Articulating robotic probes

• US 10,004,568 B2
• Filed: 12/19/2014
• Issued: 06/26/2018
• Est. Priority Date: 12/30/2013
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Castro, Michael Salvatore, Karcsmar, Joseph, Flaherty, R. Maxwell, Flaherty, J. Christopher
• Primary Examiner(s): McEvoy, Thomas
• Application Number:
  US14/892,750
• Publication Number:
  US 20160256226A1
• Time in Patent Office: 1,285 Days
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2018/00488 Esophagus
• CPC Class Codes: A61B 2018/00494 Stomach, intestines or bowel
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/00595 Cauterization
• CPC Class Codes: A61B 2018/00601 Cutting
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/571 for clamping a support arm to a bed or other supports
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

An articulated probe assembly comprises a base, an outer support rod extending through the base, an articulating control portion at a proximal end of the outer support rod, and a steerable portion comprising a plurality of outer links coupled to a distal end of the outer support rod. The steerable portion is manipulated in response to the articulating control portion.

Claims

1. An articulated probe assembly, comprising:

a base;

an outer support rod extending through the base;

an articulating control portion at a proximal end of the outer support rod;

a steerable portion comprising a plurality of outer links coupled to a distal end of the outer support rod, the steerable portion manipulated in response to the articulating control portion;

a handle that articulates the control portion, which in turn articulates the steerable portion; and

a tool support assembly comprising first and second support rods, each with a proximal end into which a tool can be inserted and further comprising a connector directly and removably coupled to proximal ends of the first and second support rods and that maintains a position of the first and second support rods from each other, the connector separate from the base by a length of the first and second support rods, and wherein the connector is constructed and arranged for removal from the support rods and replacement with a different connector having a different configuration wherein the first and second support rods are each coupled to a top surface of the base, and wherein first and second guide tubes having a different dimension than the first and second support rods are coupled to a bottom surface of the base and align with the first and second support rods, respectively, via the base.

2. The articulated probe assembly of claim 1, wherein the articulating control portion is above the base and the steerable portion is below the base.

3. The articulated probe assembly of claim 1, wherein the articulating control portion comprises a plurality of second outer links that articulate relative to each other for controlling an articulation of the outer links of the steerable portion.

4. The articulated probe assembly of claim 3, wherein the articulating control portion comprises a plurality of channels, and the outer support rod comprises a plurality of channels that are aligned with the channels of the control portion, each support rod channel and corresponding control portion channel receiving a steering cable, the steering cables constructed and arranged to control a motion of the steerable portion in response to an articulation of the second outer links relative to each other.

5. The articulated probe assembly of claim 1, wherein the articulating control portion comprises an articulating element that articulates the steerable portion relative to the control portion according to at least one degree of freedom.

6. The articulated probe assembly of claim 1, further comprising an inner rod that extends through at least a portion of the outer support rod and at least a portion of the steerable portion.

7. The articulated probe assembly of claim 6, wherein articulation of the steerable portion is controlled by a location of the inner rod.

8. The articulated probe assembly of claim 6, wherein when the inner rod is at its highest point, the steerable portion has a greatest range of motion.

9. The articulated probe assembly of claim 6, further comprising a translation assembly that translates the inner rod, wherein the inner rod translates via the translation assembly vertically within the outer support rod.

10. The articulated probe assembly of claim 1, wherein the base comprises a height adjustment gear and the outer support rod comprises a linear gear that engages with the height adjustment gear for changing a height of the outer support rod, which in turn changes a height of the steerable portion relative to the base.

11. The articulated probe assembly of claim 1, wherein the plurality of outer links of the steerable portion includes a distal link, the distal link including at least one exit port from which a tool can extend for insertion into a surrounding environment.

12. The articulated probe assembly of claim 11, wherein the surrounding environment is selected from the group consisting of:

the esophagus, the gastrointestinal tract, the pericardial space, the peritoneal space, or combinations thereof.

