System and method for positioning a laparoscopic device

Abstract

A system for positioning a laparoscopic device includes a curvilinear articulating arm and a holder. The holder has at least two rotational regions and a clamping portion for receiving the laparoscopic device, and the holder is coupled to the curvilinear articulating arm. The at least two rotational regions are permitted to articulate. In addition, a method of positioning a laparoscopic device in a skin port of a mammal includes: securing the laparoscopic device to a holder having at least two rotational joints; coupling the holder to a curvilinear articulating arm; disposing the laparoscopic device partially within the skin port; positioning the laparoscopic device by selectively articulating the curvilinear articulating arm and selectively rotating portions of the holder with respect to one another.

1 . A system for positioning a laparoscopic device, the system having a holder comprising: 
 a central portion comprising a first member operatively associated with a second member, the members selectively movable with respect to one another along a central axis, the central portion having a proximal end defined by the first member and a distal end defined by the second member;    at least three proximal rotational joints coupled to the first member proximate the proximal end;    at least two distal rotational joints coupled to the second member proximate the distal end;    a clamp configured and dimensioned for retaining a laparoscopic device; and    a coupling portion proximate a first of the proximal rotational joints;    wherein a first of the distal rotational joints is coupled to the distal end of the central portion and a second of the distal rotational joints is coupled to the clamp.    
   
   
       2 . The system of  claim 1 , wherein the members telescope with respect to one another.  
   
   
       3 . The system of  claim 2 , wherein the second member is slidably received in the first member.  
   
   
       4 . The system of  claim 3 , wherein the first member comprises a slot and the second member comprises a protrusion, the protrusion movable within the slot.  
   
   
       5 . The system of  claim 4 , wherein the protrusion comprises a roller key.  
   
   
       6 . The system of  claim 4 , wherein the second member comprises a piston member proximate an end thereof, the piston member disposed within the first member.  
   
   
       7 . The system of  claim 6 , wherein the piston member is spring-loaded with a spring oriented transverse to the central axis.  
   
   
       8 . The system of  claim 2 , wherein the first member comprises a receiving end for receiving the second member and a bushing coupled to the receiving end.  
   
   
       9 . The system of  claim 8 , wherein the bushing comprises a plurality of fingers disposed radially with respect to the central axis.  
   
   
       10 . The system of  claim 1 , wherein each of the proximal and distal rotational joints comprises a thrust bearing.  
   
   
       11 . The system of  claim 10 , wherein the thrust bearing is a steel ball thrust bearing.  
   
   
       12 . The system of  claim 10 , wherein each of the proximal rotational joints comprises a washer abutting a spacer and rotatable with respect to each other.  
   
   
       13 . The system of  claim 12 , wherein the spacer is formed of a material that is polytetrafluoroethylene-based.  
   
   
       14 . The system of  claim 10 , wherein each of the distal rotational joints comprises a washer abutting a spacer and rotatable with respect to each other.  
   
   
       15 . The system of  claim 15 , wherein the spacer is formed of a material comprising acetal homopolymer.  
   
   
       16 . The system of  claim 10 , wherein each of the proximal and distal rotational joints comprises a spacer, each of the spacers of the proximal rotational joints having a first thickness and each of the spacers of the distal rotational joints having a second thickness, the first thickness being smaller than the second thickness.  
   
   
       17 . The system of  claim 1 , wherein the at least three proximal rotational joints comprises three proximal rotational joints that each permit movement in a separate plane.  
   
   
       18 . The system of  claim 17 , wherein at least two of the planes are parallel to one another.  
   
   
       19 . The system of  claim 1 , wherein: 
 the first of the distal rotational joints permits rotation about an axis coinciding with the main axis; and    the second of the distal rotational joints permits rotation about an axis transverse to the main axis.    
   
   
       20 . The system of  claim 19 , wherein the second of the distal rotational joints permits rotation about an axis generally perpendicular to the main axis.  
   
   
       21 . The system of  claim 1 , wherein the clamp comprises a pair of spring-biased jaw members each having a cover formed of a material softer than aluminum, the clamp being configured and dimensioned to retain the laparoscopic device while contacting the covers.  
   
   
       22 . The system of  claim 21 , wherein each cover is formed of polyurethane.  
   
   
       23 . The system of  claim 22 , wherein the laparoscopic device comprises a cylindrical portion.  
   
   
       24 . The system of  claim 1 , wherein the first member is tubular.  
   
   
       25 . The system of  claim 1 , wherein each of the proximal and distal rotational joints comprises a first portion rotatable with respect to a second portion about a fixed axis.  
   
