초록 ▼

The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) late

The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

대표청구항 ▼

[ What is claimed is:] [1.] A surgical system comprising:a surgical instrument comprising an elongate shaft with proximal and distal ends, an end effector on the distal end and a mounting means laterally extending from the shaft intermediate the proximal and distal ends;an instrument holder comprisi

[ What is claimed is:] [1.] A surgical system comprising:a surgical instrument comprising an elongate shaft with proximal and distal ends, an end effector on the distal end and a mounting means laterally extending from the shaft intermediate the proximal and distal ends;an instrument holder comprising a support having a body with first and second ends;an actuator releasably coupled to the instrument shaft for actuating the end effector on the surgical instrument; anda device for constraining movement of said instrument about a desired spherical center of rotation at a desired location along said instrument, the device comprising:a base;a first linkage pivotally mounted on said base for rotation about an axis, said instrument holder holding said instrument in a position so that the desired remote center of spherical rotation along the instrument intersects said axis; anda second linkage connected to said instrument holder for moving said instrument holder in a parallel-plane relationship to said second linkage, said second linkage being pivotally connected to said first linkage so that said second linkage remains parallel to said axis and said first linkage remains parallel to the instrument;wherein said first and second linkages constrain movement of said instrument, such that said desired location on said instrument remains fixed at said spherical center of rotation.