Patent Description:
In many technological fields, different tools are employed to perform different operations. In the medical field, and specifically in the surgical field, the different tools may include forceps, needle drivers, scissors, scalpels and the like. Often, it may be required to change a tool during an operation (e.g., surgery).

<CIT>, entitled "Interchangeable Surgical Instrument" directs to an interchangeable surgical instrument in which a magazine of tools is positioned outside the body. The tool is held within the magazine. The engagement hooks of the tool are spring biased outwardly in an open configuration. To engage the tool driver with the tool, the tool driver is pushed against the tool. As the tool starts to move within the passage, the walls of the passage press against the engagement hooks until the engagement hooks lock with the driver hooks.

<CIT>, entitled "Systems, Apparatuses and Methods of Tool, Exchange" directs to engaging and disengaging of an end tool, with a holster or tool exchange device, may be accomplished by moving the instrument to which the end tool is attached sequentially along two motions, a first motion and a second motion. Each motion may be bi-directional and the two directions may be used to perform engaging and/or disengaging operations as described below. The first motion occurs along linear path, and the second motion is in the rotational path. Moving the instrument along the first and then the second motion will: <NUM>) engage the end tool with the holster via a tool engaging system components <NUM>) engage an instrument via the holster further via operating instrument engaging features operable with holster, <NUM>) allow the end tool to be disconnected from the instrument and features operable with holster, and <NUM>) disengage the instrument from the holster. The instrument may then be moved in the reverse of the first motion direction along path to allow the instrument to be moved independently of the holster. Moving the instrument again in the first and then the second motion will: <NUM>) engage the instrument with the holster, <NUM>) allow the end tool to be connected to the instrument, and, upon moving again in the first direction allow the instrument to disengage from the holster with the engaged end tool connected, and allow the instrument and end tool to be used as a unit.

<CIT>, entitled "Endoscope Tool Coupling" directs to a connector apparatus attachable to the proximal end of an endoscope, through which tool can be inserted or extracted from the endoscope. The connector apparatus includes a connector body that has a plurality of fingers that are configured to engage and securely lock onto a port of the endoscope. The connector body locks onto the port with a connector nut that is threaded on the connector body to tighten or loosen the connector fingers from the endoscope port mount. The endoscope includes fingres which rotationally lock the connector apparatus with the endoscope.

<CIT>directs to an adaptor to orient an elongated medical device in relation to an endoscope. The adaptor includes a first portion and a second portion. The distal end of the first portion is connected and rotationally secured to an endoscope at the proximal end thereof. The first portion includes a first lumen longitudinally therethrough either an orienting key or a keyway extending longitudinally at least partially there along the first portion. The second portion connects with the first portion and includes a second lumen extending longitudinally therethrough. The second portion connects with the first lumen and also includes a key or the keyway extending longitudinally at least partially there along. The keyway is configured to releasably mate with the key to orient and rotationally secure the second portion relative to the first portion. A medical device is inserted through the second portion while being and rotationally secured relative to the second portion. When the medical device is inserted through the endoscope, the adaptor orients the tip thereof relative to the distal portion of the endoscope portion.

<CIT> discloses an actuation connector for connecting with a tool section.

It is an object of the disclosed technique to provide a novel tool actuation connector. In accordance with the disclosed technique, there is thus provided a tool actuation connector, where the tool includes a tool activation interface, a longitudinal lock interface and a rotation lock interface. The tool actuation connector includes a latching spring, an inner sleeve and an outer sleeve. The latching spring includes a plurality of spring hooks, for coupling with the tool activation interface. The inner sleeve is operable to longitudinally move relative to said latching spring. The inner sleeve couples the latching spring to the activation interface when said inner sleeve is located over said latching spring and releases the latching spring from the activation interface when the inner sleeve moves away from the latching spring toward the proximal direction. The outer sleeve is rotationally locked with the inner sleeve and is operable to longitudinally move relative to the inner sleeve. The outer sleeve is further operable to rotationally lock with said tool via said rotation lock interface.

