Surgical instrument coupling mechanism

Abstract

A medical system and surgical instrument adapter are provided. The medical system comprises a surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, an adapter having a clam-shell configuration configured for removably receiving a proximal end of the surgical instrument, and a drive unit configured for being coupled to the adapter to control the movement of the surgical instrument within at least one degree-of-freedom. The surgical instrument adapter may comprise a base portion configured for receiving a proximal end of the surgical instrument, and a clam-shell that pivots relative to the base portion between a first position that encloses the proximal end of the surgical instrument within the base portion and a second position that allows the proximal end of the surgical instrument to be removed from the base portion.

1 . A method of moving a surgical instrument with two or more degrees-of-freedom, comprising: coupling the surgical instrument to a slider mechanism, wherein a plurality of cables are coupled to the slider mechanism at a stationary location on the slider mechanism; pulling one of a first pair of flexible segments of the cables to thereby operate the slider mechanism and thus the surgical instrument with one degree-of-freedom of movement; and pulling one of a second pair of flexible segments of the cables to operate the instrument itself with another degree-of-freedom of movement. 
     
     
         2 . The method of  claim 1 , wherein coupling the surgical instrument to the slider mechanism includes positioning a drape between the surgical instrument and the slider mechanism. 
     
     
         3 . The method of  claim 1 , further comprising inserting an instrument insert into an adaptor of the surgical instrument. 
     
     
         4 . The method of  claim 3 , further comprising forming a seal between a shaft of the insert and the adaptor. 
     
     
         5 . The method of  claim 1 , wherein the pulling on the one of the first pair of flexible segments moves the surgical instrument in a linear manner. 
     
     
         6 . The method of  claim 1 , wherein the pulling of the one of the first pair of flexible segments moves the surgical instrument in a rotational manner. 
     
     
         7 . The method of  claim 1 , further comprising controlling the one or more degrees-of-freedom of movement with a controller operatively coupled to the slider mechanism and to an input device, the controller receiving operating instructions from the input device. 
     
     
         8 . A remotely controlled medical apparatus with two or more degrees of freedom of movement, comprising:
 means for coupling a surgical instrument to a slider mechanism, wherein a plurality of cables are coupled to a stationary location on the slider mechanism;   means for pulling one of a first pair of flexible segments of the cables to thereby operate the slider mechanism and thus the surgical instrument in one degree-of-freedom of movement; and   means for pulling one of a second pair of flexible segments of the cables to thereby operate the instrument in another degree-of-freedom of movement.   
     
     
         9 . The apparatus of  claim 8 , wherein the means for coupling the surgical instrument to the slider mechanism includes a drape positioned between the surgical instrument and the slider mechanism. 
     
     
         10 . The apparatus of  claim 8 , further comprising an instrument insert configured for insertion into an adaptor of the surgical instrument. 
     
     
         11 . The apparatus of  claim 8 , wherein the pulling on the one of the first pair of flexible segments moves the surgical instrument in a linear manner. 
     
     
         12 . The apparatus of  claim 8 , wherein the pulling of the one of the first pair of flexible segments moves the surgical instrument in a rotational manner. 
     
     
         13 . The apparatus of  claim 8 , further comprising a controller operatively coupled to the slider mechanism and to an input device, wherein the controller is configured for controlling the one or more degrees-of-freedom of movement of the slider mechanism in response to operating instructions received from the input device. 
     
     
         14 . A surgical instrument system, comprising:
 a slider mechanism;   a surgical instrument coupled to the slider mechanism; and   a plurality of cables that operatively couple the slider mechanism and surgical instrument to a driver, wherein the driver is configured to operate the slider mechanism and thus the surgical instrument with a first degree-of-freedom of movement via a first cable of the plurality, and to operate the surgical instrument itself with a second degree-of-freedom of movement via a second cable of the plurality.   
     
     
         15 . The system of  claim 14 , wherein the plurality of cables are coupled to a stationary location on the slider mechanism. 
     
     
         16 . The system of  claim 15 , further comprising a drape positioned between the surgical instrument and the slider mechanism. 
     
     
         17 . The system of  claim 14 , further comprising an instrument insert inserted into an adaptor of the surgical instrument. 
     
     
         18 . The system of  claim 14 , wherein the first degree-of-freedom of movement moves the surgical instrument in a linear manner. 
     
     
         19 . The system of  claim 14 , wherein the second degree-of-freedom of movement moves the surgical instrument in a rotational manner. 
     
     
         20 . The system of  claim 14 , further comprising a controller operatively coupled to the slider mechanism and to an input device, wherein the controller is configured for controlling the one or more degrees-of-freedom of movement of the slider mechanism in response to operating instructions received from the input device.