Valve assemblies for surgical access assemblies

Abstract

Access assemblies include an instrument valve housing and a valve assembly. The valve assembly includes a guard assembly, a seal assembly disposed adjacent to the guard assembly, and a gimbal mount assembly supporting the guard assembly and the seal assembly. The gimbal mount assembly is configured to permit angulation of the valve assembly relative to the instrument valve housing.

Description

FIELD

The present disclosure relates to surgical access assemblies for minimally invasive surgery, including seals. More particularly, the present disclosure relates to valve assembles for surgical access assemblies.

BACKGROUND

In order to facilitate minimally invasive surgery, a working space may be created at the desired surgical site. An insufflation fluid, typically CO₂, is introduced into the abdomen of the patient to create an inflated state called a pneumoperitoneum. Surgical access assemblies are utilized to allow the introduction of surgical instrumentation and endoscopes (or other visualization tools) into the insufflated abdomen. These surgical access assemblies help maintain the insufflation pressure of the pneumoperitoneum, as they have one or more seals that adapt to the surgical instrumentation. Typically, a “zero-seal” in the surgical access assembly seals the surgical access assembly in the absence of a surgical instrument in the surgical access assembly, and an instrument seal seals around a surgical instrument that has been inserted through the surgical access assembly.

The breadth of surgical instrumentation on the market today requires a robust seal capable adjusting to instrumentation of multiple sizes and withstanding multiple insertions of surgical instrumentation. Some of the instrumentation can include sharp edges that can tear or otherwise damage seals. Therefore, it would be beneficial to have a surgical access assembly with improved seal durability.

SUMMARY

A surgical access assembly including a valve assembly is provided. The surgical access assembly includes an instrument valve housing and the valve assembly. The instrument valve housing includes upper and lower housing sections and defines a cavity therebetween. The upper housing section has an outward facing surface and the lower housing section has an inward facing surface. The surgical access assembly further includes a valve assembly disposed within the cavity of the instrument valve housing. The valve assembly includes a guard assembly, and a seal assembly disposed adjacent to the guard assembly. The seal assembly has a nonsolid inner circumference. The valve assembly further includes a gimbal mount assembly supporting the guard assembly and the seal assembly. The gimbal mount assembly includes an outer semispherical surface in operable engagement with the inward facing surface of the lower housing section and an inner surface in operable engagement with the outward facing surface of the upper housing section. The gimbal mount assembly is configured to permit angulation of the valve assembly relative to the instrument valve housing.

In embodiments, the gimbal mount assembly includes a gimbal base and a gimbal retainer. The gimbal base may include the outer semispherical surface and the gimbal retainer includes the inner surface. The gimbal base may define a recess, with the gimbal retainer being securely received within the recess. The guard assembly and the seal assembly may be disposed within the recess of the gimbal base. The gimbal base may include a shelf. The guard assembly and the seal assembly may be disposed between the shelf and the gimbal retainer. At least one of the gimbal retainer or the gimbal base may include a plurality of pins and the other of the gimbal retainer or the gimbal base may define a plurality of openings corresponding to the plurality of pins.

In another aspect, an instrument valve housing including upper and lower housing sections is provided. The upper housing section includes an outward facing surface and the lower housing section includes an inward facing surface. The upper and lower housing sections define a cavity therebetween. The instrument valve housing further includes a valve assembly operably disposed within the cavity of the instrument valve housing. The valve assembly includes a guard assembly, a seal assembly disposed adjacent to the guard assembly, and a gimbal mount assembly supporting the guard assembly and the seal assembly. The seal assembly has a nonsolid inner circumference. The gimbal mount assembly includes an outer semispherical surface in operable engagement with the inward facing surface of the lower housing section and an inner surface in operable engagement with the outward facing surface of the upper housing section. The gimbal mount assembly is configured to permit angulation of the valve assembly relative to the instrument valve housing.

