
• Theside port637 can be coupled to adistal link631 of the articulatingprobe10. Theside port637 can be formed at a flange at the articulatingprobe10. Multiple side ports may be positioned along the outer sleeve of the articulatingprobe10 so as to provide a guide for one ormore guide elements261 that articulate in common with the articulatingprobe10. Alternatively, theinner guide element263 can be fixedly attached to the outer surface of the articulatingprobe10, for example, thedistal link631, such as with an adhesive or mechanical fastener.
• FIG. 5 is a perspective view of atool positioning system100 havingmultiple connectors280,280′, in accordance with an embodiment.
• Thetool positioning system100 can also comprise afirst tool support260a, asecond tool support260b, athird tool support260cand afourth tool support260d. Each of tool supports260a-dcan include a funnel-shaped opening,264a-drespectively, on its proximal end. The tool supports260a-dand theintroduction device250 are fixedly attached tobase285. Thethird tool support260ccan comprise at least oneguide element261c, which can be similar to theguide elements261aand261bdescribed herein. For example, theguide element261ccan include anouter guide element262cand aninner guide element263c. Thefourth tool support260dcan comprise at least oneguide element261d, which can be similar to theguide elements261aand261bdescribed herein. For example, theguide element261dcan include anouter guide element262dand aninner guide element263d.
• Thefirst tool support260aand thethird tool support260ccan be oriented in a same or similar direction, for example, toward a first operator location. Thesecond tool support260band thefourth tool support260dcan be oriented in a same or similar direction, for example, toward a second operator location. Tools (not shown) extending from the first and third tool supports260a, c, respectively, are shown positioned at a first side and a second side of a distal end of the articulatingprobe10, and tools (not shown) extending from the second and fourth tool supports260b, d, respectively, are shown positioned at the first side and the second side of the distal end of the articulatingprobe10, where the first side is opposite the second side. In an alternative embodiment, not shown, tools extending from the first and third tool supports260a, c, respectively, can be positioned at a first side of a distal end of the articulatingprobe10, and tools extending from the second and fourth tool supports260b, d, respectively, can be positioned at a second side of the distal end of the articulatingprobe10.
• Theouter guide element262aof thefirst tool support260aand theouter guide element262cof thethird tool support260ccan be oriented in a same or similar direction, for example, toward a first operator location. Theouter guide element262bof thesecond tool support260band theouter guide element262dof thefourth tool support260dcan be oriented in a same or similar direction, for example, toward a first operator location. However, the first and secondinner guide elements263a, bcan be collocated, and the third and fourthinner guide elements263c, dcan be collocated.
• Thetool positioning system100 can comprise aconnector280 attached to proximal ends of thefirst tool support260aand thethird tool support260c. Theconnector280 is constructed and arranged to maintain a relative position between thefirst tool support260aand thethird tool support260c. Thetool positioning system100 can also comprise asecond connector280′ attached to proximal ends of thesecond tool support260band thefourth tool support260d. Theconnector280′ is constructed and arranged to maintain a relative position between thesecond tool support260bandfourth tool support260d. In another embodiment, thefirst connector280 can be attached to proximal ends of thefirst tool support260aand thesecond tool support260b, and thesecond connector280′ can be attached proximal ends of thethird tool support260cand thefourth tool support260d.
• Theconnector280, also referred to as a first connector or first dogbone connector, and/or theconnector280′, also referred to as a second connector or second dogbone connector, can be removed from the tool supports260 and replaced with adifferent connector280″, which can have different configuration parameters than theconnectors280,280′, for example, a different length or openings for receiving a funnel shapedguide element261.
• FIG. 6 is a perspective view of atool positioning system100 having threetools201,202,203 in communication with aconnector280, in accordance with an embodiment. A single operator can operatetool positioning system100, including any or all threetools201,202,203. Alternatively, two or more operators can operatetool positioning system100 ofFIG. 6, including any or all threetools201,202,203.
• Three tool supports260a,260c,260eextend between a base285 and aconnector280. Each of tool supports260a,260cand260ecan include a funnel-shaped opening,264a,264cand264erespectively, on their proximal end. Thebase285 includes a collar having first, second, and third openings aligned with the first, second, and third tool supports260a,260c,260e, respectively. Theguide elements261a,261c,261e(generally,261) of the first, second, third and tool supports260a,260c,260e, respectively, can extend through the first, second, and third openings so that mid-portions of theguide elements261 are positioned in the openings during operation. The base285 can include a fourth opening for receiving anintroduction device250.
• At least onetool201,202,203 can have a shaft, shown inserted into tool supports260a,260cand260e, respectively, constructed and arranged to be slidingly received by acorresponding tool support260. One ormore tools201,202,203 can be selected from the group consisting of: suction device; ventilator; light; camera; grasper; laser; cautery; clip applier; scissors; needle; needle driver; scalpel; RF energy delivery device; cryogenic energy delivery device; and combinations thereof. Atool201,202,203 can include a rigid and/or a flexible tool shaft.