The disclosed technique overcomes the disadvantages of the prior art by providing a tool actuation connector mechanism, for connecting with a selected tool or to release the tool which is employed, during operation (e.g., surgery). In other words, the tool mechanism according to the disclosed technique enables exchanging tools of a tool guide during operation. The tool actuation connector includes a tool activation interface, a longitudinal lock interface and a rotation lock interface. The actuation connector includes a latching spring, an inner sleeve and an outer sleeve. The latching spring includes a plurality of spring hooks, for coupling with the tool activation interface. The inner sleeve is operable to longitudinally move relative to said latching spring. The inner sleeve couples the latching spring to the activation interface when said inner sleeve is located over said latching spring and releases the latching spring from the activation interface when the inner sleeve moves away from the latching spring toward the proximal direction. The outer sleeve is rotationally locked with the inner sleeve and is operable to longitudinally move relative to the inner sleeve. The outer sleeve is further operable to rotationally lock with said tool via said rotation lock interface.

Reference is now made to <FIG>, which are schematic illustrations of a tool mechanism, generally referenced <NUM>, constructed and operative in accordance with an embodiment of the disclosed technique. Tool mechanism <NUM> includes a tool section <NUM> and an actuation connector <NUM>. <FIG> and <FIG> depict the components of tool mechanism <NUM>. <FIG> depict tool mechanism <NUM> in an assembled and connected state. <FIG> depict the process of releasing actuation connector <NUM> from tool section <NUM>.

For the sake of the description which follows, the direction toward the tool section <NUM> is referred to as 'distal direction' or 'distal end' and the toward actuation connector <NUM> is referred to as 'proximal direction' or 'proximal end'. Tool section <NUM> includes a tool <NUM>, a tool housing <NUM> and a tool activation interface such as a push-pull rod <NUM>. Tool housing <NUM> includes a rotation lock interface. In exemplary tool mechanism <NUM>, the rotation lock interface includes a plurality of rotation lock protrusions at the distal end thereof. In exemplary too mechanism <NUM> tool housing <NUM> includes five rotation lock protrusions <NUM><NUM>, <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM>. Rotation lock protrusions <NUM><NUM>-<NUM><NUM> create a plurality of tool rotation lock grooves <NUM><NUM>, <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM>. Tool housing <NUM> includes at a longitudinal lock interface. In the example brought forth in <FIG>, longitudinal lock interface is in the form of two L-shaped cutouts <NUM><NUM> and <NUM><NUM>. Each one of L-shaped cutouts <NUM><NUM> and <NUM><NUM> includes a longitudinal section and a lateral section. Push-pull rod <NUM> includes a mushroom pin <NUM>.

Actuation connector <NUM> includes a latching spring <NUM>, an inner sleeve <NUM> and an outer sleeve <NUM>. Latching spring <NUM> includes a plurality of spring hooks. In the example brought forth in <FIG> latching spring <NUM> includes four spring hook <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM>. Inner sleeve <NUM> includes at least one sleeve rotation lock pin and at least one sleeve longitudinal lock pin. In exemplary tool mechanism <NUM>, inner sleeve <NUM> includes two sleeve rotation lock pins <NUM><NUM> and <NUM><NUM> and two sleeve longitudinal lock pin <NUM><NUM> and <NUM><NUM>. Outer sleeve <NUM> includes a plurality of rotation lock teeth at the distal end thereof and at least one sleeve rotation lock groove. In exemplary tool mechanism <NUM>, outer sleeve <NUM> includes five rotation lock teeth <NUM><NUM>, <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM> extending from said inner sleeve toward the distal direction. Outer sleeve <NUM> two sleeve rotation lock grooves <NUM><NUM> and <NUM><NUM> located on the lateral surface of outer sleeve <NUM>. The tool mechanism further includes a spring <NUM> and a rotation bearing <NUM>. Inner sleeve <NUM> is coupled with a tool guide, which controls the actuation of tool mechanism <NUM>.

