Surgical positioning and support system

Abstract

A system for performing a medical procedure is provided comprising at least one tool and a tool support for supporting a distal portion of the tool. An operator manipulates a human interface device and produces control signals sent to a controller. The controller manipulates the tool support based on the received control signals.

1 . (canceled) 
     
     
         2 . A system, comprising:
 a tool support comprising an articulated probe, the articulated probe comprising an outer sleeve comprising a plurality of outer links and an inner core comprising a plurality of inner links;   a first tool comprising a proximal portion and a distal portion with a distal end, the first tool being coupled to the tool support;   a second tool comprising a proximal portion and a distal portion with a distal end, the second tool being coupled to the tool support; and   a human interface device constructed and arranged to generate control signals based on operator input, and wherein a position of the tool support is manipulated based on the control signals,   the proximal portion of the first tool being separated from the proximal portion of the second tool by a first distance,   the distal portion of the first tool being separated from the distal portion of the second tool by a second distance,   the first distance being greater than the second distance.   
     
     
         3 . The system of  claim 2 , wherein the tool support further comprises:
 a first side lobe radially extending from the outer sleeve constructed and arranged to support the distal portion of the first tool, and   a second side lobe radially extending from the outer sleeve constructed and arranged to support the distal portion of the second tool.   
     
     
         4 . The system of  claim 3 , wherein the outer sleeve comprises:
 a proximal outer link,   a distal outer link, and   a plurality of intermediate outer links between the proximal outer link and the distal outer link.   
     
     
         5 . The system of  claim 4 , wherein the first side lobe extends radially from an outermost surface of at least one of the intermediate links of the outer sleeve and the second side lobe extends radially from an outermost surface of at least one of the intermediate links of the outer sleeve. 
     
     
         6 . The system of  claim 3 , wherein the first side lobe comprises a first guide hole and the second side lobe comprises a second guide hole. 
     
     
         7 . The system of  claim 6 , further comprising a first guide tube positioned in the first guide hole and a second guide tube positioned in the second guide hole. 
     
     
         8 . The system of  claim 7 , wherein the first tool is positioned in the first guide tube and the second tool is positioned in the second guide tube. 
     
     
         9 . The system of  claim 2 , wherein the distal portion of the first tool is steerable. 
     
     
         10 . The system of  claim 2 , wherein the human interface device is constructed and arranged to simultaneously advance and steer the tool support. 
     
     
         11 . The system of  claim 10 , wherein the system is constructed and arranged to advance and steer the outer sleeve of the tool support. 
     
     
         12 . The system of  claim 11 , wherein the system is constructed and arranged to advance the inner core relative to the outer sleeve without operator input after the outer sleeve has been simultaneously advanced and steered. 
     
     
         13 . The system of  claim 2 , wherein the tool support further comprises a distal portion comprising a distal end, at least one tool channel, and an exit hole. 
     
     
         14 . The system of  claim 13 , wherein the distal portion of the first tool passes through the exit hole. 
     
     
         15 . The system of  claim 13 , wherein the first tool is coupled to the distal portion of the tool support. 
     
     
         16 . The system of  claim 13 , further comprising at least one guide tube coupled to the distal portion of the tool support. 
     
     
         17 . The system of  claim 16 , wherein the first tool is inserted into the at least one guide tube. 
     
     
         18 . The system of  claim 2 , wherein the proximal portion of the first tool is oriented towards a first operator location and the proximal portion of the second tool is oriented towards a second operator location. 
     
     
         19 . The system of  claim 18 , wherein the distal portion of the first tool is oriented in a same direction as the proximal portion of the first tool. 
     
     
         20 . The system of  claim 18 , wherein the distal portion of the first tool is oriented in a same direction as a distal portion of the tool support. 
     
     
         21 . The system of  claim 2 , further comprising a tool holder constructed and arranged to attach to the proximal portion of the first tool. 
     
     
         22 . The system of  claim 21 , wherein the tool holder is constructed and arranged to allow the distal portion of the tool support to advance and/or retract when the first tool is attached to the tool holder. 
     
     
         23 . The system of  claim 2 , further comprising a channel that extends along the tool support. 
     
     
         24 . The system of  claim 23 , wherein at least one of the first or second tool is inserted into the channel. 
     
     
         25 . The system of  claim 2 , wherein the tool support comprises a proximal end and a distal end, the distal end of the tool support extending along a first axis, the proximal portion of the first tool extending along a second axis, and the proximal portion of the second tool extending along a third axis. 
     
     
         26 . The system of  claim 25 , wherein the distal portion of the first tool extends in a direction parallel to the first axis. 
     
     
         27 . The system of  claim 26 , wherein the distal portion of the second tool extends in a direction parallel to the first axis. 
     
     
         28 . The system of  claim 25 , wherein the second axis is transverse relative to the first axis.