Docking station for surgical instrument holders

Abstract

A docking station for a surgical instrument holder is disclosed. The docking station for the surgical instrument holder includes a base having a center arm mounting and a lower jaw. The docking station for the surgical instrument holder also includes an upper jaw movably connected to the base. The docking station for the surgical instrument holder also includes a center docking arm connected to the center arm mounting and a center ball cup connected to the center docking arm. The docking station for the surgical instrument holder also includes a center attachment nut connected to the center ball cup. The center attachment nut may include an extendable moment arm, and the docking station may also include a ball connected between the center ball cup and the center attachment nut and a surgical instrument holder attached to the ball.

Description

[0001] Citation of Related Applications

[0002] This international application claims priority to U.S. Provisional Patent Application No. 62 / 882,667, filed on August 5, 2019, and entitled “DOCK FOR SURGICALE QUIPMENT HOLDER.” The entire 62 / 882,667 application is incorporated herein by reference in its entirety. Technical Field

[0003] The claimed invention relates to surgical devices and more particularly to a dock for a surgical instrument holder. Background Art

[0004] Laparoscopic, endoscopic and other types of minimally invasive surgical procedures typically rely on the percutaneous introduction of surgical instruments into the area of ​​the patient's body where the surgical procedure is to be performed. Surgeons continue to find it desirable to use smaller and smaller entry incisions to minimize trauma and shorten patient recovery time. Typically, the surgeon will make additional small incisions through which a viewing scope or other surgical instrument can be passed to assist in the procedure. In the case of a viewing scope, an assistant can manipulate and / or hold the scope in a fixed position for the surgeon so that the surgeon can view the images acquired by the scope on a monitor screen in order to perform minimally invasive surgery. An instrument holder can be used instead of an assistant to position and hold surgical instruments, such as, but not limited to, a viewing scope.

[0005] Although surgical instrument holders are known to those skilled in the art, a surgical instrument holder or a docking station for a surgical instrument holder having the ability to mount multiple articulatable surgical instrument holders is desirable. The ability to adjust one or more surgical devices in multiple degrees of freedom can facilitate the use of multiple surgical devices, including endoscopes, retractors, etc., that are adjustable and mountable in the surgical field on or around a surgical table, for example, on a crossbar of a surgical table or some other instrument in an operating room.

[0006] Other industries are also plagued by a similar dilemma, namely the ability to easily, reliably and adjustably mount one or more instruments or instrument holders. Although instrument holders are known to those skilled in the art, easily adjustable mounts with enhanced mechanical functionality are not widely available. Therefore, it is desirable to have a single docking station for adjustably mounting multiple surgical instrument holders. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a top right front perspective view of one embodiment of a surgical instrument holder docking station.

[0008] Figure 2A-2E is a series of exploded views showing Figure 1Assembling steps of the surgical instrument docking station.

[0009] Figure 3A and 3B yes Figure 1 A top right front perspective view of a surgical instrument docking station holder, showing two additional side arms in addition to the center docking arm and three surgical instrument holders mounted on each arm.

[0010] Figure 4A , 4B , 4C, 4D and 4E are Figure 1 A series of top perspective views of a torque enhancement device for a surgical instrument docking station holder, showing two pairs of moment arms retracted, a lower pair of moment arms extended, the lower pair of moment arms used for loosening, and an upper pair of moment arms extended and the upper pair of moment arms used for tightening.

[0011] Figure 5 is a top right front perspective view of another embodiment of a surgical instrument holder docking station.

[0012] Figure 6 is a top right front perspective view of another embodiment of a surgical instrument holder docking station.

[0013] Figure 7 is a top right front perspective view of another embodiment of a surgical instrument holder docking station.

[0014] Figure 8 yes Figure 7 A partial cross-sectional view of a surgical instrument holder docking station.

[0015] Fig.9A and 9B yes Figure 7 A partial cross-sectional view of a surgical instrument holder docking station.

[0016] Fig.10 is attached to the operating table Figure 7 0026] A perspective view of two surgical instrument holder docking stations with various adapters and instruments attached to the surgical instrument holder docking stations.

[0017] It should be understood that for clarity and where considered appropriate, reference numerals have been repeated in the drawings to indicate corresponding features and that various elements in the drawings have not necessarily been drawn to scale in order to better illustrate the features. Summary of the invention

[0018] A docking station for a surgical instrument holder is disclosed. The docking station for a surgical instrument holder includes a base having a center arm mount, a side arm mount, and a lower clamping jaw. The docking station for a surgical instrument holder also includes an upper jaw movably connected to the base; and a center docking arm connected to the center arm mount, the center docking arm including an inner rod connected to the upper jaw, a knob connected to the inner rod, a hollow outer rod disposed above the inner rod, and a center ball cup connected to the inner rod. The docking station for a surgical instrument holder also includes an attachment nut connected to the center ball cup.

[0019] Another embodiment of a docking station for a surgical instrument holder is disclosed. The docking station for a surgical instrument holder may include a center arm mount having a center docking arm coupled to the center arm mount, a center ball cup coupled to the center docking arm, and a center attachment nut coupled to the center ball cup. The docking station for a surgical instrument holder may also include a first side arm mount having a first side docking arm coupled to the first side arm mount, a first side ball cup coupled to the first side docking arm, and a first side attachment nut coupled to the first side ball cup. The second side arm mount of the docking station for a surgical instrument holder may include a second side docking arm coupled to the second side arm mount, a second side ball cup coupled to the second side docking arm, and a second attachment nut coupled to the second side ball cup.

[0020] Another docking station for a surgical instrument holder is disclosed, which has a base that may include a center arm mount, a first side arm mount, a second side arm mount, and a lower jaw. The docking station for a surgical instrument holder may also include an upper jaw movably connected to the base; and the center docking arm connected to the center arm mount may include: an inner rod connected to the upper jaw, a knob connected to the inner rod, a hollow outer rod disposed above the inner rod, and a center ball cup connected to the inner rod. The docking station for a surgical instrument holder may also include a center attachment nut having an extendable moment arm, a ball pivotally held between the center ball cup and the center attachment nut, and a surgical instrument holder connected to the ball. DETAILED DESCRIPTION

