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Claims  |
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What is claimed is:
1. Freestanding surgical instrument support apparatus for use adjacent to a
surgical operating table comprising, in combination:
a portable console having wheels for permitting rolling movement of the
console from one station to another;
an upright support shaft movably mounted on said console for extension and
retraction in elevation relative to said console;
a support arm coupled to the upright support shaft for rotation about the
longitudinal axis of the upright support shaft;
a first extension arm movably mounted on said support arm for extension and
retraction along the longitudinal axis of said support arm;
a second extension arm movably mounted on said first extension arm for
extension and retraction along an axis transverse with respect to the
longitudinal axis of said first extension arm;
an instrument coupler movably mounted on said second extension arm for
rotation about a fourth axis transverse with respect to the longitudinal
axis of said second extension arm;
electromechanical control means coupled to said upright support shaft, said
support arm and said extension arms for controlling the rotational
position of the support arm and the extension and retraction of the first
and second extension arms; and,
a floor switch control circuit coupled to said electromechanical control
means for controlling the extension and retraction of said instrument
coupler along the longitudinal axis of said support arm, and for
controlling the extension and retraction of said instrument coupler in
elevation with respect to support arm, said floor switch control circuit
having electrical switches which may be actuated by foot pressure applied
by a surgeon while said surgeon is performing a surgical procedure on a
patient lying on the operating table.
2. Freestanding surgical instrument support apparatus for use adjacent to a
surgical operating table comprising, in combination:
a portable console having wheels for permitting rolling movement of the
console from a storage location to an operating table location;
an upright support shaft movably mounted on said console for extension and
retraction in elevation relative to said console;
a support arm movably coupled to the upright support shaft for rotation
about the longitudinal axis of the upright support shaft;
lock apparatus mounted on said support arm and releasably coupled to the
upright support shaft for selectively locking the support arm in a fixed
position on the upright support shaft and selectively releasing the
support arm for rotational movement about the longitudinal axis of the
upright support shaft;
a second support arm movably mounted on the first support arm for extension
and retraction along the longitudinal axis of the first support arm;
a first drive motor mounted on the first support arm, said first drive
motor having a rotor shaft movably coupled to said second support arm for
extending and retracting the second support arm along the longitudinal
axis of the first support arm;
a third support arm movably mounted on the second support arm for extension
and retraction along an axis transverse with respect to the longitudinal
axis of the second support arm;
a second drive motor mounted on the second support arm, said second drive
motor having a rotor shaft movably coupled to the third support arm for
driving it in extension and retraction along said transverse axis;
first (up), second (down), third and (extend) and fourth (retract) pressure
responsive on/off switches electrically coupled to the first and second
drive motors for selectively energizing each drive motor in a forward
rotation operating mode and a reverse rotation operating mode, whereby the
longitudinal position of the second support arm can be adjusted by
selectively actuating the extend and retract switches, and whereby the
elevation of the third support arm can be adjusted by selectively
actuating the up and down pressure responsive switches; and,
said pressure responsive on/off switches being adapted for floor
installation adjacent to an operating table whereby said switches can be
actuated by foot pressure applied by a surgeon during the course of a
surgical procedure being performed by said surgeon on a patient lying on
the operating table.
3. A portable console assembly for selectively positioning and stabilizing
an endoscope instrument during a surgical procedure comprising, in
combination:
a portable console having side panels enclosing an internal storage
compartment;
a video monitor mounted on said console for extension and retraction in
elevation;
a support arm coupled to said console for extension and retraction in
elevation;
a video processor supported on said console, said video processor having an
input adapted for electrical connection to an endoscope instrument and
having an output coupled to said video monitor;
a first extension arm movably mounted on said support arm for extension and
retraction along the longitudinal axis of said support arm;
a first drive motor mounted on said support arm, said first drive motor
having a rotor shaft movably coupled to said first extension arm for
extending and retracted the first extension arm along the longitudinal
axis of said support arm;
a second extension arm movably mounted on the first extension arm for
extension and retraction along an axis transverse with respect to the
longitudinal axis of the first extension arm;
a second drive motor mounted on the first extension arm, said second drive
motor having a rotor shaft movably coupled to the second extension arm for
driving it in extension and retraction along said transverse axis; and,
on/off switches electrically coupled to the first and second drive motors
for selectively energizing each drive motor in a forward rotation
operating mode and a reverse rotation operating mode.