In embodiments, the gimbal mount assembly includes a gimbal base and a gimbal retainer. The gimbal base may include the outer semispherical surface and the gimbal retainer includes the inner surface. The gimbal base may define a recess with the gimbal retainer being securely received within the recess. The guard assembly and the seal assembly may be disposed within the recess of the gimbal base. The gimbal base may include a shelf. The guard assembly and the seal assembly may be disposed between the shelf and the gimbal retainer. At least one of the gimbal retainer or the gimbal base may include a plurality of pins and the other of the gimbal retainer or the gimbal base may define a plurality of openings corresponding to the plurality of pins. The seal assembly may include four seal sections.

Also provided is a valve assembly including a guard assembly and a seal assembly disposed adjacent to the guard assembly. The seal assembly has a nonsolid inner circumference. The valve assembly further includes a gimbal mount assembly supporting the guard assembly and the seal assembly. The gimbal mount assembly includes an outer semispherical surface in operable engagement with an inner surface of a lower housing section of an instrument valve housing and an inner surface in operable engagement with an outward facing surface of an upper housing section of the instrument valve housing. The gimbal mount assembly is configured to permit angulation of the valve assembly relative to the instrument valve housing.

In embodiments, the gimbal mount assembly includes a gimbal base and a gimbal retainer. The gimbal base may include the outer semispherical surface and the gimbal retainer includes the inner surface. The gimbal base may define a recess with the gimbal retainer being securely received within the recess.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the disclosure, wherein:

FIG. 1 is a side perspective view of a surgical access assembly according to an embodiment of the present disclosure;

FIG. 2 a side perspective view of the surgical access assembly shown in FIG. 1, with an instrument valve assembly separated from a cannula assembly;

FIG. 3 is a bottom perspective view of the instrument valve assembly shown in FIG. 2;

FIG. 4 is a side cross-sectional view of a upper housing section of the instrument valve assembly shown in FIG. 3, taken along section line 4-4 shown in FIG. 6;

FIG. 5 is a side cross-sectional view of a lower housing section of the instrument valve assembly shown in FIG. 3, taken along section line 5-5 shown in FIG. 6;

FIG. 6 is an exploded perspective view of the instrument valve assembly shown in FIG. 4, including a gimbal valve assembly, with parts separated;

FIG. 7 is a side perspective view of a gimbal base of a gimbal retainer of the gimbal valve assembly shown in FIG. 3;

FIG. 8 is a perspective cross-sectional view of a gimbal retainer of the gimbal valve assembly shown in FIG. 3, taken along section line 8-8 shown in FIG. 6;

FIG. 9 is a side cross-sectional view of the instrument valve assembly shown in FIG. 3 taken along section line 9-9 shown in FIG. 3;

FIG. 10 is a bottom perspective view of the instrument valve assembly shown in FIG. 3, with the gimbal valve assembly in a non-centered position;

FIG. 11 is a side perspective view of the instrument valve assembly as shown in FIG. 10; and

FIG. 12 is a side cross-sectional view of the instrument valve assembly as shown in FIG. 10, taken along section line 12-12 of FIG. 10.

DETAILED DESCRIPTION

Particular embodiments of the present surgical access assemblies and valve assemblies are described hereinbelow with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the disclosure and may be embodied in various forms. Well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure. Like reference numerals refer to similar or identical elements throughout the description of the figures.

As used herein, the term “distal” refers to that portion of the instrument, or component thereof which is farther from the user while the term “proximal” refers to that portion of the instrument or component thereof which is closer to the user.

Surgical access assemblies with obturators are employed during minimally invasive surgery, e.g., laparoscopic surgery, and provide for the sealed access of surgical instruments into an insufflated body cavity, such as the abdominal cavity. The surgical access assemblies of the present disclosure include an instrument valve housing mounted on a cannula tube, and include an obturator (not shown) inserted through the valve housing and cannula. The obturator can have a blunt distal end, or a bladed or non-bladed penetrating distal end and can be used to incise the abdominal wall so that the surgical access assembly can be introduced into the abdomen. The handle of the obturator can engage or selectively lock into the instrument valve housing of the surgical access assembly.

Surgical access assemblies are employed to tunnel through an anatomical structure, e.g., the abdominal wall, either by making a new passage through the anatomical structure or by passing through an existing opening through the anatomical structure. Once the surgical access assembly with the obturator has tunneled through the anatomical structure, the obturator is removed, leaving the surgical access assembly in place. The instrument valve housing of the surgical access assembly includes valves that prevent the escape of insufflation fluid from the body cavity, while also allowing surgical instruments to be inserted into the cavity.