[0021] Figure 1is a top right front perspective view of one embodiment of a surgical instrument holder docking station. This embodiment of the surgical instrument holder docking station 10 includes a base 12 defining a pair of lower jaws 14, a lower stop 20, and an upper stop 22. Internally movable within the base 12 of the surgical instrument holder docking station 10 is an upper jaw 16 connected to an upper jaw shaft 18. The upper jaw shaft 18 includes a stop pin 24, which is located on the upper jaw shaft 18 so that the pin 24 is located between the lower stop 20 and the upper stop 22, and is configured to limit the vertical travel of the upper jaw shaft 18 and thus limit the relative position of the upper jaw 16 relative to the lower jaw 14. Other embodiments may or may not include a stop pin, and the travel of the movable portion of the jaw may be limited by means known to those skilled in the art. Other embodiments may not limit travel at all. Other embodiments may have a movable lower jaw or a movable lower jaw and upper jaw. Other embodiments may have additional features on the inner portion or surface of the upper or lower jaws, such as bevels or other texture features configured to improve consistent clamping force to accommodate a variety of different surgical crossbar shapes and sizes. The base 12 is configured to clamp the surgical instrument holder docking station 10 to the surgical table crossbar. A central docking arm 26 is attached to the upper portion of the base 12. The central docking arm 26 has a locking nut 28, which is attached to the top of the central docking arm 26. Above the locking nut 28 is a body locking knob 30, which is connected to the upper jaw shaft 18 by an inner shaft or inner rod that is not explicitly shown but will be discussed later. Above the body locking knob 30 is a central ball cup or sleeve, which is also not shown in this view but will be discussed later. A central attachment nut 32 is coupled to the sleeve. The attachment nut 32 includes two lower extendable moment arms 34 and two upper extendable moment arms 36. A large coupling ball 38 is retained between the sleeve attached to the central docking arm 26 and the attachment nut 32. The curved coupling rod 40 is attached to the large coupling ball 38 at one end and to the small coupling ball 42 at the opposite end. Above the small coupling ball 42, a retaining ring 44 is connected, which will later be used as a mounting point for the surgical instrument holder, which is not shown in this view. In addition to the central docking arm 26, the surgical instrument holder docking station 10 also has a first side docking arm 46 and a second side docking arm 64 attached to the base 12, each docking arm is angled at about 45 degrees and in the same plane relative to the central docking arm 26. Although a 45 degree angle is shown in this embodiment, other embodiments may have other side arm angles and side arms that are not in the same plane as the central docking wall compared to the central docking arm. The first side docking arm 46 defines a first side coupling ball cup 48, not visible in this view, which is configured to be combined with a first side attachment nut 50 having two lower extendable moment arms 52 and two upper extendable moment arms 54. The large coupling ball 56 is retained between the coupling ball cup 48 and the attachment nut 50. A curved coupling rod 58 is attached to the large coupling ball 56 at one end and to a small coupling ball 60 at an opposite end.Above the small coupling ball 60, a retaining ring 62 is connected, which will be used as a mounting point for a surgical instrument holder later, which is not shown in this view. The second side docking arm 64 also defines a second side coupling ball cup 66, which is configured to be combined with a second side attachment nut 68 having two lower extendable moment arms 70 and two upper extendable moment arms 72. The large coupling ball 74 is retained between the coupling ball cup 66 and the attachment nut 68. The curved coupling rod 76 is attached to the large coupling ball 74 at one end and to the small attachment ball 78 at the opposite end of the coupling rod 76. Above the small coupling ball 78, a retaining ring 80 is connected, which will be used as a mounting point for a surgical instrument holder later, which is not shown in this view. The position of each of the coupling rods 40, 58, 76 can be positioned and locked by first loosening one of the attachment nuts 32, 50, 68, placing the position of the coupling rods 40, 58, 76 as needed and thus placing the position of any attached fixtures and devices (such as surgical instrument holders). Next, the attachment nut 32, 50, 68 is tightened, thereby locking the coupling rod 40, 58, 76 into the desired position by clamping the large coupling ball 38, 56, 74 between the attachment nut 32, 50, 68 and each ball cup 128, 48, 66. The attachment nut may also be referred to as an attachment sleeve.

[0022] Figure 2A-2E is a series of exploded views showing Figure 1 Assembling steps of the surgical instrument docking station. Figure 2A The base 12 is shown defining a lower jaw 14, a lower stop 20, and an upper stop 22. There is also a hole 108 near the top of the base 12 for inserting a stop pin 24. The base is configured to slidably receive an upper jaw shaft 18 defining an upper jaw 16. The upper jaw 16 is movable relative to the lower jaw 14 on the base 12 and can be tightened to various surgical table crossbars or fixed to other structures. The upper jaw shaft 18 also has a hole 90 configured to receive the stop pin 24 and a hole 92 configured to receive the shaft step 134 of the inner shaft 130. The base 12 also defines a central arm mounting hole 82 and two side arm mountings 84, 88. The two side arm mountings 84, 88 have threads 86 for attaching the side arms to the base 12.

[0023] Next, the hollow outer shaft 98 is inserted through the hole 110 in the locking nut 28 and fixedly attached to the base 12 by first inserting the shaft step 106 portion of the outer shaft 98 into the center arm mounting hole 82 on the base 12. The locking nut 28 is held captive on the outer shaft 98 because the diameter of the step 112 inside the locking nut 28 is sized and configured to match and have a smaller diameter than the step 100 on the upper end of the outer shaft 98. The shaft step 106 fits into the center arm mounting hole 82 on the base 12. This can be attached by welding, gluing, or other methods known in the art. The outer shaft 98 also has a plurality of lateral openings 104 that are configured to allow access to the interior of the center docking arm 26 during cleaning and / or sterilization procedures. The center docking arm 26 also has a central hole 102 configured to receive the inner shaft 130. The threads 114 on the locking nut 28 mate with the external threads 126 on the body locking knob 30 on either side of the step 100 on the outer shaft 98. The inner shaft 130 is then inserted into the central bore 124 of the inner shaft 130, through the central bore 102 of the outer shaft 98, and into the central arm mounting hole 82 of the base 12 to be fixedly attached to the upper jaw shaft 18. The shaft step 134 on the inner shaft 130 mates with the hole 92 of the upper jaw shaft 18. Once the inner shaft 130 is inserted through the outer shaft 98, the hollow outer rod or outer shaft 98 is disposed over the inner shaft 130 or rod and the inner shaft 130 can be rotated within the outer shaft 98. The body locking knob 30 defines internal threads 122 within the central bore 124 and external threads 126 on the underside of the body locking knob 30. The body locking knob 30 also defines a plurality of recesses 118 and protrusions 120 to form an ergonomic gripping surface for operating the body locking knob 30 .

[0024] The inner shaft 130 also defines a central ball cup 128 toward the upper portion. The ball cup 128 also defines an outer recess wall 146 and an inner recess wall 138. The outer surface of the inner recess wall 138 has threads 142 and there is a sleeve recess 148 defined by the space between the outer recess wall 146 and the inner recess wall 138. The threads 142 and the sleeve recess 148 are configured to receive an attachment nut, which is not shown here but will be discussed later. The inner recess wall 138 also defines a plurality of knurls 140 on the top edge, which are configured to facilitate gripping of the large coupling ball 38 shown later, and a central ball recess 144. In operation, the upper threads 132 of the inner shaft 130 engage the inner threads 122 on the body locking knob 30 and when the body locking knob 30 is rotated clockwise, the upper threads 132 drive the inner shaft 130 in a downward direction, thereby moving the upper jaw 16 closer to the lower jaw 14 and closing or tightening the lower jaw 14 and the upper jaw 16 together. When the body locking knob 30 is rotated counterclockwise, the upper threads 132 drive the inner shaft 130 in an upward direction, thereby moving the upper jaw 16 further away from the lower jaw 14 and loosening the lower jaw 14 and the upper jaw 16 away from each other. Once the relative position of the lower jaw 14 and the upper jaw 16 is obtained and sufficient clamping force is achieved, the threads 114 on the locking nut 28 and the outer threads 126 on the body locking knob 30 are tightened to lock the position of the lower jaw 14 and the upper jaw 16 in the desired position when clamped to an operating table crossbar or other structure. Other embodiments may have alternative tightening mechanisms or configure the body lock clamp to be rotated counterclockwise to tighten and clockwise to loosen.