4. A portable console assembly as defined in claim 3, wherein said support
arm includes a first support arm section and a second support arm section
pivotally mounted on the first support arm section for rotation; and,
brake apparatus mounted on said first support arm section and releasably
coupled to the second support arm section for selectively locking the
first and second support arm sections in a fixed angular position and for
selectively releasing the second support arm section for rotational
movement relatives to the first support arm section.
5. A portable console assembly as defined in claim 3, including:
an upright support shaft movably mounted on said console for extension and
retraction in elevation relative to said console, said video monitor being
mounted on said upright support shaft; and,
a drive motor mounted on said console, said drive motor having a rotor
coupled to said upright support shaft for extending and retracting said
upright support shaft and video monitor in response to clockwise and
counterclockwise rotation of said rotor shaft.
6. A portable console assembly as defined in claim 3, including:
an upright support shaft movably mounted on said console for extension and
retraction in elevation relative to said console, said support arm being
coupled to said upright support shaft; and,
a drive motor mechanically coupled to said upright support shaft for
extending and retracting said upright support shaft and support arm in
elevation in response to forward and reverse operation of said drive
motor.
7. A portable console assembly as defined in claim 3, including an upright
support shaft movably coupled to said console and an electromechanical
brake connected between the upright support shaft and said support arm,
and including a release switch electrically coupled to said
electromechanical brake for selectively locking and releasing said support
arm with respect to said upright support shaft.
8. A portable console assembly as defined in claim 3, wherein said console
has a rectangular frame opening providing access to said internal storage
compartment area, including first and second primary door panels pivotally
connected by hinges to said console frame, said first and second primary
door panels having first and second rectangular window openings,
respectively, and having first and second transparent door panels
overlying the window openings and pivotally connected by hinges to said
first and second primary door panels, respectively, said first and second
transparent door panels being operable independently of said first and
second primary door panels for providing access to said console storage
compartment space.
9. Surgical instrument support apparatus comprising, in combination:
a portable console having a universal positioning arm for holding a
surgical instrument during a surgical procedure;
said universal positioning arm including proximal and distal support arm
sections which are rotatably coupled together for folding movement
relative to each other;
a clamp coupled to the distal support arm section for holding a surgical
instrument;
a first reversible driver motor interposed between the clamp and the distal
support arm section for extending and retracting the clamp along an axis
substantially in parallel with the longitudinal axis of the distal support
arm section;
a second reversible drive motor coupled between the distal support arm
section and the clamp for extending and retracting the clamp along an axis
which is transverse to the longitudinal axis of the distal support arm
section; and,
a floor switch control circuit coupled to the reversible drive motors for
operating the first and second reversible drive motors in forward and
reverse rotation for producing extension and retraction of the clamp along
the longitudinal axis of the positioning distal support arm section, and
for producing extension and retraction of the clamp along said transverse
axis, respectively.
10. Surgical instrument support apparatus for use in conjunction with a
surgical operating table comprising, in combination:
a portable console;
an articulated support arm movably mounted in elevation on said console,
said articulated support arm having a proximal support arm section and a
distal support arm section;
a video display monitor having a viewing screen movably mounted in
elevation on said console;
means coupled to said console and said articulated support arm for
producing coarse position control of the elevation of said articulated
support arm relative to said console;
a clamp coupled to the distal support arm section of said articulated
support arm for holding a surgical instrument;
means coupled between the distal support arm section and said clamp for
exercising fine position control of the extension and retraction of a
surgical instrument held by said clamp along the longitudinal axis of said
distal support arm section;
means coupled between the distal support arm section and said clamp for
exercising fine position control of the elevation of said clamp and a
surgical instrument held by said clamp relative to the elevation of said
articulated support arm; and,
a floor switch control circuit coupled to said position control means for
controlling the extension and retraction of the clamp along the
longitudinal axis of the distal support arm section, and for controlling
the extension and retraction of the clamp in elevation with respect to the
articulated support arm, said floor switch control circuit having
electrical switches which may be actuated by foot pressure applied by a
surgeon while observing said viewing screen. |
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Claims |
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Description |
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FIELD OF THE INVENTION
This invention relates generally to the art of universal positioning
devices, and in particular to a portable console assembly for selectively
positioning and stabilizing an instrument such as an endoscope during a
surgical procedure.
