MOUNTING SUPPORT ASSEMBLY FOR SUSPENDING A MEDICAL INSTRUMENT DRIVER ABOVE AN OPERATING TABLE
An adjustable mounting assembly, includes a load distributing plate configured for resting on, and being supported by, a top surface of a patient table; a first clamp assembly adjustably coupled to a first side of the load distributing plate and configured for removable attachment to a first side rail of the patient table; a second clamp assembly coupled to a second side of the load distributing plate and configured for removable attachment to a second side rail of the patient table; and an adapter rail fixed to the second side of the load distributing plate and configured to detachably couple to a support assembly interface, such that an adjustable support assembly may be coupled to the load distributing plate to thereby allow for an off-center load attached to the support assembly to be moved relative to the patient table while the load remains substantially supported by the table surface.
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The present application is a continuation of U.S. patent application Ser. No. 12/024,883, filed Feb. 1, 2008, which claims the benefit under 35 U.S.C. §119 to U.S. Provisional Patent Application Ser. Nos. 60/899,048, filed on Feb. 2, 2007, and 60/900,584, filed on Feb. 8, 2007. The foregoing applications are hereby incorporated by reference into the present application in their entirety.
FIELD OF INVENTIONThe invention relates generally to robotically controlled medical instrument systems, such as telerobotic surgical systems, and more particularly to a mounting support assembly for suspending a robotically controlled instrument driver over an operating table for performing minimally invasive diagnostic and therapeutic medical procedures.
BACKGROUNDRobotic interventional systems and devices are well suited for use in performing minimally invasive medical procedures, as opposed to conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs. For example, there is a need for a highly controllable yet minimally sized system to facilitate imaging, diagnosis, and treatment of tissues which may lie deep within a patient, and which may be accessed via naturally-occurring pathways such as blood vessels, other lumens, via surgically-created wounds of minimized size, or combinations thereof.
SUMMARY OF THE INVENTIONThe present invention is directed to an adapter plate assembly which provides a convenient interface between a mounting support assembly for suspending an instrument driver of robotic instrument system above a operating table. The adapter plate securely mounts to the operating table, and may be adjustable so that it can be adjusted to fit various sizes and models of operating tables. Then, a component of the robotic instrument system, such as a support assembly having a plurality of adjustable arms for supporting an instrument, may be secured to the adapter plate assembly.
In one embodiment, an adjustable mounting assembly for suspending an off-center load above a patient table includes a load distributing plate configured for resting on, and being supported by, a top surface of the patient table. A first clamp assembly is adjustably coupled to a first side of the load distributing plate and configured for removable attachment to a first side rail of the patient table. By way of non-limiting example, the first clamp assembly may be mounted on one or more adjustment rods that are slidably received in the first side of the load distributing plate so that the first clamp assembly may be extended from, and retracted into, the load distributing plate so as to adjust a width of the mounting assembly to accommodate a width of the patient table. Respective locking devices may be provided for securing the one or more adjustment rods in a desired position relative to the load distributing plate. A second clamp assembly is coupled to a second side of the load distributing plate and configured for removable attachment to a second side rail of the patient table. By way of non-limiting examples, the first and second clamp assemblies may each comprise an L-shaped clamp body configured to engage the respective side rail of the patient table. An adapter rail is fixed to the second side of the load distributing plate and configured to detachably couple to a support assembly interface, such that an adjustable support assembly may be coupled to the load distributing plate to thereby allow for an off-center load attached to the support assembly to be moved relative to the patient table while the load remains substantially supported by the table surface.
In another embodiment, an adjustable mounting assembly for suspending an off-center load above a patient table includes a load distributing plate configured for resting on, and being supported by, a top surface of the patient table. A first clamp assembly configured for removable attachment to a first side rail of the patient table is mounted on one or more adjustment rods that are slidably received in a first side of the load distributing plate to thereby allow the first clamp assembly to be extended from, and retracted into, the load distributing plate so as to adjust a width of the mounting assembly to accommodate a width of the patient table. Respective locking devices may be provided for securing the one or more adjustment rods in a desired position relative to the load distributing plate. A second clamp assembly is coupled to a second side of the load distributing plate, and a third clamp assembly is also coupled to the second side of the load distributing plate at a location spaced apart from the second clamp assembly, wherein the second and third clamp assemblies are configured for removable attachment to the second side rail of the patient table. By way of non-limiting examples, the first, second and third clamp assemblies may each comprise an L-shaped clamp body configured to engage the respective side rail of the patient table. An adapter rail is fixed to the second side of the load distributing plate and configured to detachably couple to a support assembly interface, such that an adjustable support assembly may be coupled to the load distributing plate to thereby allow for an off-center load attached to the support assembly to be moved relative to the patient table while the load remains substantially supported by the table surface.