• Theconnector280 is attached to first, second, and third tool supports260a,260c,260eand can be constructed and arranged to maintain a relative distance between the tool supports260a,260c,260e. Theconnector280 can be fixedly attached to one or more of the tool supports260. Alternatively, theconnector280 can be rotatably attached to one or more of the tool supports260. Theconnector280 maintains a relative position of thethird tool support260erelative to thefirst tool support260aand thesecond tool support260c.
• The base285 can be fixedly attached to one or more of the tool supports260. Alternatively, the base285 can be rotatably attached to one or more of the tool supports260. A gimbal (seeFIG. 4) can be at the base285 which rotatably engages one ormore guide elements261 at thebase285.
• A single operator can operate one or more of: thetool201 extending from thefirst tool support260a, thetool202 extending from thesecond tool support260c, and/or thetool203 extending from thethird tool support260e, for example, from a single operator location. Alternatively, one operator can operate two tools of thetools201,202,203, and another operator can operate the remaining tool of thetools201,202,203.
• As shown inFIG. 7, afirst tool201 is positioned at a first side of a distal end of the articulatingprobe10, i.e., the left side of the page as shown, and asecond tool202 is positioned at a second side of the distal end of the articulatingprobe10, i.e., the right side of the page as shown, opposite the first side. Athird tool203 can optionally be positioned between the first andsecond tools201,202 at the distal end of theprobe10.First tool201 has been inserted through a first tool support includinginner guide element263a.Inner guide element263apasses throughbase285, such as via a gimbal not shown but positioned behindprobe10.Second tool202 has been inserted through a second tool support includinginner guide element263c.Inner guide element263cpasses throughbase285 viagimbal630c.Third tool203 has been inserted through a third tool support includinginner guide element263e.Inner guide element263epasses throughbase285 viagimbal630e. Thefirst tool201 can be controlled by an operator at the corresponding side of the articulatingprobe10, i.e., the first side or left side of the page as shown. Alternatively, thefirst tool201 can be controlled by an operator on the opposite side of the articulatingprobe10, i.e., the second side or right side of the page as shown. Thesecond tool202 can be controlled by an operator at the corresponding side of the articulatingprobe10, i.e., the second side or right side of the page as shown. Alternatively, thesecond tool202 can be controlled by an operator on the opposite side of the articulatingprobe10, i.e., the first side or left side of the page as shown. The operator at the first and second sides can be the same operator, or different operators at different locations, for example, side-by-side as shown inFIG. 1 or face-to-face as shown inFIG. 2.
• As described above, the articulatingprobe10 comprises adistal link631, which can be positioned about an articulatingprobe10. As shown inFIGS. 7 and 8A-D, thedistal link631 comprises at least threeside ports637. InFIG. 8B, thedistal link631″ can include threeside ports637 that can be coupled to three tool supports, for example, tool supports260a, c, e, respectively, shown inFIG. 6 andFIG. 7.
• In another embodiment, as shown inFIG. 8C, adistal link631′″ comprises fourside ports637, which can be coupled to four tool supports, for example, tool supports260a-d, respectively, shown inFIG. 5.
• In another embodiment, as shown inFIG. 8A, adistal link631′ comprises fiveside ports637, which can be coupled to five tool supports, for example, two tool supports oriented toward one operator location, and three tool supports oriented toward another operator location.
• In an embodiment, as shown inFIG. 8B, thesideports637 are symmetrically spaced about a periphery of thedistal link631″. In an embodiment, as shown inFIG. 8D, thesideports637 are asymmetrically spaced about a periphery of thedistal link631″″.
• Theside ports637 can be positioned 30° to 180° apart from each other about a periphery of theconnector280. For example, as shown inFIG. 8D, first andsecond side ports637 can be less than 180° apart from each other, such as 150° apart, and athird side port637 can be positioned between the first and second side ports, such that thethird side port637 is less than 90° apart from each of the first andsecond side ports637. Theside ports637 can be attached to one or more tool supports260 oriented toward an operator location on a similar or dissimilar side as theside port637.
• While the present inventive concepts have been particularly shown and described above with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art, that various changes in form and detail can be made without departing from the spirit and scope of the present inventive concepts described and defined by the following claims.

Claims (1)

What is claimed is:

1. A tool positioning system, comprising:

an introduction device constructed and arranged to slidingly receive an articulating probe;

a first tool support comprising at least one guide element constructed and arranged to slidingly receive a first tool, wherein the first tool support is oriented toward a first operator location; and

a second tool support comprising at least one guide element constructed and arranged to slidingly receive a second tool, wherein the second tool support is oriented toward a second operator location.

Images