Patent ID: 8641698
Filing Date: 2014-02-04
Classification: A61B,Y10S

Abstract:
1. A pivot port that can support a surgical instrument controlled by a robotic arm, comprising: a pivot arm; a ring having an inner annular ring lip; a first link configured as a single connecting piece having pivotal ends; an adapter that has an aperture and an outer annular flange, wherein the aperture is adapted to receive the surgical instrument, and wherein the outer annular flange rests on the inner annular ring lip of the ring so that the ring supports the adapter; and, first and second joints, wherein a proximal end of the first link is directly connected to the pivot arm by the first joint so that the proximal end of the first link is constrained to only be rotatable at the first joint about a first axis of rotation that is parallel with a longitudinal axis of the pivot arm and a distal end of the first link is directly connected to only one outer side of the ring by the second joint so that the ring and the adapter are rotatable at the second joint about a second axis of rotation that is maintained by a shape of the first link to be approximately orthogonal to the first axis of rotation so as to allow the surgical instrument to pivot about said aperture when the pivot arm is locked in place and the instrument is received in the aperture.