Articulating surgical tools and tool sheaths, and methods of deploying the same

• US 10,342,559 B2
• Filed: 11/18/2015
• Issued: 07/09/2019
• Est. Priority Date: 04/06/2011
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Castro, Michael Salvatore, Flaherty, J. Christopher
• Primary Examiner(s): Layno, Carl H
• Assistant Examiner(s): Xie, Dacheng
• Application Number:
  US14/944,665
• Publication Number:
  US 20160066938A1
• Time in Patent Office: 1,329 Days
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00296 mounted on an endoscope
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00535 pneumatically or hydraulically operated A61B2017/22051, A61B2090/401 take precedence
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/347 Locking means, e.g. for locking instrument in cannula
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A system for performing a medical procedure includes an articulating probe including inner and outer sleeves, and a surgical tool including a functional element positioned at a distal end of a tool shaft, the tool shaft having an articulation region. The articulating probe and the surgical tool are independently controllable.

Claims

1. A system for performing a medical procedure comprising:

an articulation probe including inner and outer sleeves, the inner sleeve at least partially surrounded by the outer sleeve, each of the inner and outer sleeves comprising a plurality of segment links, the articulating probe further comprising a locking mechanism configured in one of a locked or unlocked mode and a port extending through the segment links of the inner and outer sleeves; and

a surgical tool that articulates independently of and relative to the segment links of the inner and outer sleeves of the articulating probe, the surgical tool including a tool shaft and a functional element positioned at a distal end of the tool shaft, the tool shaft having an articulating region,

wherein the tool shaft includes a plurality of segment links, wherein each of the plurality of segment links of the tool shaft includes a plurality of articulation cable channels,

wherein the surgical tool further comprises a plurality of articulation cables, each of which is positioned in a respective one of the plurality of articulation cable channels,

wherein the segment links of the inner and outer sleeves of the articulating probe and the segment links of the tool shaft of the surgical tool are independently controllable,

wherein the locking mechanism is constructed and arranged to secure the tool shaft including the articulation cables, cable channels, and tool shaft segment links in the port of the segment links of the inner and outer sleeves of the articulating probe in the locked mode,

wherein the locking mechanism is constructed and arranged to allow the tool shaft to movably pass through the articulating probe in the unlocked mode,

wherein the articulating probe and the surgical tool are independently controllable in the unlocked mode of the locking mechanism, and

wherein the locking mechanism comprises at least one of a pneumatic lock, a pneumatic solenoid, a pneumatic expandable pouch, a hydraulic lock, a hydraulic solenoid, a hydraulic expandable pouch, an electrically activated lock, an electrically activated solenoid, or an electrically activated piezoelectric actuator.

2. The system of claim 1, wherein each segment link of the plurality of segment links is sequentially coupled to another segment link of the plurality of segment links.

3. The system of claim 1, wherein each segment link of the plurality of segment links is constructed and arranged to provide 12°

to 15°

of articulation between the functional element and a working surface of the articulating probe.

4. The system of claim 1, wherein each segment link of the plurality of segment links is constructed and arranged to provide 12°

to 15°

of articulation between the functional element and a longitudinal axis of a cable transitioning segment of the tool shaft.

5. The system of claim 1, wherein each segment link of the plurality of segment links is constructed and arranged to provide 12°

to 15°

of articulation between the functional element and an axis of extension of the tool shaft.

6. The system of claim 1, wherein the surgical tool is positioned in a working channel, side port, or guide hole of the segment links of the inner and outer sleeves of the articulating probe.

7. The system of claim 1, wherein the surgical tool further comprises:

a connection link coupled to a segment link at the distal end;

an actuator piston positioned in an inner cavity of the connection link; and

an actuator cable extending through the plurality of segment links to engage the actuator piston in the connection link.

8. The system of claim 7, wherein the plurality of articulation cables is secured to the actuator piston.

9. The system of claim 7, wherein a segment link of the plurality of segment links of the tool shaft comprises a cavity slot for receiving an articulation cable from one of the plurality of articulation cable channels and for directing the articulation cable to another of the plurality of articulation cable channels.

10. The system of claim 1, wherein the plurality of segment links articulate with respect to one another.

11. The system of claim 10, wherein a bottom surface of a first portion of a first segment link of the plurality of segment links abuts an upper surface of a first portion of a second segment link of the plurality of segment links to restrict an angle of articulation with respect to a common center axis extending through a center of each of the first and second segment links, and wherein the first and second segment links articulate relative to each other, wherein each of the bottom surface of the first portion of the first segment link and the upper surface of the first portion of the second segment link extends circumferentially and peripherally about the common center axis such that any region of the bottom surface of the first portion of the first segment link either directly abuts a corresponding region of the upper surface of a first portion of a second segment link or is separate from the corresponding region of the upper surface of a first portion of a second segment link, depending on the angle of articulation with respect to the common center axis.

12. The system of claim 11, wherein the angle of articulation is restricted to 12°

to 15°

.

13. The system of claim 11, wherein the first portion of the first segment link includes a cylindrical body portion and the first portion of the second segment link includes a cylindrical body portion.