Instrument device manipulator with tension sensing apparatus

• US 10,219,874 B2
• Filed: 11/14/2014
• Issued: 03/05/2019
• Est. Priority Date: 10/24/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Yu, Alan, Romo, Enrique
• Primary Examiner(s): Newton, Alexandra L
• Assistant Examiner(s): Boler, Rynae
• Application Number:
  US14/542,403
• Publication Number:
  US 20150119638A1
• Time in Patent Office: 1,572 Days
• Field of Search: 606 1, 606130, 600102, 702 41
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00071 Insertion part of the endoscope body A61B1/0055 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 25/0009 Making of catheters or other medical or surgical tubes
• CPC Class Codes: A61M 25/0012 : with embedded structures, e.g. coils, braids, meshes, strands or radiopaque coils
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: Y10T 29/49815 : Disassembling

Abstract

An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Claims

1. A medical device comprising:

a drive unit; and

a strain gauge longitudinally-parallel with the drive unit,

wherein the strain gauge is coupled to the drive unit,

wherein the drive unit is configured to apply a force to a pull wire, and the strain gauge is oriented in a first direction transverse to a path of the pull wire, and

wherein the strain gauge is configured to measure displacement of at least a portion of the drive unit along a second direction corresponding to the path of the pull wire, the measured displacement of the drive unit being in response to the force applied to the pull wire.

2. The medical device of claim 1, wherein the drive unit comprises a motor, a gear head, and a rotary encoder.

3. The medical device of claim 2, wherein the motor is a brushless motor.

4. The medical device of claim 2, wherein the motor is a direct current servo motor.

5. The medical device of claim 1, wherein the strain gauge is an electrically based strain gauge.

6. The medical device of claim 1, further comprising an electrical circuit board that is configured to amplify a signal generated by the strain gauge.

7. The medical device of claim 6, wherein the circuit board is coupled to the drive unit.

8. The medical device of claim 1, further comprising:

an elongated instrument that comprises;

a shaft with a distal portion and a proximal portion;

an instrument base, coupled to the proximal portion of the shaft, that contains a chamber that contains a spool that is configured to rotate within the chamber,

wherein the spool is not fixedly coupled to the chamber and the drive unit is configured to torque the spool.

9. The medical device of claim 8, wherein the chamber is configured to be concentrically aligned with the longitudinal axis of the drive unit.

10. The medical device of claim 8, wherein the predetermined path of the pull wire is within the shaft.

11. The medical device of claim 8, wherein the spool is configured to convey force from the drive unit to the pull wire.

12. The medical device of claim 11, wherein a portion of the pull wire is wrapped around the spool.

13. The medical device of claim 8, wherein the elongated instrument is detachable from the drive unit.

14. The medical device of claim 8, wherein the spool is configured to be positively coupled to the drive unit.

15. The medical device of claim 8, wherein the instrument base is configured to be positively coupled to the drive unit.

16. The medical device of claim 8, wherein the elongated instrument is configured to perform endoscopic surgical procedures.

17. The medical device of claim 8, wherein the elongated instrument further comprises an imaging means coupled to the distal portion of the shaft.

18. The medical device of claim 1, further comprising a device interface configured to connect with an arm interface on a mechanical arm.

19. The medical device of claim 18, wherein the device interface is configured to receive a control signal from the mechanical arm and transmit a sensor signal to the mechanical arm through the arm interface.

20. The medical device of claim 19, wherein the control signal is configured to control the drive unit.

21. The medical device of claim 1, wherein:

the drive unit comprises a first end and a second end opposing each other in the first direction,

the strain gauge comprises a first end and a second end opposing each other in the first direction,

the medical device further comprises;

a motor mount coupling the first end of the drive unit to the first end of the strain gauge, and

a strain gauge mount coupling the second end of the drive unit to the second end of the strain gauge.

22. The medical device of claim 21, wherein the strain gauge is further configured to measure displacement of the motor mount with respect to the strain gauge mount in the second direction.