US 12,433,576 B2
Articulated tool positioner and system employing same
Rene Robert, East Greenwich, RI (US); David Allen Zitnick, Providence, RI (US); Peter John Kenneth Cameron, St. Louis Park, MN (US); Leonard M. Faria, Bristol, RI (US); and Andrea Bajo, Fort Lauderdale, FL (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Titan Medical Inc., Toronto (CA)
Filed on Jun. 17, 2022, as Appl. No. 17/842,889.
Application 17/842,889 is a continuation of application No. 17/242,371, filed on Apr. 28, 2021, granted, now 11,369,353, issued on Jun. 28, 2022.
Application 17/242,371 is a continuation of application No. 16/991,423, filed on Aug. 12, 2020, granted, now 11,786,230.
Application 16/991,423 is a continuation of application No. 16/185,788, filed on Nov. 9, 2018, granted, now 11,026,666, issued on Jun. 8, 2021.
Application 16/185,788 is a continuation of application No. 14/899,768, granted, now 10,278,683, issued on May 7, 2019, previously published as PCT/CA2013/001076, filed on Dec. 20, 2013.
Claims priority of provisional application 61/837,112, filed on Jun. 19, 2013.
Prior Publication US 2022/0313232 A1, Oct. 6, 2022
Int. Cl. A61B 17/00 (2006.01); A61B 1/005 (2006.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01); A61B 46/10 (2016.01); A61B 50/13 (2016.01); A61M 25/01 (2006.01); A61B 1/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 17/00234 (2013.01) [A61B 1/0055 (2013.01); A61B 1/0057 (2013.01); A61B 17/29 (2013.01); A61B 34/30 (2016.02); A61B 46/10 (2016.02); A61B 50/13 (2016.02); A61M 25/0147 (2013.01); A61B 1/00193 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/2903 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2906 (2013.01); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02); A61B 90/361 (2016.02)] 13 Claims
OG exemplary drawing
 
1. A surgical tool apparatus comprising:
a tool positioner capable of being articulated, the tool positioner having a central opening extending along a length of the tool positioner, wherein the tool positioner includes:
a tool holder disposed at a distal end of the tool positioner, and wherein the tool holder defines a bore which is axially aligned with the central opening of the tool positioner; and
a plurality of coupled guides extending proximally from the tool holder, each guide of the plurality of coupled guides includes:
at least one pair of axially extending projections;
at least one pair of axially extending receptacles, wherein each axially extending projection of the at least one pair of axially extending projections is slidably disposed within a corresponding axially extending receptacle of the at least one pair of axially extending receptacles, wherein as one projection of the at least one pair of axially extending projections slides at least partially out of a corresponding receptacle of the at least one pair of axially extending receptacles another projection of the at least one pair of axially extending projections slides at least partially into another corresponding receptacle of the at least one pair of axially extending receptacles;
a spherical projection extending from one of a distal facing surface or a proximal facing surface of each guide, wherein the at least one pair of axially extending projections are disposed on opposed lateral sides of the spherical projection; and
a socket formed in another one of the distal facing surface or the proximal facing surface of the guide, wherein the socket of one of the plurality of coupled guides is configured to receive the spherical projection of an adjacent one of the plurality of coupled guides therein; and
an end effector coupled to a distal end of the tool holder of the tool positioner.