BACKGROUND OF THE INVENTION
In the performance of surgery and related procedures, sterile operating
conditions are maintained by a surgical drape which covers the patient and
the operating table. The surgical procedure is performed through a slit or
preformed fenestration which is aligned with a desired surgical site. It
is sometimes necessary to support and stabilize an instrument such as
endoscope in an elevated position above the patient for long periods of
time, with a portion of the instrument being inserted into the patient's
abdominal cavity. An endoscope is a slender viewing tube which may be
rigid or flexible, and which includes an optical lens system and a light
source. The purpose of the endoscope instrument is to provide visual
access into a body cavity, for example, the abdominal cavity, the knee,
shoulder, bladder, uterus and bowel. A laparoscope is a type of endoscope
which includes a rigid viewing tube for insertion through the abdominal
wall.
It is necessary to vary the position of the instrument from time to time
according to the needs of the surgical procedure. During a laparoscopic
cholecystectomy (gall bladder removal), for example, an endoscope is
inserted into the upper abdominal cavity which is inflated and pressurized
with carbon dioxide by an insufflating machine. The endoscope is guided
through a trocar sheath which serves as an interface port through the
abdominal wall. By sliding the endoscope up and down the port, or rotating
it in the desired direction, a view of the internal organs can be obtained
by a video camera which is attached to the endoscope, and with the image
being displayed on a video monitor.
The video camera also records the movement of other surgical instruments,
for example, a grasper, a hook, a spatula, forceps and dissector, which
are guided into and out of the abdominal cavity through one or more
secondary surgical trocar sheaths. When the distal tip of the instrument
appears on the video monitor, the surgeon guides it into place and
controls its action and movement as displayed on the video monitor. It is
usually necessary to re-position the endoscope from time to time to view
the operative site so that the surgical instruments are positioned
appropriately within the cavity to expose the organ or internal tissue for
inspection, repair, dissection or excision.
The success of the laparoscopy procedure depends in part on the surgeon's
ability to gauge spatial relationships as viewed on the video monitor, and
to be able to easily adjust or reposition the endoscope as the procedure
progresses. During gall bladder removal, for example, it may be necessary
to re-position the endoscope and hold it in a desired orientation as the
gall bladder duct is sealed by a surgical clip. Additionally, it may be
necessary to re-position the endoscope while using an electrocautery
instrument to excise the gall bladder from the underside of the liver.
After the gall bladder organ has been severed, it is removed through an
exit port. It is then necessary to reposition the endoscope to an upper
midline port so that the surgeon can correctly position and operate a
grasper instrument through a secondary trocar port.
Examples of procedures which may be performed or assisted by endoscopy
include the following:
______________________________________
Diagnostic Tubal Sterilization
Ablation Endo-
metriosis
Ovarian Biopsy
Ovarian Cyst Aspi-
Ovarian Cystectomy
ration
Ovarian Oophorectomy Laser Uterine
Endocoagulation Nerve Ablation
Presacral Neurecto-
Salpingoplasty Salpingostomy
my
Salpingectomy
Tubal Reanastomosis
Myomectomy
Pelvic Abscess
Removal of foreign
In Vitro Fertiliza-
body (IUD) tion
Hysterectomy
Ovarian Torsion
Multiple Peritoneal
Biopsies
Omentectomy Lymphadenectomy
Lysis Bowel Adhe-
sions
Appendectomy
Cholecystectomy
Colectomy
Hernia Repair
Gonadectomy Nephrectomy
______________________________________
Other procedures which may be assisted by endoscopy include orthopedic knee
surgery, orthopedic shoulder surgery, urological procedures, bowel
procedures, and other gynecological procedures.
