Minimally invasive surgery instrument assembly with reduced cross section

摘要

A surgical instrument extends through a guide tube and exits at an intermediate position of the guide tube. The instrument includes a parallel motion mechanism that changes the position of a distal end of the surgical instrument without changing the orientation of the distal end. An image capture component is at the distal end of the guide tube, and a joint allows the image capture component to move while the intermediate position remains stationary. The configuration allows a cross section of the guide tube to be oblong. In some aspects, a joint for the image capture component is placed between exit ports for surgical instruments, which allows the guide tube cross section to be further reduced.

主权项

1. A surgical instrument assembly comprising:
a guide tube comprising a proximal end, a distal end, a first joint between the proximal and distal ends, and an intermediate position between the proximal and distal ends; an image capture component positioned at the distal end of the guide tube, wherein the first joint of the guide tube allows the image capture component to move while the intermediate position remains stationary; and a surgical instrument comprising a first body segment, a first set of cables, a parallel motion mechanism, a wrist mechanism, and a distal end component;
the first body segment having a proximal end, a distal end, and a longitudinal axis defined between the proximal end and the distal end of the first body segment;the distal end component being coupled to the wrist mechanism;the wrist mechanism being configured to move the distal end component in at least one orientation degree of freedom;the parallel motion mechanism comprising a first joint, a second joint, a second body segment, and a second set of cables;the first joint of the parallel motion mechanism, the second body segment, and the second joint being connected in series;the first joint of the parallel motion mechanism comprising a first hinge having a first hinge pivot, the first hinge coupling the first body segment to the second body segment;the second joint comprising a second hinge having a second hinge pivot, the second hinge being positioned between the second body segment and the wrist mechanism;the first set of cables extending through the first body segment to the parallel motion mechanism, each of the first set of cables having a distal end connected distal of the first hinge pivot; andthe second set of cables each having a first end connected to the parallel motion mechanism proximal of the first hinge pivot, and each having a second end connected to the parallel motion mechanism distal of the second hinge pivot;wherein at least the distal end of the first body segment, the parallel motion mechanism and the distal end component of the surgical instrument pass through the guide tube and exit the guide tube at the intermediate position; andwherein the parallel motion mechanism heaves and sways the distal end component of the surgical instrument with reference to the longitudinal axis of the first body segment without changing pitch and yaw of the distal end component of the surgical instrument.