Various trocar obturators suitable for use with the surgical access assembly of the present disclosure are known and include, for example, bladed, bladeless, blunt, optical, and non-optical. For a detailed description of the structure and function of exemplary trocar assemblies, including exemplary trocar obturators and exemplary cannulas, please refer to commonly owned PCT Publication No. WO 2016/186905 (“the '905 publication”), the content of which is hereby incorporated by reference herein in its entirety.

With initial reference to FIG. 1, an access assembly according to aspects of the present disclosure is shown generally as surgical access assembly 100. The surgical access assembly 100 includes a cannula 102 and an instrument valve housing 110 releasably secured to the cannula 102. For a detailed description of an exemplary surgical access assembly, please refer to the '905 publication.

With reference now to FIGS. 2 and 3, the instrument valve housing 110 of the surgical access assembly 100 includes an upper housing section 120 and a lower housing section 130. The instrument valve housing 110 is configured to support a gimbal valve assembly 140. More particularly, the upper housing section 120 is secured to the lower housing section 130, and the gimbal valve assembly 140 is operably received between the upper and lower housing sections 120, 130. The lower housing section 130 may be releasably or permanently attached to a cannula tube 104 (FIG. 1) of the surgical access assembly 102. In embodiments, either or both of the upper and lower housing sections 120, 130 of the instrument valve housing 110 include knurls, indentations, tabs, or be otherwise configured to facilitate engagement by a clinician.

The surgical access assembly 100 may also include features for the stabilization of the surgical access assembly 100. For example, a distal portion of a cannula tube 104 may carry a balloon anchor or another expandable member that engages the abdomen from the interior side. See, for example, U.S. Pat. No. 7,300,448, the entire disclosure of which is hereby incorporated by reference herein. A feature on the opposite side of the abdominal wall may be used to further stabilize the surgical access assembly, such as adhesive tabs or adjustable foam collars.

The upper and lower housing sections 120, 130 of the instrument valve housing 110 define a longitudinal passage 111 (FIG. 9) for receipt of a surgical instrument “I” (FIG. 9). The gimbal valve assembly 140 is supported within the instrument valve housing 110 to provide sealed passage of the surgical instrument “I” through the surgical access assembly 100.

With particular reference to FIG. 4, the upper housing section 120 of the instrument valve housing 110 (FIG. 1) of the surgical access assembly 100 includes an outer annular portion 122 and an inner annular portion 124, and defines a cavity 123 (FIG. 9) between the first and outer annular portions 122, 124. A flange portion 126 extends radially outward and in a longitudinal direction from a free end of the inner annular portion 124. The flange portion 126 may be formed of spaced segments 126a (as shown), or may form a continuous ring. The flange portion 126 includes an outwardly facing surface 128. The outwardly facing surface 128 provides an upper support for the gimbal valve assembly 140. In embodiments, and as shown, the outwardly facing surface 128 is curved to accommodate the semispherical inner surface 152a of the gimbal retainer 154, and facilitates sealing between the surfaces 128, 154a.

Turning to FIG. 5, the lower housing section 130 of the instrument valve housing 110 of the surgical access assembly 100 includes an annular base portion 132, an annular extension portion 134 extending from the base portion 132, and a lip portion 136 extending radially inward from the annular extension portion 134. The lip portion 136 includes an inwardly facing surface 138. The inwardly facing surface 138 of the lip portion 136 provides a lower support for the gimbal valve assembly 140. The inwardly facing surface 138 of the lip portion 136, in combination with the outwardly facing surface 128 of the flange portion 126 of the upper housing section 120, operably support the gimbal valve assembly 140. In embodiments, and as shown, the inwardly facing surface 138 is curved to accommodate the curved outer surface 152a of the gimbal base 152, and facilitates sealing between the surfaces 138, 152a (see FIG. 9).