DESCRIPTION OF THE PRIOR ART
In the performance of surgical procedures within the abdominal cavity in
which an endoscope instrument is utilized, the endoscope instrument is
inserted into the abdominal cavity and must be supported and held in a
fixed position during the procedure, and its position must be adjusted
from time to time. Once the precise anatomy-viewing position is
established, it must be securely maintained. Otherwise, the physician's
view will be interrupted, prolonging the procedure, with loss of visual
contact at a critical moment during the operation. Moreover, the
laparoscope instrument might, due to slippage, exert pressure on tissues
and soft organs, such as the liver, pancreas and intestines.
In some cases, operating room personnel manually hold the endoscope
instrument in the desired position, and move it about according to the
surgeon's instructions. The use of operating room personnel to support
such instruments during an extended surgical procedure is unsatisfactory
in that the assistant may be unable to maintain stability because of
muscle fatigue, and find it necessary to change position at some critical
or otherwise inconvenient time.
Support devices which are mountable onto an operating table have been used
for holding surgical instruments such as endoscopes and retractors. Such
equipment may be clamped onto the operating table and are moved about from
time to time as required by the surgical procedure. However, such devices
may restrict access to the surgical site and have limited maneuverability.
Operating tables are provided with narrow side rails on which surgical
support equipment can be attached. However, because the side rails are
closely located to the sterile operating field, certain instrument support
positions are difficult to achieve with such rail-mounted support
apparatus. Generally, it is desirable to support surgical instruments in
offset relation with respect to the operating table and side rails to
allow a wide range of support positions.
Moreover, some rail-mounted positioning equipment must be manually released
from time to time to re-position instruments which are suspended above the
sterile operating zone. It will be appreciated that in surgical
procedures, time is of the essence, and delays associated with adjustment
of support equipment prolong the procedure. Additionally, the presence of
surgical support equipment within the sterile operating zone limits the
surgeon's access to the patient during the procedure. Thus it is generally
desirable to limit the number of surgical support devices in and about the
sterile zone so that the operating surgeon and his attendants will have
clear and unrestricted access to the patient, and also will have a clear
and unrestricted view of a video monitor.
During certain procedures, it may be desirable to impose or change a
biasing force on the surgical instrument to stabilize its position within
the abdominal cavity. It is awkward or impossible in some instances to
apply such bias forces through instruments or apparatus which are mounted
directly onto the side rail. Thus, it is desirable to offset such
equipment both laterally and vertically in the regions immediately
surrounding the sterile zone of the operating table.
OBJECTS OF THE INVENTION
Accordingly, there is a specific need for surgical instrument support
apparatus which may be set up on a portable console outside of the sterile
field for supporting a surgical instrument, such as an endoscope, at a
desired viewing position and orientation within a body cavity, with the
position of the instrument supporting apparatus being stable when set, and
being easily and quickly adjustable to different support positions as
desired.
One object of the present invention is to provide a portable console having
an articulated arm which can be extended and moved about within the
sterile zone overlying an operating table, thereby providing stable
support for a surgical instrument such as an endoscope at an unlimited
number of internal viewing locations.
A related object of the present invention is to provide a stabilizer
console as described, in which the articulated arm can be raised and
lowered as desired within the sterile zone overlying an operating table,
thereby providing a wide range of instrument orientations and patient
clearance.
Yet another object of the present invention is to provide a portable
console having an articulated support arm in which the console and support
arm can be quickly set up adjacent to an operating table, with the
articulated arm being quickly adjustable to a desired orientation relative
to the patient.
Another object of the present invention is to provide a portable console
having an articulated arm as described with the position of the
articulated arm being subject to coarse control adjustment during initial
set up by an attendant, and subject to fine control adjustment by a
surgeon during a surgical procedure.
A related object of the present invention is to provide a portable console
of the character described in which the fine control adjustment is carried
out by the surgeon actuating a foot switch assembly during the course of a
surgical procedure.
Still another object of the present invention is to provide a portable
console of the type described in which remotely operable means are
provided for locking and releasing the joints of the articulated arm so
that it can be quickly re-positioned by the surgeon during the course of a
surgical procedure.
A related object of the present invention is to provide a portable
stabilizer console having an articulated arm of the type described in
which deflection of the articulated arm is minimized.
