Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment

• US 10,080,576 B2
• Filed: 09/05/2014
• Issued: 09/25/2018
• Est. Priority Date: 03/08/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Romo, Enrique, Schuh, Travis
• Primary Examiner(s): Joyce, William C
• Application Number:
  US14/479,095
• Publication Number:
  US 20140379000A1
• Time in Patent Office: 1,481 Days
• Field of Search: 7449004, 600141, 600142, 600146, 600153
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00845 of moving parts with respect to each other
• CPC Class Codes: A61B 2017/00867 shape memory effect for prostheses A61F2210/0014
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• CPC Class Codes: A61B 2017/2937 with flexible part
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61M 25/0032 characterized by at least one unconventionally shaped lumen, e.g. polygons, ellipsoids, wedges or shapes comprising concave and convex parts
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons

Abstract

An instrument that facilitates bending with large degrees of articulation while maintaining ease of manufacturing for medical and surgical applications is discussed.

Claims

1. A medical device comprising:

a. an elongated body for use in medical procedures, the elongated body having a neutral axis and comprising;

i. a spine along the length of the elongated body;

ii. a series of ribs along the length of the elongated body, wherein the series of ribs form a corresponding series of ribbed voids along the length of the elongated body, wherein the elongated body, the spine, and the ribs are formed as a single component; and

iii. a lumen longitudinally oriented within the elongated body, wherein the lumen has a non-cylindrical cross-section defined by walls of uneven thickness formed from the elongated body and having a narrowed mid-section;

b. an ancillary component positioned within the lumen along the length of the body; and

c. a control wire that is configured to actuate an end effector that is operatively coupled to the control wire, wherein the control wire is positioned within the lumen offset from the neutral axis of the elongated body and separated from the ancillary component within the lumen by the narrowed mid-section.

2. The device of claim 1, wherein the spine is solid along the length of the elongated body.

3. The device of claim 1, wherein the series of ribs and the series of ribbed voids are formed along the length of the elongated body opposite the spine, and wherein the spine comprises a series of spinal ribs that form a series of corresponding spinal voids.

4. The device of claim 3, wherein the ribs contain eyelets configured to convey an ancillary component along the length of the elongated body.

5. The device of claim 1, wherein the ribbed voids are teardrop-shaped.

6. The device of claim 1, wherein the series of ribbed voids are formed along a single lateral edge of the elongated body and centered along a line along the length of the elongated body opposite the spine.

7. The device of claim 1, wherein the ancillary component comprises a forceps tool that is positioned within the lumen.

8. The device of claim 1, wherein the control wire is positioned within the lumen offset from the neutral axis of the elongated body and oriented away from the spine along the length of the elongated body.

9. The device of claim 1, wherein the control wire comprises a pull wire that is configured to articulate the elongated body.

10. The device of claim 1, wherein the ancillary component is positioned within the lumen and oriented toward the spine along the length of the elongated body.

11. The device of claim 1, wherein the lumen comprises an upper region and a lower region.

12. The device of claim 11, wherein the ancillary component is positioned within the upper region of the lumen and the control wire is positioned within the lower region.

13. The device of claim 1, wherein the lumen is configured to convey a plurality of ancillary components.

14. The device of claim 1, further comprising:

a. a shaft, comprising a distal end and proximal end;

b. wherein the elongated body is aligned longitudinally within the shaft, and the elongated body is configured to extend from the distal end of the shaft.

15. A method for performing medical procedures comprising:

a. directing an elongated tool towards an operative site, the tool comprising a proximal portion and distal portion;

b. extending a longitudinally-aligned elongated body from the distal portion of the tool; and

c. articulating the elongated body towards the operative site;

d. wherein the elongated body has a neutral axis and comprises;

i. a spine along the length of the elongated body;

ii. a series of ribs along the length of the elongated body, wherein the series of ribs form a corresponding series of voids along the length of the elongated body, and wherein the elongated body, the spine, and the ribs are formed as a single component; and

iii. a lumen longitudinally oriented within the elongated body,

wherein the lumen has a non-cylindrical cross-section defined by walls of uneven thickness formed from the elongated body and having a narrowed mid-section,

wherein an ancillary component is positioned within the lumen along the length of the body, and

wherein a control wire configured to actuate an end effector that is operatively coupled to the control wire is positioned within the lumen, the control wire being offset from the neutral axis of the elongated body and separated from the ancillary component within the lumen by the narrowed mid-section.

16. The method of claim 15, wherein the tool is a flexible shaft.

17. The method of claim 15, wherein the series of ribs and the series of ribbed voids are formed along the length of the elongated body opposite the spine, and wherein the spine comprises a series of spinal ribs that form a series of corresponding spinal voids.

18. The method of claim 15, wherein the lumen is configured to convey an ancillary component along the length of the elongated body.