With particular reference now to FIG. 6, the gimbal valve assembly 140 of the surgical access assembly 100 includes a gimbal mount assembly 150, a guard assembly 160, and a seal assembly 170. The gimbal mount assembly 150 of the gimbal valve assembly 140 permits radial movement of the gimbal valve assembly 140 within the instrument valve housing 110 when a surgical instrument “I” (FIG. 9) is received through the gimbal valve assembly 140. The guard assembly 160 protects the seal assembly 170 during insertion and withdrawal of the surgical instrument “I” through the seal assembly 170. The seal assembly 170 provides sealed passage of the surgical instrument “I” through the instrument valve housing 110.

In embodiments, a bellows may be secured to the gimbal valve assembly 140 for biasing the gimbal valve assembly 140 to a generally centered position while the surgical instrument “I” is received therethrough and for maintaining the gimbal valve assembly 140 in a generally centered position once the surgical instrument “I” is withdrawn from within the instrument valve housing 110. For a detailed description of an exemplary gimbal assembly including a bellows, please refer to U.S. Pat. App. Pub. No. 2013/0310773, the content of which is incorporated herein by reference in its entirety.

Still referring to FIG. 6, the gimbal mount assembly 150 includes a gimbal base 152 and a gimbal retainer 154. The gimbal base 152 and the gimbal retainer 154 operate together to support the guard assembly 160 and the seal assembly 170. The gimbal mount assembly 150 is operably supported between the upper housing section 120 and the lower housing section 130.

With additional reference to FIG. 7, the gimbal base 152 of the gimbal mount assembly 150 includes a semispherical body having a semispherical outer surface 152a. The semispherical outer surface 152a is configured to be supported by the inwardly facing surface 138 of the lip portion 136 of the lower housing section 130 of the instrument valve housing 110. The gimbal base 152 defines a central opening 151 through which surgical instruments “I” (FIG. 9) may be received. The gimbal base 152 includes a shelf 156 and defines an annular recess 153 proximal of the shelf 156. The annular recess 153 in the gimbal base 152 is configured to receive the gimbal retainer 154. The shelf 156 defines a plurality of openings 157 for receiving a plurality of pins 158 of the gimbal retainer 154 that are configured to secure the gimbal retainer 154 to the gimbal base 152 and to maintain the gimbal retainer 154, the guard assembly 160, and seal assembly 170 within the annular recess 153 in the gimbal base 152.

Turning to FIG. 8, the gimbal retainer 154 of the gimbal mount assembly 150 includes a substantially annular body having a curved inner surface 154a. The curved inner surface 154a is configured to be engaged by the outwardly facing surface 128 of the flange portion 126 of the upper housing section 120 of the instrument valve housing 110. The plurality of pins 158 extending from the gimbal retainer 154 are configured to be received within the plurality of openings 157 in the shelf 156 of the gimbal base 152.

With reference back to FIG. 6, the guard assembly 160 of the valve assembly 140 is configured to protect the seal assembly 170 during insertion and removal of the surgical instrument “I” (FIG. 9) passing through the instrument valve housing 110. The guard assembly 160 includes a ring portion 162 and first, second, third, and fourth petals 164a-d. The guard assembly 160 may be formed from a sheet of plastic/polymeric material by stamping with a tool that forms the ring portion 162 and the first, second, third, and fourth petals 164a-d. Alternatively, the guard assembly 160 may be formed by molding or other techniques. The ring portion 162 of the guard assembly 160 defines a plurality of openings 163 configured to receive the plurality of pins 158 of the gimbal retainer 154 of the gimbal mount assembly 150.

It is envisioned that the guard assembly may include any number of petals, and the petals may include flap portions of any size or configuration. See, for example, U.S. Pat. Nos. 5,895,377 and 6,569,140, the contents of which are incorporated herein by reference in its entirety.

With reference still to FIG. 6, the seal assembly 170 of the valve assembly 140 is configured to provide a seal around an outer surface of the surgical instrument “I” (FIG. 9) passing through the instrument valve housing 110. In embodiments, and as shown, the seal assembly 170 includes first, second, third, and fourth seal sections 172a-d. The multi-section seal configuration provides a non-solid inner circumference seal, e.g., non-continuous inner circumference. Having a non-solid inner circumference reduces the likelihood of tearing during insertion and withdrawn of surgical instruments “I” (FIG. 9). Although shown including four independent seal sections, it is envisioned that any seal assembly that includes a non-solid inner circumference seal is suitable for use with the aspects of the present disclosure.