Yet another object of the present invention is to provide a portable
console of the type described which includes one or more internal
compartments for storage of accessories such as video recording equipment,
video camera, endoscope equipment, video display equipment, electrical
power cable, foot switch and foot switch connecting cable.
SUMMARY OF THE INVENTION
The present invention provides a portable console having a universal
positioning arm for holding and stabilizing a surgical instrument such as
an endoscope during a surgical procedure, which is quickly and easily
adjustable to a wide range of stable support positions.
The console-mounted positioning apparatus of the present invention includes
an articulated support arm, including means for coarse position control
and fine position control of the height and orientation of a surgical
instrument within a sterile zone above or about a standard surgical
operating table. In particular, the apparatus of the present invention
includes a console on which a vertical support shaft is mounted for
adjustable movement in elevation. An articulated arm for holding and
stabilizing an instrument such as an endoscope is rotatably coupled to the
vertical support shaft. The console includes a height adjustment drive
motor coupled to the vertical support shaft, a releasable brake, and
positioning drive motors which are controlled by a foot switch for
accurately positioning the distal end of a surgical instrument within the
abdominal cavity of a patient who is undergoing surgery, for example, gall
bladder removal in the upper abdominal cavity, or gynecological procedures
in the lower pelvic cavity. The stabilizing arm has two sections which are
independently rotatable with respect to each other to provide a wide range
of positioning control of the surgical instrument within the sterile zone.
The joints of the articulated arm are coupled by band brakes which are
lockable and releasable upon application of an electrical control signal
from a console switch, or upon application of an electrical control signal
from an override switch attached to the articulated arm.
The features and advantages of the present invention will be further
appreciated by those skilled in the art upon reading the detailed
description which follows with reference to the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of the portable console positioning apparatus
of the present invention shown set up adjacent to a surgical operating
table;
FIG. 2 is a top plan view of the portable console positioning apparatus and
surgical operating table as shown in FIG. 1;
FIG. 3 is a perspective view of the portable console positioning apparatus
of FIG. 1 with the surgical operating table removed;
FIG. 4 is a front elevational view of the positioning apparatus shown in
FIG. 1;
FIG. 5 is a top plan view thereof;
FIG. 6 is a left side elevational view thereof;
FIG. 7 is a side elevational view of an endoscope coupler;
FIG. 8 is a view similar to FIG. 6, partly in section, showing a
positioning drive motor assembly;
FIG. 9 is a sectional view of a band brake assembly taken along the line
9--9 of FIG. 10;
FIG. 10 is a sectional view of a band brake assembly; and,
FIG. 11 is a simplified control circuit diagram.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
In the description which follows, like parts are indicated throughout the
specification and drawings with the same reference numerals, respectively.
The drawings are not necessarily to scale, and the proportions of certain
parts have been exaggerated to better illustrate certain structural
details.
The positioning apparatus 10 of the present invention is particularly well
suited for use in combination with a conventional surgical operating table
12 during the performance of abdominal, pelvic, joint, bladder, bowel and
uterine surgery.
Referring now to FIG. 1 and 2, the surgical instrument support apparatus 10
of the present invention is shown set up adjacent to an operating table 12
for positioning endoscope 14 during a surgical procedure in the abdominal
cavity of a patient P. Stable support is provided by a portable console 16
which is equipped with lockable wheels W for permitting rolling movement
of the console from one station to another. The portable console 16 is
parked adjacent to the operating table 12, and is positioned substantially
at a right angle with respect to the operating table to provide standing
room for attendants who assist the surgeon S. After the portable console
16 has been positioned correctly, its wheels W are locked by depressing
the wheel lock arms L, and the surgical instrument support apparatus 10 is
made ready by an attendant.
The endoscope 14 is supported by an articulated arm assembly 18 which
includes a first (proximal) support arm section 20 and a second (distal)
support arm section 22. The articulate arm assembly 18 is supported by an
upright support shaft 24. The support shaft 24 is movably mounted on the
console 16 for extension and retraction in elevation. The first support
arm section 20 is movably coupled to the upright support shaft 24 by a
bearing assembly 26 which permits rotational movement of the first support
arm section 20 relative to the support shaft 24. Likewise, the second
support arm section 22 is rotatably coupled to the first support arm
section 20 by a bearing assembly 28. According to this arrangement, the
proximal and distal support arm sections 20, 22 are rotatably coupled
together for folding movement relative to each other.