[0025] Figure 2B yes Figure 11 is an exploded view of a portion of the components of the surgical instrument holder docking station 10, with an emphasis on the attachment nut 68, also referred to as the attachment nut. The attachment nut 68 has a generally disc-shaped structure. The top layer 160, the middle layer 162, and the bottom layer 164 are flat thin sections defined by the attachment nut 68, which extend outward from the central structure of the attachment nut 68. The attachment nut 68 includes the top layer 160, the middle layer 162, and the bottom layer 164, further defining a plurality of recesses 150 and protrusions 152 around the circumference of the attachment nut 68. These recesses 150 and protrusions 152 form ergonomic gripping features on the overall shape of the attachment nut 68, which can enable or facilitate manual tightening of the attachment nut 68 by providing gripping features. The attachment nut 68 also defines a ramp 154 ​​that allows clearance for any accessory to be positioned at a greater angle and with increased clearance. The spacing between the top layer 160, the middle layer 162, and the bottom layer 164 defines an upper slot 166 and a lower slot 168. The middle layer 162 and the bottom layer 164 define a plurality of holes 170. The upper and lower extendable moment arms 72 and 70, each having mounting holes 176, 178, are placed in the upper and lower slots 166 and 168, respectively, with the hole 176 on the upper extendable moment arm 72 aligned with the two holes 170 in the attachment nut 68, and with the hole 178 on the lower extendable moment arm 70 aligned with the two holes 170 on the attachment nut 68. A rectangular wave washer 172 having a hole 174 is placed under each of the holes 176, 178 in the respective upper and lower extendable moment arms 72 and 70. Two pins 180 are inserted through the hole 174 of each washer 172, through each hole 176, 178, through each extendable moment arm 72, 70, while each pin 180 is captured in a corresponding hole 170 of the attachment nut 68. In this embodiment of the attachment nut 68, there are two upper extendable moment arms 72 and two extendable moment arms 70, each of which is attached to the Figure 2B . The rectangular washer 172 is shaped and configured to hold the extendable moment arms 70, 72 in place with the entire circumference of the attachment nut 68, but also to keep the extendable moment arms 70, 72 extended when desired according to the needs of its functional operation, which will be described later. The rectangular wave washer is not flat and provides a biasing force on the extendable moment arms 70, 72 and the inner portion of the attachment nut 68. Although this embodiment of the attachment nut 68 has two upper extendable moment arms and two lower extendable moment arms, other embodiments may have fewer, more, or differently shaped or oriented extendable moment arms. Similarly, alternative shapes and features are also possible for other embodiments of the attachment nut 68. Other types of washers or biasing elements can be used to provide friction to hold the extendable moment arms 70, 72 in place, such as three wave washers, wave washers, spring washers, disc washers, disc springs, or a combination thereof.

[0026] Figure 2C yes Figure 1 An exploded view of a portion of the components of the surgical instrument holder docking station 10, with emphasis on Figure 2A and 2B The assembly of the subassembly shown. The two pins 24 are inserted into the holes 90 and 108 respectively to continue the assembly. Figure 2A The resulting subassembly is shown. The large coupling ball 38 is placed within the ball recess 144 of the ball cup 128. The coupling rod 40 is passed through the attachment sleeve recess 156 of the attachment nut 68, and the axial step 184 of the coupling rod 40 is inserted and fixedly attached to the hole 182 on the large coupling ball 38. The axial step 186 on the opposite end of the coupling rod 40 passes through the central hole 188 on the retaining ring 44 and is fixedly attached to the hole 192 on the small coupling ball 42. Once the large coupling ball 38 and the small coupling ball 42 are attached to the coupling rod 40, the attachment nut 68 is attached to the ball cup 128 by engaging the threads 158 with the threads 142 on the ball cup 128 on the inner recess wall 138 of the ball cup 128. Once the threads 158, 142 are engaged, the attachment nut 68 is rotated clockwise to tighten the attachment nut 68 onto the ball cup 128, thereby capturing the large coupling ball 38 between the attachment nut 68 and the ball recess 144 of the ball cup 128. This assembled state is as shown in FIG. Figure 2D As shown. When the attachment nut 68 is tightened onto the ball cup 128, the movement of the large coupling ball 38 is restricted, so any instrument attached to the large coupling ball 38, including the coupling rod 40 and any other accessories, is held in place once the attachment nut 68 is tightened onto the ball cup 128. The knurling 140 around the top edge of the inner recess wall 138 helps provide frictional contact with the large coupling ball 38 to keep the large coupling ball 38 in place. When the attachment nut 68 is loosened from the ball cup 128, the movement of the large coupling ball 38 is no longer restricted, so any instrument attached to the large coupling ball 38, including the coupling rod 40 and any other accessories, is able to move freely in multiple directions. Other embodiments may not include these knurlings 140 or teeth to provide friction on the large coupling ball 38. Other embodiments may incorporate texture features on the surface of the coupling ball 38 to achieve increased retention on the ball.

[0027] Figure 2E yes Figure 11 is an exploded view of a portion of the assembly of the surgical instrument holder docking station 10, with emphasis on the assembly of the side arms. On the base 12 is a side arm mount 84 having threads 86 that correspond to the threads 200 on the end of the shaft of the first side docking arm 46. The first side docking arm 46 is similar in structure to the center docking arm 26 discussed previously, but is simpler in nature with respect to some of its structural features. The first side docking wall 46 has a ball cup 48 facing upward. The ball cup 48 also defines an outer recess wall 204 and an inner recess wall 196. The outer surface of the inner recess wall 196 has threads 194, and there is a sleeve recess 206 defined by the space between the outer recess wall 204 and the inner recess wall 196. The threads 194 and the sleeve recess 206 are configured to receive an attachment nut 210. The inner recess wall 196 further defines a plurality of knurls 198 on a top edge of the inner recess wall 196 and a central ball recess 202 that are configured to assist in gripping the large coupling ball 56. The large coupling ball 56 is placed within the ball recess 202 of the ball cup 48. The coupling rod 58 passes through the attachment sleeve recess 218 of the attachment sleeve 210 and the axial step 232 of the coupling rod 58 is inserted into and fixedly attached to the hole 208 on the large coupling ball 56. The axial step 234 on the opposite end of the coupling rod 58 passes through the central hole 236 on the retaining ring 62 and is fixedly attached to the hole 240 on the small coupling ball 60. Once the large coupling ball 56 and the small coupling ball 60 are attached to the coupling rod 58, the attachment sleeve 210 is attached to the ball cup 48 by engaging the threads 194 on the ball cup 48 with the threads 220, which are not visible in this view but are similar to those previously described with respect to Figure 2C The threads on the ball cup 48 discussed above are on the inner recess wall 196 of the ball cup 48. Once the threads 194 are engaged, the attachment sleeve 210 is rotated clockwise to tighten the attachment sleeve 210 onto the ball cup 48, thereby capturing the large coupling ball 56 between the attachment sleeve 210 and the ball recess 202 of the ball cup 48. When the attachment sleeve 210 is tightened onto the ball cup 48, the movement of the large coupling ball 56 is restricted, so any instrument attached to the large coupling ball 56, including the coupling rod 58 and any other accessories, is held in place once the attachment sleeve 210 is tightened onto the ball cup 48. The knurling 198 around the top edge of the inner recess wall 196 helps provide frictional contact with the large coupling ball 56 to hold the large coupling ball 56 in place. When the attachment sleeve 210 is released from the ball cup 48, the movement of the large coupling ball 56 is no longer restricted, so any instrument attached to the large coupling ball 56, including the coupling rod 58 and any other accessories, can move freely in multiple directions.