The first, second, third, and fourth seal section 172a-d of the seal assembly 170 may be formed of an elastic material, e.g., rubber, polyisoprenes, or silicone elastomers, and may include one or more fabric layers. Each of the first, second, third, and fourth seal section 172a-d of the seal assembly 170 defines a plurality of openings 173a-d. The plurality of openings 173a-d receive pins 158 (FIG. 6) of the gimbal retainer 154 to maintain the seal assembly 170 in the folded condition and to secure the seal assembly 170 relative to the guard assembly 160 and the gimbal mount assembly 150.

With particular reference to FIG. 9, the gimbal valve assembly 140 of the surgical access assembly 100 is supported within the instrument valve housing 110. The gimbal valve assembly 140 includes a guard assembly 160 and a seal assembly 170 secured within the annular recess 153 defined by the gimbal base 152 of the gimbal mount assembly 150 by the gimbal retainer 154. More particularly, the seal assembly 170 is disposed adjacent the shelf 156 of the gimbal base 152, and the guard assembly 160 is disposed between the seal assembly 170 and the gimbal retainer 154. The plurality of pins 158 of the gimbal retainer 154 extend through the plurality of openings 163 in the guard assembly 160, through the plurality of openings 173a-d (FIG. 6) in the seal assembly 170, and into the plurality of openings 157 in the shelf 156 of the gimbal base 152. Although shown with the plurality of pins 158 extending from the gimbal retainer 154 of the gimbal mount assembly 150, the plurality of pins may instead extend from the gimbal base 152 and/or from both the gimbal base 152 and the gimbal housing 154. The plurality of pins 158 may be retained within the plurality of openings 157 using adhesive, friction fit, fasteners, or in any suitable manner.

With continued reference to FIG. 9, the gimbal valve assembly 140 of the surgical access assembly 100 is supported between the upper and lower housing sections 120, 130 of the instrument valve housing 110. The gimbal valve assembly 140 is supported between the outward facing surface 128 of the flange portion 126 of the upper housing section 120 of the instrument valve housing 110 and the inward facing surface 138 of the lip portion 136 of the lower housing section 130. More particularly, the curved inner surface 154a of the gimbal retainer 154 of the gimbal mount assembly 150 engages the outwardly facing surface 128 of the flange portion 126 of the upper housing section 120 and the semispherical outer surface 152a of the gimbal base 152 engages the inward facing surface 138 of the lip portion 136 of the lower housing section 130. Any or all of the contact surfaces may be coated or otherwise formed of a reduced friction material to permit movement of the gimbal mount assembly 150 relative to the instrument valve housing 110, and/or to facilitate sealing between the surfaces. In addition, or alternatively, a lubricant or other friction reducing substance may be added to one or more of the surfaces to facilitate movement of the gimbal mount assembly 140. In addition, or alternatively, a sealant or other sealing substance may be added to one or more of the surfaces to facilitate sealing between the instrument valve housing 110 and the instrument valve assembly 120.

With reference to FIGS. 10-12, the instrument valve housing 110 and the gimbal mount assembly 150 are configured to permit angulation of the surgical instrument “I” received through the gimbal valve assembly 140. In embodiments, and as shown, gimbal mount assembly 150 permits angulation of the surgical instrument “I” through three-hundred sixty degrees of angulation.

While various embodiments of the present disclosure have been shown and described herein, it will be obvious to those skilled in the art that these embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the present disclosure. Accordingly, it is intended that the invention be limited only by the spirit and scope of the appended claims.

Claims

1. A surgical access assembly comprising: an instrument valve housing including upper and lower housing sections defining a cavity, the upper housing section having an outward facing surface and the lower housing section having an inward facing surface; anda valve assembly disposed within the cavity of the instrument valve housing, the valve assembly defining a longitudinal axis and including: a guard assembly;a seal assembly disposed adjacent to the guard assembly, the seal assembly having a plurality of seal sections arranged circumferentially around the longitudinal axis collectively forming an aperture having a non-continuous circumference; anda gimbal mount assembly supporting the guard assembly and the seal assembly, the gimbal mount assembly including an outer semispherical surface in operable engagement with the inward facing surface of the lower housing section and an inner surface in operable engagement with the outward facing surface of the upper housing section, wherein the gimbal mount assembly is configured to permit angulation of the valve assembly relative to the instrument valve housing.