The angular position of the first support arm section 20 relative to the
second support arm section 22 is selectively locked and released by a band
brake assembly 30 as shown in FIG. 9 and FIG. 10. The band brake assembly
30 includes a pair of friction bands 32, 34 fitted about a coupling sleeve
44 and movable from a released, non-engaging position as shown in FIG. 9
to a locked, brake position in response to retraction of the friction
bands 32, 34. The friction bands 32, 34 are selectively retracted by lever
arms 36, 38 which are mounted for pivotal movement on a pin 40. One end
36A of the lever arm 36 is connected to the free end 32A of the friction
band 32, and the opposite end 36B of the lever arm is attached to the
plunger 42 of an electrical solenoid K1. According to this arrangement,
when the solenoid K1 is energized, the plunger 42 retracts and draws the
lever arm 36 in a clockwise movement. As this occurs, the coil spring 46
is compressed, thereby releasing the friction band 32 from engagement
against the external cylindrical surface of the coupling sleeve 44. When
operating power is removed from the solenoid K1, the coil spring 46 pushes
the lever arm end portion 36B in counterclockwise movement, thereby
drawing the friction bands 32, 34 into engagement with the coupling sleeve
44. When power is removed from the solenoids, the second support arm
section 22 is locked relative to the first support arm section 20.
The second friction band 34 is operated by a second solenoid K2 which is
mounted on the opposite side of the support arm 20, as shown in FIG. 2.
The plunger of the second solenoid K2 is connected to the lever arm 38 and
is mounted for pivotal movement on the pin 40. The solenoids K1, K2 are
electrically coupled in parallel to a source of electrical operating power
through a position controller 46 as shown in the electrical circuit
diagram of FIG. 11.
The bearing assembly 28 includes a cylindrical thrust bearing 48 which is
connected to the first support arm section 20 by a bracket 50. The second
support arm section 22 is attached to the cylindrical coupling sleeve 44
which receives the cylindrical thrust bearing 48 in telescoping
engagement. The friction band 32 is engagable against the coupling
cylindrical coupling sleeve 44. As shown in FIG. 10, the second friction
band 32 is fitted about the coupling sleeve 44 and is actuated by the
second solenoid K2. The thrust bearing 48 is attached to the first support
arm section 20 by a coupling sleeve 52, an annular collar 48A, and the
bracket 50. The coupling sleeve 52A is stabilized against the coupling
sleeve 44 by an annular collar 54.
The first support arm section 20 is rotatably coupled to the upright
support shaft 24 by the bearing assembly 26. The bearing assembly 26 has
substantially the same construction as the bearing assembly 28, with the
distal end of the upright support post 24 being engaged by a pair of
friction bands (not illustrated) which are attached to lever arms and
solenoids K3, K4 for selectively locking and releasing the angular
position of the first support arm section 20 with respect to the upright
support arm 24. The solenoids K3, K4 are electrically wired in parallel
with the solenoids K1, K2 for receiving operating power through the
position controller 46 as shown in FIG. 11.
As shown in FIG. 4 and FIG. 11, the upright support arm 24 has a lower end
portion 24L extending into the cabinet space of the console 16, and has a
toothed rack 56 formed along its external surface. A drive motor 58 is
coupled to the rack 56 by a pinion gear 60. The drive motor 58 is a
reversible DC motor which is capable of driving the pinion gear 60
clockwise and counterclockwise, thereby extending and retracting the
upright support shaft 24. When the drive motor 58 is de-energized, the
pinion 60 holds the support shaft 24 at a fixed elevation.
In the preferred embodiment of the present invention, a video display
monitor 62 is supported on the console 16 by an upright shaft 64. The
lower end 64L of the shaft 64 projects into the cabinet space of the
console 16 and has a toothed rack 66 formed along its external surface.