[0028] As previously described, the attachment sleeve 210 has a generally disc-shaped structure. The top layer 222, the middle layer 224, and the bottom layer 226 are flat thin sections defined by the attachment sleeve 210 that extend outward from the central structure of the attachment sleeve 210. The attachment sleeve 210, including the top layer 222, the middle layer 224, and the bottom layer 226, further defines a plurality of recesses and protrusions around the circumference of the attachment sleeve 210. These recesses and protrusions form ergonomic gripping features on the overall shape of the attachment sleeve 210, which can enable or facilitate manual tightening of the attachment sleeve 210 by providing gripping features. The spacing between the top layer 222, the middle layer 224, and the bottom layer 226 defines an upper groove 228 and a lower groove 230. The attachment sleeve 210 also has two upper extendable moment arms 54 and two lower extendable moment arms 52, which are arranged in the same manner as previously described with respect to Figure 2B Attachment nut 68 is attached to attachment sleeve 210 in a similar manner as described above for attachment nut 68 in FIG. 1 . While this embodiment of attachment nut 68 has two upper extendable moment arms and two lower extendable moment arms, other embodiments may have fewer, more, or differently shaped or oriented extendable moment arms. Likewise, alternative shapes and features are possible for other embodiments of attachment nut 68. Although not shown in these views, the assembly of the second docking arm is similar to Figure 2E Assembly of the first side docking arm attachment shown in .

[0029] Figure 3A and 3B yes Figure 1 1, which has two side arms in addition to a center docking arm and three surgical instrument holders mounted on each arm. The surgical instrument holder docking station 10 includes a base 12 that defines a lower jaw 14 and has an upper jaw 16 that is movably and slidably engaged within the base 12. A center docking arm 26 is attached to the top of the base 12. The center docking arm 26 has a locking nut 28 and an attachment nut 32 connected to the center docking arm 26 and a body locking knob 30, as previously described with respect to FIG. Figure 1As described. The large coupling ball 38 connected to the coupling rod 40 is releasably retained between the body locking knob 30 and the attachment nut 32. The small coupling ball 42 and the retaining ring 44 attached to the opposite end of the coupling rod 40 are fixed to the central surgical instrument holder arm assembly 242. The central surgical instrument holder arm assembly 242 has a first arm 244 attached to the retaining ring 44 and a locking joint 246 connecting the second arm 252 to the first arm 244. The rod block 248 with the operating rod 250 is located on the top of the locking joint 246. The second arm 252 also has an end joint 254, which includes an end actuator 256. The end actuator 256 is an attachment point for attaching any number of surgical instruments to the end of the central surgical instrument holder arm assembly 242. In this configuration, a piece of surgical instrument can be easily repositioned by adjusting the central surgical instrument holder arm assembly 242. The operating rod 250 is configured to lock and unlock the joints of the central surgical instrument holder arm assembly 242 at the small connecting ball 42, the locking joint 246 and the end joint 254, allow the joints to move freely when unlocked, and maintain the small connecting ball 42, the locking joint 246 and the end joint 254 in a locked position, thereby maintaining the relative positions of the first arm 244, the second arm 252 and the end actuator 256 in a fixed position.

[0030] The base 12 of the surgical instrument holder docking station 10 also includes a first side docking arm 46 connected to the side arm attachment nut 50, thereby holding another connecting rod 58 in place. The connecting rod 58 also has a large connecting ball 56 held between the ball cup 48 connected to the first side docking arm 46 and the attachment nut 50. The upper extendable moment arm 54 is shown as extended, indicating that the attachment nut 50 is being tightened. This will be further described later. The small connecting ball 42 (not visible here) and the retaining ring 62 attached to the opposite end of the connecting rod 40 are fixed to the first side surgical instrument holder arm assembly 258. The first side surgical instrument holder arm assembly 258 has a first arm 260 attached to the retaining ring 62, a locking joint 262 connecting the second arm 268 to the first arm 260. A rod block 264 with an operating rod 266 is located at the top of the locking joint 262. The second arm 268 also has an end joint 270, which includes an end actuator 272. The end effector 272 is an attachment point for attaching any number of surgical instruments to the end of the first side surgical instrument holder arm assembly 258. In this configuration, a piece of surgical instrument will be easily repositioned by adjusting the first side surgical instrument holder arm assembly 258. The operating lever 266 is configured to lock and unlock the joints of the first side surgical instrument holder arm assembly 258 at the small coupling ball 60, the locking joint 262 and the end joint 270, allow the joints to move freely when unlocked, and maintain the small coupling ball 42, the locking joint 246 and the end joint 254 in the locked position, thereby maintaining the relative positions of the first arm 260, the second arm 268 and the end effector 272 in a fixed position.

[0031] The base 12 of the surgical instrument holder docking station 10 also includes a second side docking arm 64 connected to the side arm attachment nut 68, thereby holding another coupling rod 76 in place. The coupling rod 76 also has a large coupling ball, not visible here, which is held between the ball cup 66 and the attachment nut 68 connected to the first side docking arm 64. A small coupling ball 78 and a retaining ring 80 attached to the opposite end of the coupling rod 76 are fixed to the second side surgical instrument holder arm assembly 274. The second side surgical instrument holder arm assembly 274 has a first arm 276 attached to the retaining ring 80, a locking joint 278 connecting the second arm 284 to the first arm 276. A rod block 280 with an operating rod 282 is located on top of the locking joint 278. The second arm 284 also has an end joint 286, which includes an end effector 288. The end effector 288 is an attachment point for attaching any number of surgical instruments to the end of the second side surgical instrument holder arm assembly 274. In this configuration, a piece of surgical instrument will be easily repositioned by adjusting the second side surgical instrument holder arm assembly 274. The operating lever 282 is configured to lock and unlock the joints of the second side surgical instrument holder arm assembly 274 at the small coupling ball 78, the locking joint 278 and the end joint 286, to allow the joints to move freely when unlocked, and to maintain the positions of the small coupling ball 78, the locking joint 278 and the end joint 286 in the locked position, thereby maintaining the relative positions of the first arm 276, the second arm 284 and the end effector 288 in a fixed position. Figure 3B yes Figure 3A 20 is a top right front perspective view of a surgical instrument docking station holder arrangement shown in FIG. 20, wherein the first side surgical instrument holder arm assembly 258 is shown in a position relative to Figure 3A Lowered position of the position shown.

[0032] Figure 4A , 4B , 4C, 4D and 4E are Figure 1 A series of top perspective views of a torque enhancement device of a surgical instrument docking station holder, respectively showing two pairs of moment arms retracted, a pair of lower moment arms extended, the pair of lower moment arms for loosening, and a pair of upper moment arms extended, and the pair of upper moment arms for tightening. Other components and elements of the surgical instrument docking station 10 have been removed for the purpose of more clearly illustrating the operation of the sleeve.

[0033] Figure 4A is a top perspective view of a torque enhancement device or attachment sleeve. The attachment sleeve, its features and its components have been referenced Figure 2B Described in Figure 4A , the attachment sleeve is shown with two upper extendable moment arms 72 and two lower extendable moment arms 70 in a retracted or folded position. When retracted, the positions of the moment arms 70, 72 closely follow the circumference of the disc shape of the attachment nut 68.