13. The articulated probe assembly of claim 11, further including at least one side channel coupled to the distal link for receiving one or more tools.

14. The articulated probe assembly of claim 13, wherein the at least one side channel is configured to perform one or more of:

slidingly receiving a shaft of a tool, guiding the shaft of a tool, providing a supporting force for a tool, or combinations thereof.

15. The articulated probe assembly of claim 1, further comprising a plurality of steering cables operably connected to the handle, wherein movement of the handle applies tension to the steering cables which in turn articulates the steerable portion.

16. The articulated probe assembly of claim 15, wherein the steering cables extend from channels in the control portion, through matching channels in the outer support rod, through channels in the steerable portion, and terminating at a distal link of the outer links.

17. The articulated probe assembly of claim 15, further comprising a cable tensioning assembly operably connecting the steering cables to the handle, wherein the cable tensioning assembly is constructed and arranged to adjust the tension in one or more of the steering cables.

18. The articulated probe assembly of claim 17, wherein the cable tensioning assembly is constructed and arranged to adjust tension in multiple cables to transition the steerable portion between an articulable state and a locked state.

19. The articulated probe assembly of claim 18, wherein the cable tensioning assembly is constructed and arranged to increase the tension applied to each and all of the steering cables to cause the steerable portion to transition from the articulable state to the locked state.

20. The articulated probe assembly of claim 18, wherein the cable tensioning assembly is biased such that the steerable portion is in the locked state.

21. The articulated probe assembly of claim 18, wherein the cable tensioning assembly comprises a button constructed and arranged to decrease the tension applied to at least one steering cable to cause the steerable portion to transition from the locked state to the articulable state.

22. The articulated probe assembly of claim 1, wherein the base is coupled to a support arm.

23. The articulated probe assembly of claim 1, further comprising an inner rod slidingly positioned within the outer support rod and a translation assembly, wherein the steerable portion comprises an articulation region, and wherein the translation assembly translates the inner rod to adjust a range of motion of the articulation region of the steerable portion by increasing or decreasing a number of the outer links capable of articulation.

24. The articulated probe assembly of claim 23, wherein the translation assembly comprises a collar that is slidingly received by the outer support rod.

25. The articulated probe assembly of claim 24, wherein the transition assembly further comprises a gear and at least one knob operably couples to the gear.

26. The articulated probe assembly of claim 24, wherein the outer support rod comprises a slot and the translation assembly comprises a connecting element that is fixedly attached to the collar and the inner rod, passing through the slot, such that the inner rod translates with the collar.

27. The articulated probe assembly of claim 24, wherein the outer support rod comprises a set of threads arranged in a helical manner about the outer support rod, wherein the collar includes a set of inner threads at a hole of the collar through which the outer support rod is positioned, and wherein the inner threads of the collar communicate with the threads of the outer support rod such that a rotation of the outer support rod causes the outer support rod to travel linearly.

28. The articulated probe assembly of claim 1, wherein the connector comprises a dogbone connector coupled between the two support rods.

29. The articulated probe assembly of claim 1, wherein at least one of the first guide tube or the second guide tube is positioned in at least one side channel of a distal link of the outer links and extending along the steerable portion, for guiding a tool extending from the proximal end of the first or second support rod to the distal link.

30. The articulated probe assembly of claim 1, wherein the first guide tube is positioned on a first side channel of the distal link and extending along the steerable portion, for guiding a first tool extending from a proximal end of the first support rod, and the second guide tube is positioned on a second side channel of the distal link and extending along the steerable portion, for guiding a second tool extending from a proximal end of the second support rod.

31. The articulated probe assembly of claim 1, wherein the outer support rod comprises a set of threads arranged in a helical manner about the outer support rod, wherein the base includes a set of inner threads at a hole of the base through which the outer support rod is positioned, and wherein the inner threads of the base communicate with the threads of the outer support rod such that a rotation of the outer support rod causes the outer support rod to travel linearly relative to the base.