Inner sleeve <NUM> and outer sleeve <NUM> exhibit a cylindrical shape. Tool housing <NUM> also exhibits a cylindrical shape with two prongs extending from the distal base thereof. When tool mechanism <NUM> is in the assembled and connected state, inner sleeve <NUM>, outer sleeve <NUM> and tool housing <NUM> are concentric. The term 'longitudinal direction' or 'longitudinally' relate herein to any direction parallel to the concentric axis of inner sleeve <NUM>, outer sleeve <NUM> and tool housing <NUM>. The term 'longitudinally move' relates to movement in a longitudinal direction. The term 'actuation' relates herein to the motion (i.e., longitudinal motion, rotation motion) and to the activation of tool <NUM>.

With reference to <FIG>, spring <NUM> applies a force on outer sleeve <NUM> in the distal direction and each rotation lock teeth <NUM><NUM>-<NUM><NUM> is located in one of tool rotation lock grooves <NUM><NUM>-<NUM><NUM>. Consequently, each rotation lock teeth <NUM><NUM>-<NUM><NUM> rotationally lock with two adjacent rotation lock protrusions <NUM><NUM>-<NUM><NUM>, such that when outer sleeve <NUM> rotates, tool housing <NUM>, and thus tool <NUM> rotates as well (i.e., outer sleeve <NUM> and tool <NUM> are rotationally locked one with respect to the other). Also, each of sleeve rotation lock pins <NUM><NUM> and <NUM><NUM> of inner sleeve <NUM> is located in one of sleeve rotation lock grooves <NUM><NUM> and <NUM><NUM> such that when inner sleeve <NUM> rotates, outer sleeve <NUM> rotates as well (i.e., inner sleeve <NUM> and outer sleeve <NUM> are rotationally locked one with respect to the other). Thus, when inner sleeve <NUM> rotates, tool housing <NUM> and thus tool <NUM> also rotate (i.e., inner sleeve <NUM> and tool <NUM> are rotationally locked one with respect to the other). Also, the longitudinal length of sleeve rotation lock grooves <NUM><NUM> and <NUM><NUM> is larger than the longitudinal length of sleeve rotation lock pins <NUM><NUM> and <NUM><NUM>, to enable relative motion between outer sleeve <NUM> and inner sleeve <NUM> in a longitudinal direction. This relative motion between outer sleeve <NUM> and inner sleeve <NUM> is limited by the longitudinal length of sleeve rotation lock grooves <NUM><NUM> and <NUM><NUM>, and is equal or larger than the longitudinal length of rotation lock teeth <NUM><NUM>-<NUM><NUM>.

With reference to <FIG>, which depicts tool mechanism <NUM> in an assembled and connected state with outer sleeve <NUM> removed, sleeve longitudinal lock pin <NUM><NUM> is inserted into the L-shaped cutout <NUM><NUM>, toward the end of the lateral section, such that, in the assembled and connected state, tool housing <NUM> and inner sleeve <NUM> do not move one with respect to the other in a longitudinal direction (i.e., tool housing <NUM> and inner sleeve are longitudinally locked). It is noted that, although not depicted in <FIG>, in an assembled and connected state longitudinal lock pin <NUM><NUM> is inserted into the L-shaped cutout <NUM><NUM>.

With reference to <FIG>, which depicts the cross-section of tool mechanism <NUM> in the assembled connected state, inner sleeve <NUM> is located over latching spring <NUM>, and presses on spring hooks <NUM><NUM>-<NUM><NUM>, such that spring hooks <NUM><NUM>-<NUM><NUM> latch on mushroom pin <NUM>, and thus on push-pull rod <NUM>. Thus, latching spring <NUM> is coupled with push-pull rod <NUM> (i.e., with tool activation interface). It is noted that latching spring <NUM> and inner sleeve <NUM> may move independently one with respect to the other in a longitudinal direction.

