Pivot point arm for a robotic system used to perform a surgical procedure

Abstract

A pivot port that can provide a pivot point for a surgical instrument. The pivot port may be held in a stationary position by a support arm assembly that is attached to a table. The pivot port may include either an adapter or a ball joint that can support the surgical instrument. The pivot port allows the instrument to pivot relative to a patient.

What is claimed is:  
     
         1 . A pivot port that can support a surgical instrument controlled by a robotic arm, comprising: 
 a pivot arm;    an adapter that has an aperture adapted to receive the surgical instrument; and,    a first joint that couples said adapter to said pivot arm.    
     
     
         2 . The pivot port of  claim 1 , further comprising a second joint that couples said adapter to said pivot arm.  
     
     
         3 . The pivot port of  claim 2 , further comprising a ring that supports said adapter and is coupled to said first and second joints.  
     
     
         4 . The pivot port of  claim 3 , wherein said adapter includes a flange that is adjacent to an inner lip of said ring.  
     
     
         5 . A pivot port that can support a surgical instrument controlled by a robotic arm, comprising: 
 a pivot arm; and,    a ball joint that is coupled to said pivot arm and has an aperture adapted to receive the surgical instrument.    
     
     
         6 . The pivot port of  claim 5 , wherein said ball joint has a plurality of apertures.  
     
     
         7 . The pivot port of  claim 5 , further comprising a ring that is attached to said pivot arm and supports said ball joint.  
     
     
         8 . A medical system, comprising: 
 a pivot arm;    an adapter that has an aperture;    a first joint that couples said adapter to said pivot arm;    a surgical instrument that extends through said aperture of said adapter; and,    a robotic arm that can move said surgical instrument.    
     
     
         9 . The system of  claim 8 , further comprising a second joint that couples said adapter to said pivot arm.  
     
     
         10 . The system of  claim 8 , further comprising a ring that supports said adapter and is coupled to said first and second joints.  
     
     
         11 . The system of  claim 10 , wherein said adapter includes a flange that is adjacent to an inner lip of said ring.  
     
     
         12 . The system of  claim 8 , further comprising a support arm assembly that supports said pivot arm.  
     
     
         13 . The system of  claim 12 , wherein said support arm assembly includes a table mount, a support arm coupled to said table mount and an end effector coupled to said support arm and said pivot arm.  
     
     
         14 . The system of  claim 13 , wherein said support arm assembly includes a first linkage pivotally connected to said table mount, a second linkage pivotally connected to said first linkage, and a third linkage pivotally connected to said second linkage and said end effector.  
     
     
         15 . A medical system, comprising: 
 a pivot arm;    a ball joint that is coupled to said pivot arm and has an adapter;    a surgical instrument that extends through said aperture of said ball joint; and,    a robotic arm that can move said surgical instrument.    
     
     
         16 . The system of  claim 15 , wherein said ball joint has a plurality of apertures.  
     
     
         17 . The system of  claim 15 , further comprising a ring that is attached to said pivot arm and supports said ball joint.  
     
     
         18 . The system of  claim 15 , further comprising a support arm assembly that supports said pivot arm.  
     
     
         19 . The system of  claim 18 , wherein said support arm assembly includes a table mount, an support arm coupled to said table mount and an end effector coupled to said support arm and said pivot arm.  
     
     
         20 . The system of  claim 19 , wherein said support arm assembly includes a first linkage pivotally connected to said table mount, a second linkage pivotally connected to said first linkage, and a third linkage pivotally connected to said second linkage and said end effector.  
     
     
         21 . A method for performing a medical procedure on a patient, comprising: 
 creating an opening in the patient;    locating a pivot port adjacent to the opening in the patient,    coupling a surgical instrument to the pivot port; and,    moving the surgical instrument with a robotic arm to perform the medical procedure.    
     
     
         22 . The method of  claim 21 , wherein the surgical instrument is inserted through an aperture of an adapter of the pivot port.  
     
     
         23 . The method of  claim 21 , wherein the patient has an open chest.  
     
     
         24 . The method of  claim 21 , wherein the surgical instrument is inserted through an aperture of a ball joint of the pivot port.