The drawings illustrate the design and utility of illustrated embodiments of the invention, in which similar elements are referred to by common reference numerals.
The present invention is directed to various embodiments of mounting platforms for mounting an instrument driver of a robotic instrument system to an operating table. The mounting platform, along with the mounted support assembly can be used to support and adjust the position of the instrument driver on or near an operating table. It is to be understood that each of the embodiments described herein may be utilized with robotic instrument systems, which can control the positioning of the devices within a patients body, and may also control the operation of other functions of the devices, such as imaging devices, ablation devices, cutting tools, or other end effectors, including without limitation all of the robotic instrument systems incorporated by reference below.
Referring to
In
The instrument (18) is typically an elongate, flexible device configured to be inserted into a patient's body. As non-limiting examples, an instrument (18) may comprise an intravascular catheter, an endoscopic surgical instrument or other medical instrument. The instrument (18) may also comprise an instrument assembly (28) comprising a robotic guide instrument (18), or a coaxially coupled and independently controllable robotic sheath instrument and a robotic guide instrument (18), as described in the U.S. Patent Applications incorporated by reference below. The instrument (18) or instrument assembly (28) is configured to be operable via the instrument driver (16) such that the instrument driver (16) can operate to steer the instrument (18) or instrument assembly (28) and also to operate tools and devices which may be provided on the instrument assembly (18) or instrument assembly (28) (e.g. an imaging device or cutting tool disposed on the distal end of the instrument (18) or instrument assembly (28)). Alternatively, manually steerable and operable instruments or instrument assemblies may also be utilized. Thus, the procedures described herein may be utilized with manually or robotically steerable instrument systems, such as those described in the below-referenced U.S. patent application Ser. No. 11/481,433.
Exemplary embodiments of an operator control station (2), an instrument driver (16), an instrument (18) or instrument assembly (28), a robotic sheath instrument, a robotic guide instrument (18), various instruments (50), are described in detail in the following U.S. Patent Applications, and are incorporated herein by reference in their entirety:
U.S. patent application Ser. No. 10/923,660, filed Aug. 20, 2004; Ser. No. 10/949,032, filed Sep. 24, 2005; Ser. No. 11/073,363, filed Mar. 4, 2005; Ser. No. 11/173,812, filed Jul. 1, 2005; Ser. No. 11/176,954, filed Jul. 6, 2005; Ser. No. 11/179,007, filed Jul. 6, 2005; Ser. No. 11/202,925, filed Aug. 12, 2005; Ser. No. 11/331,576, filed Jan. 13, 2006; Ser. No. 60/785,001, filed Mar. 22, 2006; 60/788,176, filed Mar. 31, 2006; Ser. No. 11/418,398, filed May 3, 2006; Ser. No. 11/481,433, filed Jul. 3, 2006; Ser. No. 11/637,951, filed Dec. 11, 2006; Ser. No. 11/640,099, filed Dec. 14, 2006; 60/833,624, filed Jul. 26, 2006, and 60/835,592, filed Aug. 3, 2006.
Referring now to
Referring to
To mount the adapter plate assembly (1005), the clamp assembly (1008) on the surgeon side (1010) of the table may be removed or extended out of the way and the adapter plate assembly (1005) is placed on the top surface of the operating table (1003). The clamp assembly (1008) is repositioned on the adapter plate assembly (1005) and the clamp assemblies (1008 and 1009) on both the surgeon side 1010 and the opposing side of the table are tightened onto the operating table rails (1004). The support assembly (26) may then be mounted to the adapter plate rail (1007) and placed over the entire adapter plate assembly (1005).