To release of actuation connector <NUM> from tool section <NUM>, a force is applied on outer sleeve <NUM> in the proximal direction. With reference to <FIG>, as tool mechanism <NUM> is inserted into a container <NUM>, the rim of container <NUM> applies a force on outer sleeve <NUM> in the proximal direction until rotation lock teeth <NUM><NUM>-<NUM><NUM> are out of tool rotation lock grooves <NUM><NUM>-<NUM><NUM> and outer sleeve <NUM> is rotationally unlocked from tool housing <NUM>. Thereafter, and with reference to <FIG>, inner sleeve <NUM> is rotated to align longitudinal lock pins <NUM><NUM> and <NUM><NUM> with the longitudinal section of L-shaped cutouts <NUM><NUM> and <NUM><NUM>, longitudinally unlocking inner sleeve <NUM> from tool housing <NUM> (i.e., inner sleeve and tool housing can longitudinally move one with respect to the other). Thereby, actuation connector <NUM> is longitudinally unlocked from tool section <NUM>. As inner sleeve <NUM> rotates, outer sleeve <NUM> rotates as well. It is noted that, for the sake of clarity of the explanation, in <FIG>, tool mechanism <NUM> is depicted with outer sleeve <NUM> removed. With reference to <FIG>, when longitudinal lock pins <NUM><NUM> and <NUM><NUM> are aligned with the longitudinal section of L-shaped cutouts <NUM><NUM> and <NUM><NUM>, inner sleeve <NUM> is pulled toward the proximal direction while the position of latching spring <NUM> is maintained, to remove inner sleeve <NUM> from latching spring <NUM>, such that spring hooks <NUM><NUM>-<NUM><NUM> release mushroom pin <NUM>. With reference to <FIG>, actuation connector <NUM> is released from tool section <NUM>, and may than connect with a different tool, similar to tool <NUM>.

To connect actuation connector <NUM> to tool section <NUM>, the above described process is reversed. Actuation connector <NUM> is positioned such that spring hooks <NUM><NUM>-<NUM><NUM> are located over mushroom pin <NUM> and the rim containing <NUM> pushes on outer sleeve <NUM>. Each one of longitudinal lock pins <NUM><NUM> and <NUM><NUM> is aligned with the longitudinal section of one of L-shaped cutouts <NUM><NUM> and <NUM><NUM>. Inner sleeve <NUM> is then pushed over latching spring <NUM> such that inner sleeve presses on spring hooks <NUM><NUM>-<NUM><NUM> and spring hooks <NUM><NUM>-<NUM><NUM> latch onto mushroom pin <NUM>. Outer sleeve <NUM> is then rotated by rotating Inner sleeve <NUM> until each of rotation lock teeth <NUM><NUM>-<NUM><NUM> is aligned with one of tool rotation lock grooves <NUM><NUM>-<NUM><NUM>. As tool mechanism <NUM> is extracted from container <NUM>, spring <NUM> applies a force on outer sleeve <NUM> in the distal direction such that each one of rotation lock teeth <NUM><NUM>-<NUM><NUM> is inserted into one of tool rotation lock grooves <NUM><NUM>-<NUM><NUM>.

It is noted that container <NUM> (<FIG>) may be a part of a manifold of containers, where each container is operable to hold a separate tool. In the case of medical surgery, the manifold may be located within the operated cavity (e.g., the abdomen during laparoscopic surgery). The entire tool release and coupling procedures described above occur within the operated cavity. This eliminates the need to insert and/or withdraw the tool from the operated cavity each time a tool is to be changed, as long as the required tool is stored in one of the containers in the manifold. Reference is now made to <FIG>, which are schematic illustrations of a manifold apparatus, generally referenced <NUM>, constructed and operative in accordance with another embodiment of the disclosed technique. Manifold apparatus <NUM> includes a containers manifold <NUM> and an arm <NUM>. Manifold <NUM> includes a distal section <NUM> and a proximal section <NUM>. Manifold <NUM> further includes a plurality of containers. In the example depicted in <FIG>, manifold <NUM> includes five containers <NUM><NUM>, <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM>. In each of containers <NUM><NUM> - <NUM><NUM>, the diameter thereof at the distal section <NUM> is smaller than the diameter thereof at the proximal section <NUM>. Thus a tool may be inserted completely into one of containers <NUM><NUM> - <NUM><NUM>, and the rim of the distal section of the container shall apply a force on the outer sleeve of the tool as the tool is pushed into the container. Manifold <NUM> further includes a plurality of tool passage cavities, such as through tool passage cavities <NUM><NUM>, <NUM><NUM> and <NUM><NUM>. During operation, various tools, located at the distal end of respective articulation arms, may pass through a respective one of tool passage cavities <NUM><NUM>, <NUM><NUM> and <NUM><NUM>. For example, and referring to <FIG>, at the beginning of the operation, tools <NUM><NUM> and <NUM><NUM>, which are located at the distal end of articulation arms <NUM><NUM> and <NUM><NUM> respectively, as well as a camera <NUM>, which is located at the distal end of articulation arm <NUM>, are to be inserted into the operated cavity along with manifold <NUM>. Manifold <NUM> is inserted into the operated cavity with at least one of containers <NUM><NUM>-<NUM><NUM> empty (i.e., to allow storage of the tool being replace). The remaining ones containers <NUM><NUM>-<NUM><NUM> include various tools. It is noted that at least each one of articulation arms <NUM><NUM> and <NUM><NUM> includes at the distal end thereof an actuation connector, such as actuation connector <NUM> described herein above in conjunction with <FIG>). It is also noted that at least each one of tools <NUM><NUM> and <NUM><NUM> includes a tool activation interface, a longitudinal lock interface and a rotation lock interface as described above in conjunction with <FIG>).