The video monitor 62 is lifted and lowered in elevation by a drive motor
68 which is coupled in driving relation with the rack 66 by a pinion gear
70. The video display monitor 62 is pivotally attached to the upright
shaft 64 so that its viewing screen 62A can be turned and aligned with the
surgeon's field of view. The video display monitor 62 is elevated above
the articulated arm assembly 18 so that the surgeon's view will not be
obscured.
Referring again to FIG. 3 and FIG. 11, elevation control of the video
monitor 62 and coarse control of instrument elevation is provided by the
drive motors 58, 68 by actuation of switches 70, 72 which are console
mounted and operable by an attendant. The switches 70, 72 are single-pole,
double-throw switches and are operable in a momentary ON mode when
depressed, and automatically turned OFF when released. Release and lock
operation of the solenoids K1, K2, K3 and K4 is provided by a console
mounted, single-pole, single-throw switch 74 which operates in the ON mode
when depressed, and which automatically turns OFF when released. The
solenoids are also operable through a manual override switch 76 which is
mounted on the articulated arm assembly 18 as discussed below.
When the console 16 is set up and locked in position as shown in FIG. 1, an
attendant connects the power service cable 78 to an AC power outlet and
makes AC power available to the controller 46 within the console unit by
turning on the master switch 80. A DC power supply within the controller
46 provides the DC operating current for the drive motors and solenoids.
The control switch 72 is then depressed to drive the articulated arm
assembly 18 upwardly until an appropriate clearance elevation has been
reached. The solenoids K1, K2, K3 and K4 are then released by depressing
control switch 74 and the articulated arm sections 20, 22 are manually
extended over the operating table. After the approximate position has been
established, the control switch 74 is released and the solenoids are
de-energized, thereby locking the angular position of the arms 20, 22. The
video monitor 62 is elevated to an appropriate viewing elevation, and the
viewing screen 62A is rotated in alignment with the surgeon's field of
view. After the instrument 14 has been attached to the end of the
articulated arm, it is covered by a sterile drape 82.
Referring to FIG. 7 and FIG. 8, fine adjustment of instrument position
across the surgical site along longitudinal axis C is provided by a DC
drive motor 84. The stator of the DC drive motor 84 is mounted in a fixed
position on the second support arm section 22, and has a rotatable screw
shaft 86 received in threaded engagement with a threaded coupling collar
88 which is attached to a first extension arm 90. The first extension arm
90 is received in telescoping engagement within the bore of the support
arm 22. Upon clockwise and counterclockwise rotation of the rotor screw
shaft 86, the first extension arm 90 is extended and retracted along the
longitudinal axis C of the second support arm section 22.
Fine adjustment of the endoscope instrument along transverse axis D is
provided by a reversible DC drive motor 92. The drive motor 92 is mounted
within a tubular housing 94 which is oriented at a right angle with
respect to the longitudinal axis C of the first extension arm 90. The
drive motor 92 has a rotor screw shaft 96 which is received in threaded
engagement with a coupling collar 98. The coupling collar 98 is secured to
the end of a second extension arm 100 which is slidably received in
telescoping engagement within the bore of the tubular housing 94. Upon
clockwise and counterclockwise rotation of the threaded rotor shaft 96,
the second extension arm 100 is extended and retracted along the
longitudinal axis D of the housing 94.
Referring again to FIG. 3, FIG. 7 and FIG. 8, the endoscope instrument 14
is secured to the extension arm 100 by a rotatable coupler 102. The
coupler 102 is secured for rotation on the distal end of the extension arm
100 by a screw clamp 104. The screw clamp 104 includes a threaded shaft
106 and a coupling collar 108. When the screw clamp 104 is released, the
coupler 102 is rotatable with respect to the longitudinal axis E of the
threaded shaft 106.
The endoscope instrument 14 is a fiber optic endoscope which has an
insertion probe section 14A and a fiber optic video camera 110. The fiber
optic video camera is connected by a signal cable 112 to a video recorder
unit 114 inside the cabinet space of the console 16. A light source is
incorporated in the probe section 14A of the endoscope, whereby an image
of the internal cavity is provided on the video monitor screen 62A. The
probe section 14A of the endoscope is secured by a screw clamp | | |