2. The surgical access assembly of claim 1, wherein the gimbal mount assembly includes a gimbal base and a gimbal retainer.

3. The surgical access assembly of claim 2, wherein the gimbal base includes the outer semispherical surface and the gimbal retainer includes the inner surface.

4. The surgical access assembly of claim 3, wherein the gimbal base defines a recess, the gimbal retainer being securely received within the recess.

5. The surgical access assembly of claim 4, wherein the guard assembly and the seal assembly are disposed within the recess of the gimbal base.

6. The surgical access assembly of claim 4, wherein the gimbal base includes a shelf, the guard assembly and the seal assembly being disposed between the shelf and the gimbal retainer.

7. The surgical access assembly of claim 6, wherein at least one of the gimbal retainer or gimbal base includes a plurality of pins and the other of the gimbal retainer or the gimbal base defines a plurality of openings corresponding to the plurality of pins.

8. An instrument valve housing comprising: an upper housing section including an outward facing surface;a lower housing section including an inward facing surface, the upper and lower housing sections defining a cavity therebetween; anda valve assembly operably disposed within the cavity, the valve assembly defining a longitudinal axis and including: a guard assembly;a seal assembly disposed adjacent to the guard assembly, the seal assembly having a plurality of seal sections arranged circumferentially around the longitudinal axis collectively forming an aperture having a non-continuous circumference; anda gimbal mount assembly supporting the guard assembly and the seal assembly, the gimbal mount assembly including an outer semispherical surface in operable engagement with the inward facing surface of the lower housing section and an inner surface in operable engagement with the outward facing surface of the upper housing section, wherein the gimbal mount assembly is configured to permit angulation of the valve assembly relative to the instrument valve housing.

9. The instrument valve housing of claim 8, wherein the gimbal mount assembly includes a gimbal base and a gimbal retainer.

10. The instrument valve housing assembly of claim 9, wherein the gimbal base includes the semispherical outer surface and the gimbal retainer includes the inner surface.

11. The instrument valve housing of claim 10, wherein the gimbal base defines a recess, the gimbal retainer being securely received within the recess.

12. The instrument valve housing of claim 11, wherein the guard assembly and the seal assembly are disposed within the recess of the gimbal base.

13. The instrument valve housing of claim 11, wherein the gimbal base includes a shelf, the guard assembly and the seal assembly being disposed between the shelf and the gimbal retainer.

14. The instrument valve housing of claim 13, wherein at least one of the gimbal retainer or gimbal base includes a plurality of pins and at least one of the gimbal retainer or the gimbal base defines a plurality of openings corresponding to the plurality of pins.

15. The instrument valve housing of claim 8, wherein the seal assembly includes four seal sections.

16. A valve assembly comprising: a guard assembly;a seal assembly disposed adjacent to the guard assembly, the seal assembly having a plurality of seal sections arranged circumferentially around a longitudinal axis of the valve assembly and collectively forming an aperture having a non-continuous circumference; anda gimbal mount assembly supporting the guard assembly and the seal assembly, the gimbal mount assembly including an outer semispherical surface and an inner surface, the outer semispherical surface of the gimbal mount assembly being in operable engagement with an inner surface of a lower housing section of an instrument valve housing and the inner surface of the gimbal mount assembly being in operable engagement with an outward facing surface of an upper housing section of the instrument valve housing, wherein the gimbal mount assembly is configured to permit angulation of the valve assembly relative to the instrument valve housing.

17. The valve assembly of claim 16, wherein the gimbal mount assembly includes a gimbal base and a gimbal retainer.

18. The valve assembly of claim 17, wherein the gimbal base includes the semispherical outer surface and the gimbal retainer includes the inner surface.

19. The valve assembly of claim 17, wherein the gimbal base defines a recess, the gimbal retainer being securely received within the recess.

20. The surgical access assembly of claim 19, wherein the guard assembly and the seal assembly are disposed within the recess of the gimbal base.