With reference to <FIG>, once within the operated cavity, tools <NUM><NUM> and <NUM><NUM> pass through tool passage cavities <NUM><NUM> and <NUM><NUM> respectively and camera <NUM> passes through tool passage cavity <NUM><NUM>. Consequently, tools <NUM><NUM> and <NUM><NUM> may be employed within the operated cavity while camera <NUM> acquires an image or images of thereof. When a tool is to be replaced, for example, tool <NUM><NUM>, then tool <NUM><NUM> is retracted beyond manifold <NUM>. Tool <NUM><NUM> is then aligned with an empty container and released as described above. Articulation arm <NUM><NUM> is then aligned with the selected one of containers <NUM><NUM>-<NUM><NUM> (i.e., which stores the required tool) and articulation arm <NUM><NUM> is then coupled with the selected tool as described above. Tool <NUM><NUM> may similarly be exchanged.

Claim 1:
An actuation connector (<NUM>) for connecting with a tool section (<NUM>), said tool section comprising a tool (<NUM>), said tool section comprising a tool activation interface (<NUM>), a longitudinal lock interface and a rotation lock interface, characterized in that said actuation connector comprises:
a latching spring (<NUM>), comprising a plurality of spring hooks (<NUM><NUM>, <NUM><NUM>, <NUM><NUM>, <NUM><NUM>), for coupling with said tool activation interface.
an inner sleeve (<NUM>), operable to longitudinally move relative to said latching spring, said inner sleeve coupling said latching spring to said tool activation interface when said inner sleeve is located over said latching spring and releasing said latching spring from said tool activation interface when said inner sleeve moves away from said latching spring toward the proximal direction; and
an outer sleeve (<NUM>), rotationally locked with said inner sleeve, operable to longitudinally move relative to said inner sleeve, said outer sleeve further being operable to rotationally lock with said tool section via said rotation lock interface,
wherein when said actuation connector is connected to said tool section, to disconnect said actuation connector from said tool section, said outer sleeve is longitudinally moved toward a proximal direction, thereby rotationally unlocking said outer sleeve from said rotation lock interface and thereby rotationally unlocking said actuation connector from said tool section;
wherein when said outer sleeve is rotationally unlocked from said rotation lock interface, said inner sleeve is rotated in a first direction, thereby longitudinally unlocking said actuation connector from said tool section;
wherein when said actuation connector is disconnected from said tool section, to connect said actuation connector to said tool section, said inner sleeve is rotated in a second direction different from said first direction, to longitudinally lock said actuation connector with said tool section; and
wherein, when said inner sleeve is longitudinally locked with said actuation connector, said outer sleeve is longitudinally moved toward a distal direction to rotationally lock with said rotation lock interface, thereby rotationally locking said actuation connector with said tool section.