US 12,121,316 B2
Articulated tool positioner for robotic surgery system
Timothy Brandon Hunt, Hollywood, FL (US)
Assigned to Titan Medical Inc., Toronto (CA)
Filed by Titan Medical Inc., Toronto (CA)
Filed on Oct. 29, 2021, as Appl. No. 17/513,933.
Application 17/513,933 is a continuation of application No. 16/235,071, filed on Dec. 28, 2018, granted, now 11,234,783.
Prior Publication US 2022/0047349 A1, Feb. 17, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 90/11 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 34/30 (2016.02); A61B 90/11 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02)] 21 Claims
OG exemplary drawing
 
1. An insertion device for a robotic surgery apparatus, the insertion device comprising:
a first guide comprising a first plurality of channels arranged in an annular array, wherein each channel of the first plurality of channels is open in a radially outward direction;
a second guide including a second plurality of channels arranged in an annular array, wherein each channel of the second plurality of channels is open in a radially outward direction;
a tool interface configured to engage a surgical tool configured to perform robotic surgery; and
a first plurality of control links each comprising a first distal end portion including a guide connection feature having:
a first protruding structure located distal of and in contact with the second guide; and
a second protruding structure located proximal of and in contact with the second guide, wherein the first and second protruding structures directly engage the second guide to transmit at least one of a push or pull force thereto, each of the first plurality of control links extending through a respective channel of the first plurality of channels of the first guide.