   
       26 . The system of  claim 1 , wherein the first and second members are movable with respect to each other along the central axis but are not rotatable with respect to each other.  
   
   
       27 . The system of  claim 1 , further comprising a curvilinear articulating arm, the holder being coupled to the curvilinear articulating arm.  
   
   
       28 . The system of  claim 27 , further comprising a tray configured and dimensioned for supporting a mammal, the curvilinear articulating arm being coupled to the tray.  
   
   
       29 . The system of  claim 1 , wherein the coupling portion comprises a clamp for coupling to a support.  
   
   
       30 . The system of  claim 29 , wherein the support is selected from the group consisting of a rail of a table and a rail of a bed.  
   
   
       31 . The system of  claim 1 , wherein each proximal rotational joint and each distal rotational joint permits 360° of rotation about an axis thereof.  
   
   
       32 . A system for positioning a laparoscopic device comprising: 
 a curvilinear articulating arm; and    a holder comprising at least two rotational regions and a clamping portion for receiving the laparoscopic device, the holder being coupled to the curvilinear articulating arm;    wherein the at least two rotational regions are permitted to articulate.    
   
   
       33 . The system of  claim 32 , wherein the holder further comprises a central portion with a selectively adjustable length along a central axis, wherein the at least two rotational regions are disposed between the central portion and the clamping portion.  
   
   
       34 . The system of  claim 32 , wherein the holder further comprises a central portion with a selectively adjustable length along a central axis, the central portion having a proximal end and a distal end, wherein the at least two rotational regions comprises at least three proximal rotational joints disposed proximate the proximal end and at least two distal rotational joints disposed between the distal end and the clamping portion.  
   
   
       35 . The system of  claim 32 , wherein the at least two rotational regions comprises a thrust bearing.  
   
   
       36 . A method of positioning a laparoscopic device in a skin port of a mammal, the method comprising: 
 coupling the laparoscopic device to a holder comprising a clamping portion and five rotational joints, the laparoscopic device being partially retained in the clamping portion;    disposing the laparoscopic device partially within the skin port;    positioning the laparoscopic device by selectively rotating portions of the holder with respect to one another.    
   
   
       37 . The method of  claim 36 , further comprising: 
 positioning the laparoscopic device by selectively adjusting a length of the holder along a central axis.    
   
   
       38 . The method of  claim 37 , wherein the holder further comprises first and second members selectively movable with respect to one another.  
   
   
       39 . The method of  claim 38 , wherein the length is selectively adjustable by moving the first and second members with respect to each other.  
   
   
       40 . The method of  claim 38 , wherein the length is selectively adjustable by telescoping the first member with respect to the second member.  
   
   
       41 . The method of  claim 38 , wherein movement of the first and second members is restricted to linear movement along the central axis.  
   
   
       42 . The method of  claim 38 , wherein the holder is manually operated.  
   
   
       43 . The method of  claim 38 , further comprising: 
 coupling the holder to a curvilinear articulating arm; and    articulating the curvilinear articulating arm.    
   
   
       44 . The method of  claim 43 , further comprising: 
 coupling the curvilinear articulating arm to a tray configured and dimensioned for supporting the mammal.    
   
   
       45 . The method of  claim 43 , further comprising: 
 coupling the curvilinear articulating arm to a support.    
   
   
       46 . The method of  claim 45 , wherein the support is selected from the group consisting of a rail of a table and a rail of a bed.  
   
   
       47 . The method of  claim 36 , wherein the laparoscopic device is held in a selected position while disposed partially within the skin port without locking movement of the rotational joints of the holder.  
   
   
       48 . A method of positioning a laparoscopic device in a skin port of a mammal, the method comprising: 
 securing the laparoscopic device to a holder comprising at least two rotational joints;    coupling the holder to a curvilinear articulating arm;    disposing the laparoscopic device partially within the skin port;    positioning the laparoscopic device by selectively articulating the curvilinear articulating arm and selectively rotating portions of the holder with respect to one another.    
   
   
       49 . The method of  claim 48 , further comprising: 
 positioning the laparoscopic device by selectively adjusting a length of the holder along a central axis, wherein the holder further comprises first and second members selectively movable with respect to one another, and wherein the length is selectively adjustable by moving the first and second members with respect to each other.    
   
   
       50 . The method of  claim 48 , wherein the laparoscopic device is held in a selected position while disposed partially within the skin port without locking movement of the rotational joints of the holder.