[0034] Figure 4B is a top perspective view of a torque enhancement device or attachment sleeve with a pair of lower moment arms extended. Each of the four extendable moment arms 70, 72 has an offset constraint, in this embodiment about Figure 4B A rectangular washer 172 is depicted which is configured to constrain each extendable arm 70 in the retracted or extended position once the arm is moved to the retracted or extended position. Sufficient force must be applied to overcome the biasing restraint to extend each lower moment arm 70 in the outward direction 290 .

[0035] Figure 4C is a top perspective view of a torque enhancement device or attachment sleeve having a pair of lower moment arms for release. Figure 4C Shows Figure 4A Attachment sleeve of the embodiment of the present invention, wherein the two lower extendable moment arms 70 are extended and the two upper extendable moment arms 72 are retracted, the two lower extendable moment arms 70 provide a mechanical advantage in loosening the attachment nut 68 relative to the ball cup 66 of the second side docking arm 64. The attachment nut 68 can now be rotated in the counterclockwise direction 292 to loosen the large coupling ball 74 of the curved coupling rod 76 between the attachment nut 68 and the ball cup 66 of the second side docking arm 64 with reduced force compared to when the lower extendable moment arms 70 are retracted, which provides a mechanical advantage.

[0036] Figure 4D is a top perspective view of a torque enhancement device or attachment sleeve with a pair of upper moment arms extended. Each of the four extendable moment arms 70, 72 has an offset constraint, in this embodiment about Figure 4B The rectangular washers 172 are described, which are configured to constrain each upper extendable arm 72 in the retracted or extended position once the arm is moved to the retracted or extended position. Sufficient force must be applied to overcome the biasing restraint to extend each lower moment arm 72 in the outward direction 294.

[0037] Figure 4E is a top perspective view of a torque enhancing device or attachment sleeve having a pair of upper moment arms for tightening the torque enhancing device. Figure 4E Shows Figure 4AAttachment sleeve of the embodiment of the present invention, wherein the two upper extendable moment arms 72 are extended and the two lower extendable moment arms 70 are retracted, the two upper extendable moment arms 72 provide a mechanical advantage in tightening the attachment nut 68 relative to the ball cup 66 of the second side docking arm 64. The attachment nut 68 can now be rotated in the clockwise direction 296 to tighten the large coupling ball 74 of the curved coupling rod 76 between the attachment nut 68 and the ball cup 66 of the second side docking arm 64 with reduced force compared to when the upper extendable moment arms 72 are retracted, which provides a mechanical advantage. Alternative embodiments of the attachment sleeve or torque enhancement device can have other arrangements and orientations of the extendable moment arms that may or may not overlap, may slide back and forth from a retracted position to an extended position, may be removable, or a combination thereof. Alternative embodiments of the attachment sleeve or torque enhancement device can be directionally oriented such that clockwise rotation loosens, while counterclockwise rotation tightens.

[0038] Figure 53 is a top right front perspective view of one embodiment of a surgical instrument holder docking station. This embodiment of the surgical instrument holder docking station 326 includes a base 328 defining a pair of lower jaws 330, a lower stop 336, and an upper stop 338. Internally movable within the base 328 of the surgical instrument holder docking station 326 is an upper jaw 332 connected to an upper jaw shaft 334. The upper jaw shaft 334 includes a stop pin 340, which is located on the upper jaw shaft 334 so that the pin 340 is located between the lower stop 336 and the upper stop 338, and is configured to limit the vertical travel of the upper jaw shaft 334 and thus limit the relative position of the upper jaw 332 relative to the lower jaw 330. The base 328 is configured to clamp the surgical instrument holder docking station 326 to the operating table crossbar. A central docking arm 342 is attached to the upper portion of the base 328. The center docking arm 342 has a locking nut 344 attached to the top of the center docking arm 342. Above the locking nut 344 is a body locking knob 346, which is connected to the upper jaw shaft 334 through an inner shaft that is not explicitly shown in this view but will be discussed later. Above the body locking knob 346 is a sleeve (not visible in this view). A center attachment nut 348 is connected to the sleeve. The attachment nut 348 includes two lower extendable moment arms 350 and two upper extendable moment arms 352. A large coupling ball 354 is retained between the sleeve and the attachment nut 348 attached to the center docking arm 342. A smooth, curved coupling rod 356 is attached to the large coupling ball 354 at one end and to the small coupling ball 358 at the opposite end. Above the small coupling ball 358, a retaining ring 360 is connected, which will later be used as a mounting point for a surgical instrument holder (not shown in this view). In addition to the central docking arm 342, the surgical instrument holder docking station 326 also has a first side docking arm 362 and a second side docking arm 380 attached to the base 328, each of which is angled at an angle of about 45 degrees relative to the central docking arm 342. Although a 45 degree angle is shown in this embodiment, other embodiments may have other side arm angles compared to the central docking arm 342. The first side docking arm 362 defines a first side coupling ball cup 364 (not visible in this view), which is configured to be combined with a first side attachment nut 366 having two lower extendable moment arms 368 and two upper extendable moment arms 370. A large coupling ball 372 is retained between the coupling ball cup 364 and the attachment nut 366. A straight, smooth coupling rod 374 is attached to the large coupling ball 372 at one end and to a small coupling ball 376 at the opposite end. Above the small coupling ball 376, a retaining ring 378 is connected, which will later be used as a mounting point for the surgical instrument holder (not shown in this view). The second side engagement arm 380 further defines a second side coupling ball cup 382 that is configured to be combined with a second side attachment nut 384 having two lower extendable moment arms 386 and two upper extendable moment arms 388 .The large coupling ball 390 is held between the coupling ball cup 382 and the attachment nut 384. A curved coupling rod 392 is attached to the large coupling ball 390 at one end and to a small attachment ball 394 at the opposite end of the coupling rod 392. Above the small coupling ball 394, a retaining ring 396 is attached, which will later serve as a mounting point for a surgical instrument holder (not shown in this view). The position of each of the coupling rods 356, 374, 392 can be positioned and locked by first loosening one of the attachment nuts 348, 366, 384, placing the position of the coupling rods 356, 374, 392 as desired and thus placing the position of any attached fixtures and devices (e.g., surgical instrument holders). Next, the attachment nuts 348 , 366 , 384 are tightened, thereby locking the coupling rods 356 , 374 , 392 into the desired position by clamping the large coupling balls 354 , 372 , 390 between the attachment nuts 348 , 366 , 384 and each ball cup 364 , 382 .