Referring to
Another embodiment for this adapter plate assembly (1005) is designed to hold multiple support assemblies (26) and multiple instrument drivers (16). By altering the main plate (1006), another rail (1007) may be added to the other side of the table. Furthermore, an additional rail could be added to mount a support assembly (26) that extends from between the patients legs, etc. If desired, a secondary rail can be added on the same side of the adapter plate assembly (1005) that extends further from original rail (1007) such that a pair of support assemblies (26) may be mounted on the same side of the table; or the rail (1007) can be lengthened such that it can accommodate two or more support assemblies (26). Furthermore, the adapter plate assembly (1005) may be configured such that the main plate (1006) is place underneath the operating table (1003), instead of on top of the operating table (1003).
While multiple embodiments and variations of the many aspects of the invention have been disclosed and described herein, such disclosure is provided for purposes of illustration only. Many combinations and permutations of the disclosed system are useful in minimally invasive surgery, and the system is configured to be flexible, and it should be understood that the invention generally, as well as the specific embodiments described herein, are not limited to the particular forms or methods disclosed, but also cover all modifications, equivalents and alternatives falling within the scope of the appended claims.
Claims
1. An adjustable mounting assembly for suspending an off-center load above a patient table, comprising:
- a load distributing plate configured for resting on, and being supported by, a top surface of the patient table;
- a first clamp assembly adjustably coupled to a first side of the load distributing plate and configured for removable attachment to a first side rail of the patient table;
- a second clamp assembly coupled to a second side of the load distributing plate and configured for removable attachment to a second side rail of the patient table; and
- an adapter rail fixed to the second side of the load distributing plate and configured to detachably couple to a support assembly interface, such that an adjustable support assembly may be coupled to the load distributing plate to thereby allow for an off-center load attached to the support assembly to be moved relative to the patient table while the load remains substantially supported by the table surface.
2. The mounting assembly of claim 1, wherein the first clamp assembly is mounted on one or more adjustment rods that are slidably received in the first side of the load distributing plate so that the first clamp assembly may be extended from, and retracted into, the load distributing plate so as to adjust a width of the mounting assembly to accommodate a width of the patient table.
3. The mounting assembly of claim 2, further comprising respective locking devices for securing the one or more adjustment rods in a desired position relative to the load distributing plate.
4. The mounting assembly of claim 1, the first and second clamp assemblies each comprising an L-shaped clamp body configured to engage the respective side rail of the patient table.
5. The mounting assembly of claim 1, further comprising a third clamp assembly coupled to the second side of the load distributing plate at a location spaced apart from the second clamp assembly, the third clamp assembly configured for removable attachment to the second side rail of the patient table.
6. The mounting assembly of claim 5, the third clamp assembly comprising an L-shaped clamp body configured to engage the second side rail of the patient table.
7. An adjustable mounting assembly for suspending an off-center load above a patient table, comprising:
- a load distributing plate configured for resting on, and being supported by, a top surface of the patient table;
- a first clamp assembly configured for removable attachment to a first side rail of the patient table, wherein the first clamp assembly is mounted on one or more adjustment rods that are slidably received in a first side of the load distributing plate to thereby allow the first clamp assembly to be extended from, and retracted into, the load distributing plate so as to adjust a width of the mounting assembly to accommodate a width of the patient table;
- a second clamp assembly coupled to a second side of the load distributing plate and configured for removable attachment to a second side rail of the patient table;
- a third clamp assembly coupled to the second side of the load distributing plate at a location spaced apart from the second clamp assembly, wherein the third clamp assembly is configured for removable attachment to the second side rail of the patient table; and
- an adapter rail fixed to the second side of the load distributing plate and configured to detachably couple to a support assembly interface, such that an adjustable support assembly may be coupled to the load distributing plate to thereby allow for an off-center load attached to the support assembly to be moved relative to the patient table while the load remains substantially supported by the table surface.
8. The mounting assembly of claim 7, the first clamp assembly further comprising a respective locking device for securing the one or more adjustment rods in a desired position relative to the load distributing plate.
9. The mounting assembly of claim 7, each of the first, second and third clamp assemblies comprising an L-shaped clamp body configured to engage the respective patient table side rail.
Type: Application
Filed: Apr 2, 2012
Publication Date: Sep 27, 2012
Applicant: HANSEN MEDICAL, INC. (Mountain View, CA)
Inventor: Alan L. Yu (Union City, CA)
Application Number: 13/437,716
International Classification: A61B 19/00 (20060101);