[0039] Figure 64 is a top right front perspective view of another embodiment of a surgical instrument holder docking station. This embodiment of the surgical instrument holder docking station 400 includes a base 402 defining a pair of lower jaws 404, a lower stop 410, and an upper stop 412. Internally movable within the base 402 of the surgical instrument holder docking station 400 is an upper jaw 406 connected to an upper jaw shaft 408. The upper jaw shaft 408 includes a stop pin 414, which is located on the upper jaw shaft 408 so that the pin 414 is located between the lower stop 410 and the upper stop 412 and is configured to limit the vertical travel of the upper jaw shaft 410 and thus limit the relative position of the upper jaw 406 relative to the lower jaw 404. Other embodiments may or may not include a stop pin, and the travel of the movable portion of the jaw may be limited by means known to those skilled in the art. Other embodiments may have a movable lower jaw or a movable lower jaw and upper jaw. The base 402 is configured to clamp the surgical instrument holder docking station 400 to the operating table crossbar. A central docking arm 416 is attached to the upper portion of the base 402. The central docking arm 416 has a locking nut 418 that is attached to the top of the central docking arm 416. Above the locking nut 418 is a body locking knob 420 that is connected to the upper jaw shaft 408 via an inner shaft that is not explicitly shown in this view but will be discussed later. Above the body locking knob 420 is a sleeve that is not shown in this view but has been discussed previously with respect to other embodiments. A central attachment nut 422 is coupled to the sleeve. The attachment nut 422 includes two lower extendable moment arms 424 and two upper extendable moment arms 426. A large coupling ball 428 is retained between the sleeve attached to the central docking arm 416 and the attachment nut 422. The curved coupling rod 430 is attached to the large coupling ball 428 at one end and to the small coupling ball 432 at the opposite end. Above the small coupling ball 432, a retaining ring 434 is connected, which will later be used as a mounting point for the surgical instrument holder. The small coupling ball 432 and the retaining ring 434 attached to the opposite end of the coupling rod 430 are fixed to the central surgical instrument holder arm assembly 446. The central surgical instrument holder arm assembly 446 has a first arm 448 attached to the retaining ring 434, a locking joint 450 connecting the second arm 456 to the first arm 448. A rod block 452 with an operating rod 454 is located on top of the locking joint 450. The second arm 456 also has an end joint 458, which includes an end effector 460. The end effector 460 is an attachment point for attaching any number of surgical instruments to the end of the central surgical instrument holder arm assembly 446. In this configuration, a surgical instrument can be easily repositioned by adjusting the central surgical instrument holder arm assembly 446.The operating rod 454 is configured to lock and unlock the joints of the central surgical instrument holder arm assembly 446 at the small connecting ball 432, the locking joint 450 and the end joint 458, allow the joints to move freely when unlocked, and maintain the small connecting ball 432, the locking joint 450 and the end joint 458 in a locked position, thereby maintaining the relative positions of the first arm 448, the second arm 456 and the end actuator 460 in a fixed position.

[0040] In addition to the central docking arm 416, the surgical instrument holder docking station 400 also has a first side docking arm 436 and a second side docking arm 440 attached to the base 402, each of which is angled at an angle of about 45 degrees relative to the central docking arm 416. Although a 45 degree angle is shown in this embodiment, other embodiments may have other side arm angles compared to the central docking arm 416. A small coupling ball (not visible here) and a retaining ring 438 attached to the opposite end of the first side docking arm 436 are fixed to the central surgical instrument holder arm assembly 462. The central surgical instrument holder arm assembly 462 has a first arm 464 attached to the retaining ring 438, a locking joint 466 connecting the second arm 472 to the first arm 464. A rod block 468 with an operating rod 470 is located on top of the locking joint 466. The second arm 472 also has an end joint 474, which includes an end effector 476. The end effector 476 is an attachment point for attaching any number of surgical instruments to the end of the central surgical instrument holder arm assembly 462. In this configuration, a piece of surgical instrument can be easily repositioned by adjusting the central surgical instrument holder arm assembly 462. The operating lever 470 is configured to lock and unlock the joints of the central surgical instrument holder arm assembly 462 at the small coupling ball 432, the locking joint 466 and the end joint 474, allow the joints to move freely when unlocked, and maintain the small coupling ball, the locking joint 466 and the end joint 474 in a locked position, thereby maintaining the relative positions of the first arm 464, the second arm 472 and the end effector 476 in a fixed position.

[0041] A small coupling ball 442 and a retaining ring 444 attached to the opposite ends of the two-side docking arm 440 are fixed to the second side surgical instrument holder arm assembly 478. The second side surgical instrument holder arm assembly 478 has a first arm 480 attached to the retaining ring 444, a locking joint 482 connecting the second arm 488 to the first arm 480. A rod block 484 with an operating rod 486 is located on top of the locking joint 482. The second arm 488 also has an end joint 490, which includes an end effector 492. The end effector 492 is an attachment point for attaching any number of surgical instruments to the end of the second side surgical instrument holder arm assembly 478. In this configuration, a piece of surgical instrument can be easily repositioned by adjusting the second side surgical instrument holder arm assembly 478. The operating rod 486 is configured to lock and unlock the joints of the second side surgical instrument holder arm assembly 478 at the small connecting ball 442, the locking joint 482 and the end joint 490, allow the joints to move freely when unlocked, and maintain the small connecting ball 442, the locking joint 482 and the end joint 490 in a locked position, thereby maintaining the relative positions of the first arm 480, the second arm 488 and the end actuator 492 in a fixed position.

[0042] Figure 75 is a top right front perspective view of another embodiment of a surgical instrument holder docking station. This embodiment of the surgical instrument holder docking station 500 includes a base 502 defining a pair of lower jaws 504 and a lower stop 510. Internally movable within the base 502 of the surgical instrument holder docking station 500 is an upper jaw 506 coupled to an upper jaw shaft, which is connected to an inner rod 512. The inner rod 512 is disposed within the interior of the base 502 and is movably retained in a central docking arm 514, which is connected to the base 502. The inner rod is rotatably coupled to the upper jaw. The central attachment nut 520 is configured to limit the vertical travel of the upper jaw shaft 508, thereby limiting the relative position of the upper jaw 506 relative to the lower jaw 504. Other embodiments may or may not include a stop pin, and the travel of the movable portion of the jaw may be limited by means known to those skilled in the art. Other embodiments may have a movable lower jaw or a movable lower jaw and upper jaw. The base 502 is configured to clamp the surgical instrument holder docking station 500 to the operating table crossbar. A central docking arm 514 is attached to the upper portion of the base 502. The central docking arm 514 defines a plurality of cleaning features to facilitate cleaning and disinfecting the docking station, including the internal components and surfaces after use in a surgical environment. The other arms in this embodiment have similar features. The central docking arm 514 is coupled to a knob 518. The knob 518 is coupled to the inner rod 512 and thus to the upper jaw shaft 508. The mechanism of this action will be discussed later. Above the knob 518 is a central ball cup, which is not shown in this view, but has been described previously with respect to other embodiments. A central attachment nut 520 is coupled to the central ball cup. The attachment nut 520 includes four extendable moment arms 522, 524, 526, 528, which are pivotally coupled to the attachment nut 520. Each of the extendable moment arms 522, 524, 526, 528 has a biased retention feature 530, which is configured to keep the extendable moment arms 522, 524, 526, 528 retracted until they are intentionally extended. The large coupling ball 532 is retained between the central ball cup and the attachment nut 520 attached to the central docking arm 514. The curved coupling rod 534 is attached to the large coupling ball 532 at one end and to the small coupling ball at the opposite end, not shown here. Above the small coupling ball, a retaining ring 536 is connected, which will later be used as a mounting point for the surgical instrument holder 538. The central surgical instrument holder arm assembly 538 has a first arm 540 attached to the retaining ring 536, a locking joint 541 connecting the second arm 544 to the first arm 540. A rod block 542 with an operating rod 546 is located on top of the locking joint 541. The second arm 544 also has an end joint 548, which includes an end actuator 550. The end effector 550 is an attachment point for attaching any number of surgical instruments to the end of the central surgical instrument holder arm assembly 538 .In this configuration, a piece of surgical instrument can be easily repositioned by adjusting the central surgical instrument holder arm assembly 538. The operating lever 546 is configured to lock and unlock the joints of the central surgical instrument holder arm assembly 538 at the location of the retaining ring 536, the locking joint 541, and the end joint 548, allow the joints to move freely when unlocked, and maintain the joints at the retaining ring 536, the locking joint 541, and the end joint 548 in the locked position, thereby maintaining the relative positions of the first arm 540, the second arm 544, and the end effector 550 in a fixed position when locked.

[0043] In addition to the central docking arm 514, the surgical instrument holder docking station 400 also has a first side docking arm 552 and a second side docking arm 586 attached to the base 502, each of which is angled at an angle of about 45 degrees relative to the central docking arm 514. Although a 45 degree angle is shown in this embodiment, other embodiments may have other side arm degrees compared to the central docking arm 514. The first side docking arm 552 and accompanying components have a structure similar to the previously described structure of the central docking arm 514 and the central surgical instrument holder arm assembly 538. There is a first side ball cup, not shown in this view, which is connected to the first side docking arm 552. A first side attachment nut 554 is connected to the first side ball cup, and the first side attachment nut 554 is similar to the previously described embodiments and attachment nut 520, having four extendable moment arms 556, 558, 560, 562. A ball 564 connected to a first side coupling rod 566 is movably retained between the first side ball cup and the attachment nut 520. A small coupling ball (not visible here) and a retaining ring 570 coupled to the opposite end of the first side connecting rod 566 are fixed to the first side surgical instrument holder arm assembly 568. The first side surgical instrument holder arm assembly 568 has a first arm 572 attached to the retaining ring 570, a locking joint 574 connecting the second arm 578 to the first arm 572. A rod block 576 with an operating rod 580 is located on top of the locking joint 574. The second arm 578 has an end joint 582, which includes a pivotable end effector 584. The end effector 584 is an attachment point for attaching any number of surgical instruments to the end of the first side surgical instrument holder arm assembly 568. In this configuration, by adjusting the first side surgical instrument holder arm assembly 568, a piece of surgical instrument can be easily repositioned. The operating rod 580 is configured to lock and unlock the joint of the first side surgical instrument holder arm assembly 568 at the small connecting ball, the locking joint 574 and the end joint 582 when engaged or released, allow the joint and the arm to move freely when unlocked, and maintain the small connecting ball, the locking joint 574 and the end joint 582 in a locked position, thereby maintaining the relative positions of the first arm 572, the second arm 578 and the end actuator 584 in a fixed position when engaged and locked.

[0044] The second side docking arm 586 and accompanying components have a structure similar to the previously described structure of the center docking arm 514 and the center surgical instrument holder arm assembly 538. There is a second side ball cup 588 coupled to the second side docking arm 586. A second side attachment nut 590 is coupled to the second side ball cup 588, and the second side attachment nut 590 is similar to the previously described embodiment and attachment nut 520, having four extendable moment arms 592, only one of which is visible in this view. A ball 594 coupled to a second side connecting rod 596 is movably retained between the second side ball cup 588 and the second side attachment nut 590. A small coupling ball 600 and a retaining ring 602 coupled to the opposite end of the second side connecting rod 596 are fixed to the second side surgical instrument holder arm assembly 598. The second side surgical instrument holder arm assembly 598 has a first arm 604 attached to the retaining ring 602, a locking joint 606 connecting the second arm 610 to the first arm 604. A bar block 608 with an operating rod 612 is located on top of the locking joint 606. The second arm 610 has an end joint 614 that includes a pivotable end effector 616. The end effector 616 is an attachment point for attaching any number of surgical instruments to the end of the second side surgical instrument holder arm assembly 598. In this configuration, a piece of surgical instrument can be easily repositioned by adjusting the second side surgical instrument holder arm assembly 598. The operating rod 612 is configured to lock and unlock the joint of the second side surgical instrument holder arm assembly 568 at the small coupling ball 600, the locking joint 606 and the end joint 614 when engaged or released, allowing the joint and arm to move freely when unlocked, and keeping the small coupling ball 600, the locking joint 606 and the end joint 614 in the locked position, thereby keeping the relative positions of the first arm 604, the second arm 610 and the end effector 616 in a fixed position when engaged and locked.

[0045] Figure 8 yes Figure 7 A partial cross-sectional view of a surgical instrument holder docking station. Figure 8 Involved Figure 7The central docking arm 514 portion of the surgical instrument holder docking station of the present invention is a knob 518 and a central attachment nut 520 portion. The knob 518 defines an inner circumference having mechanical threads or threads 620. An inner rod 512 that can rotate within the central docking arm 514 is also shown. A portion of the inner rod 512 also defines mechanical threads or threads 622 on the outer circumference of the inner rod 512. When the knob 518 is rotated or turned in the direction 624, the threads 522 of the inner rod 512 and the threads 520 of the knob 518 engage to drive the inner rod 512 in the upward direction 626. Since the inner rod 512 is rotatably coupled to the upper jaw shaft 508 and the upper jaw 506, the upper jaw 506 is pulled upward in the direction 626 when the knob 518 is rotated in the direction 624. This rotation as described increases the distance between the upper and lower jaws, allowing the base 502 portion of the surgical instrument holder docking station 500 to be loosened and either removed from the table crossbar, or the jaws to separate to a sufficient degree so that the base 502 portion of the surgical instrument holder docking station 500 can be placed on a crossbar or similar crossbar of the operating table. When the knob 518 is rotated in the opposite direction, the distance between the upper and lower jaws decreases. This allows the base 502 portion of the surgical instrument holder docking station 500 to be tightened and clamped on the table crossbar so that the base 502 portion of the surgical instrument holder docking station 500 can be securely held on a crossbar or similar crossbar of the operating table.

[0046] Fig.9A and 9B yes Figure 7 A partial cross-sectional view of a surgical instrument holder docking station. Fig.9A Shows Figure 7500. As shown in the center attachment nut 520, the retention assembly 628 is held captive in the center attachment nut 520 and restricts the large coupling ball 532 and attached coupling rod 534 from being removed from the top of the center attachment nut 520. Surrounding the ball and also held captive in the center attachment nut 520 is an upper scalloped ring 634 that defines a plurality of upper interdigitated finger-like features 636. These upper interdigitated finger-like features 636 are structured as spaced blunt-pointed spikes or rectangular pointed fingers that help align and interlock the center attachment nut 520 when fully attached to the ball cup 630 portion of the surgical instrument holder docking station 500. The ball cup 630 also includes a plurality of lower interdigitated finger-like features 632 in the center portion of the ball cup 630. These interdigitated features 632 are structured as spaced blunt spikes or rectangular pointed fingers that aid in aligning and interlocking the ball cup 630 when the central attachment nut 520 is attached to the ball cup 630. When the central attachment nut 520 is placed onto the ball cup 630 and rotated in a direction 638, the threads 633 defined by the outer wall of the central attachment nut 520 engage with the corresponding threads 635 defined by the inner wall of the ball cup 630. When the central attachment nut 520 is tightened onto the ball cup 630, the ball 532, and thus the attached coupling rod 534 and accompanying surgical instrument holder, are first movable, pivotable and captive between the central attachment nut 520 and the ball cup 630. As the central attachment nut 520 is further tightened, sometimes with the help of an extended extendable moment arm, the shapes of the upper interdigitated finger features 636 on the central attachment nut 520 and the interdigitated finger features 632 on the ball cup 630 are complementary and correspond to each other so that they interlock when the central attachment nut 520 is further tightened onto the ball cup 630. Fig. 9B As shown, when the center attachment nut 520 moves in direction 640, the rotational force of tightening the center attachment nut 520 is converted into vertical tension in direction 640, and the large connecting ball 532 and therefore the connecting rod 534 and the accompanying surgical instrument holder are held stationary and in a fixed position until such time as the center attachment nut 520 is again loosened. The interlocking and interdigitated nature of the upper interdigitated finger feature 636 on the center attachment nut 520 and the interdigitated finger feature 632 on the ball cup 630 help to align and maintain the position of the surgical instrument holder, thereby aligning and maintaining the position of the attached surgical tool or surgical instrument piece. The use of attachment features as described herein improves the maintenance of a constant and consistent position of surgical tools and instruments. Figure 8 Additional views of this interlocking feature in a fully tightened configuration are also shown in . Although the interdigitated features 632, 636 are shown herein as having a particular shape and spacing, other possible shapes and spacings known to those skilled in the art may be used in alternative embodiments.

[0047] Fig.10 is attached to the operating table Figure 7 642, there is shown a perspective view of two surgical instrument holder docking stations with various adapters and instruments attached to the surgical instrument holder docking stations. In the surgical setting 642 shown, a surgical table 644 with a crossbar 648 and a patient 646 prepared for a surgical procedure on the table 644 are shown. Positioned on the crossbar 648 is a first surgical instrument holder docking station 650, whose first base 652 is clamped on the crossbar 648. The first surgical instrument holder docking station 650 has a center docking station 654 attached to the first base 652 and an accompanying center surgical instrument holder 656. The first surgical instrument holder docking station 650 also has a first side docking station 658 and a first side surgical instrument holder 660 attached to a first side of the first base 652, and a second side docking station 662 and a second side surgical instrument holder 664 attached to a second side of the second base 652. Each of the first side surgical instrument holder 660 and the second side surgical instrument holder 664 can be used to position and hold one or more surgical instruments or tools during minimally invasive or other surgical procedures, such as a mirror holder, a cannula or other surgical instruments. Positioned on the opposite side of the operating table 644 on the crossbar (not shown in this view) is a second surgical instrument holder docking station 666, whose second base 668 is clamped on the opposite crossbar. The second surgical instrument holder docking station 666 has a central docking station 670 attached to the second base 668 and an accompanying central surgical instrument holder 672. The second surgical instrument holder docking station 666 also has a first side docking station 674 and a first side surgical instrument holder 676 attached to the first side of the second base 668, and a second side docking station 678 and a second side surgical instrument holder 680 attached to the second side of the second base 668. Each of the first side surgical instrument holder 676 and the second side surgical instrument holder 680 can be used to position and hold one or more surgical instruments or tools, such as a scope holder, cannula or other surgical instruments during minimally invasive or other surgical procedures. In this configuration, the central surgical instrument holder 656 and the central surgical instrument holder 672 are shown as bridged above the first side docking arm 64 so as to securely position the surgical instrument 682 in a central position on the table 644 relative to the patient 646. Although this is one configuration shown, the adjustability and versatility of a single or multiple surgical instrument holder docking station as shown and described herein provides a variety of variable and repositionable configurations for surgical instruments and surgical instrument holders, providing a variety of methods to provide more efficient and consistent retention and positioning of surgical instruments to help surgeons and surgical teams perform a variety of minimally invasive surgeries and techniques.

[0048] Various advantages of surgical instrument holders have been discussed above. The embodiments discussed herein have been described in this specification by way of example. It will be apparent to those skilled in the art that the foregoing detailed disclosure is intended to be presented by way of example only and is not restrictive. As just one example, although the end effector in the discussed example generally focuses on the use of a mirror, such a system can be used to position other types of surgical instruments. Various changes, improvements and modifications will occur and are intended for those skilled in the art, although not explicitly stated herein. These changes, improvements and modifications are intended to be proposed hereby and are within the spirit and scope of the claimed invention. The drawings included herein are not necessarily drawn to scale. In addition, the order of the listed processing elements or sequences, or the use of numbers, letters or other names, is not intended to limit the claims to any order unless specified in the claims. Therefore, the present invention is limited only by the appended claims and their equivalents.

Claims

1. A docking station for a surgical instrument holder, comprising: A base, the base comprising: center arm mounting; and Lower jaw; an upper jaw coupled to the base and movable relative to the lower jaw such that an operating table crossbar is configured to be received between the upper jaw and the lower jaw to secure the base to the operating table crossbar; A central docking arm, the central docking arm comprising: an inner rod coupled to the upper jaw; a knob coupled to the inner rod, wherein rotating the knob displaces the inner rod and the upper jaw coupled to the inner rod; a hollow outer rod disposed above the inner rod, wherein an end of the outer rod is coupled to the center arm mount; and a central ball cup coupled to the inner rod; an attachment nut coupled to the central ball cup; a first moment arm having an end pivotally coupled to a first portion of the attachment nut; a second moment arm having an end pivotally coupled to a second portion of the attachment nut; and a ball pivotally retained between the central ball cup and the attachment nut, wherein the ball is configured to be coupled to a surgical instrument holder so that the surgical instrument holder can be repositioned relative to the central ball cup, wherein each of the first moment arm and the second moment arm is capable of pivoting from a retracted position to an extended position to rotate the attachment nut relative to the center ball cup, thereby causing the attachment nut to shift relative to the center ball cup in a first direction or a second direction, wherein when the attachment nut shifts relative to the center ball cup in the first direction, the ball is configured to pivot relative to the center ball cup, and when the attachment nut shifts relative to the center ball cup in the second direction, the ball is configured to be fixed relative to the center ball cup.

2. The docking station for a surgical instrument holder according to claim 1, further comprising a side arm mount, the side arm mount comprising: side docking arms; a first side ball cup coupled to the side docking arm; a first side attachment nut coupled to the first side ball cup; a ball pivotably retained between the first side ball cup and the first side attachment nut, wherein the ball is configured to couple to a surgical instrument holder; and An extendable moment arm is coupled to the first side attachment nut.

3. A docking station for a surgical instrument holder according to claim 2, wherein: The base also includes: A second side arm mounting member, wherein the second side arm mounting member comprises: side docking arms; a second side ball cup coupled to the side docking arm; a second side attachment nut coupled to the second side ball cup; a ball pivotably retained between the second side ball cup and the second side attachment nut, wherein the ball is configured to couple to a surgical instrument holder; and An extendable moment arm is coupled to the second side attachment nut, wherein the side arm mount is configured as a first side arm mount.

4. The docking station for a surgical instrument holder according to claim 1, wherein: A portion of the inner rod coupled to the knob further comprises threads; and A portion of the knob coupled to the inner rod also includes threads that engage the threads on the inner rod.

5. A docking station for a surgical instrument holder according to claim 4, wherein: The inner rod is rotatably coupled to the upper jaw.

6. A docking station for a surgical instrument holder according to claim 5, the docking station being configured such that: When the knob is rotated in a first direction, the distance between the upper jaw and the lower jaw increases; and When the knob is rotated in a second direction, the distance between the upper jaw and the lower jaw decreases.

7. The docking station for a surgical instrument holder according to claim 1, wherein: The central ball cup further includes a plurality of interdigitated features, and the attachment nut further includes a plurality of interdigitated features corresponding to the plurality of interdigitated features on the central ball cup.

8. A docking station for a surgical instrument holder according to claim 7, wherein the docking station is configured such that when the attachment nut is tightened onto the central ball cup, the multiple interlaced finger-like features on the central ball cup and the multiple interlaced finger-like features on the attachment nut interlock.

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