Segmented instrument having braking capabilities

• US 10,512,392 B2
• Filed: 02/06/2009
• Issued: 12/24/2019
• Est. Priority Date: 02/06/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Gurusamy, Jay, Shellberger, Carson Jay, Julian, Christopher A., Oeh, Joshua
• Primary Examiner(s): Newton, Alexandra L
• Application Number:
  US12/866,309
• Publication Number:
  US 20110295065A1
• Time in Patent Office: 3,973 Days
• Field of Search: 600114, 600121-125, 600141-142, 600148, 600227-229, 604258, 604 9504, 604528, 606 1, 901 23
• CPC Class Codes: A61B 1/0053 using distributed actuators, e.g. artificial muscles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 1/042 characterised by a proximal camera, e.g. a CCD camera
• CPC Class Codes: A61B 1/2736 Gastroscopes
• CPC Class Codes: G02B 23/2476 Non-optical details, e.g. housings, mountings, supports

Abstract

One embodiment of present invention is a segmented instrument having braking capabilities that includes an elongate body having a plurality of links and a hinge connecting a pair of adjacent links in the plurality of links. There is also brake assembly coupled to each link in the pair of adjacent links and positioned to span the distance between the pair of adjacent links. Another embodiment of the present invention is a segmented instrument having a plurality of links and at least one lockable and articulatable joint positioned to connect a pair of adjacent links in the plurality of links. In addition, the at least one lockable and articulatable joint is adapted and configured to increase the number of frictional surfaces available between the pair of adjacent links. There are also provided methods for controlling a segmented instrument. Exemplary steps of the method include introducing a segmented instrument into a patient where the segmented instrument has a plurality of links wherein adjacent links are joined by a hinge. Next, there is the step of manipulating the links about the hinges to maneuver the segmented instrument to provide access to a surgical site within the patient. In one aspect, the manipulating step produces a sliding motion between a plurality of complementary shaped components within a portion of a brake assembly between adjacent links. Next there is the step of actuating the brake assembly to substantially prevent movement about the hinge of the links attached to the braking mechanism.

Claims

1. A segmented instrument having braking capabilities, comprising:

an elongate body defining a central lumen extending from a proximal end to a distal end of the elongate body, the central lumen being sized to receive and advance a surgical instrument through the elongate body to a location beyond the distal end of the elongate body, the elongate body comprising;

a plurality of links disposed in series along an axial direction of the elongate body, the plurality of links comprising a pair of adjacent links having opposing arcuate mating surfaces;

an arm pivotably coupling the pair of adjacent links in the plurality of links to one another via a pin joint at each link of the pair of adjacent links; and

a brake assembly coupled to each link in the pair of adjacent links and positioned-between the pair of adjacent links, wherein the brake assembly comprises a first component and a second component disposed consecutively in the axial direction, each of the first component and the second component comprising an aperture through which the arm extends, the first component having a first surface configured to mate with the arcuate mating surface of one of the pair of adjacent links and the second component having a second surface configured to mate with the arcuate mating surface of the other of the pair of adjacent links, the first and second components being configured to move relative to each other in a first state of the brake assembly and being configured to engage each other to prevent each link of the pair of adjacent links from moving relative to each other in a second state of the brake assembly, and

wherein the brake assembly is placed in the second state by a force applied along an axial direction of the pair of adjacent links.

2. The segmented instrument according to claim 1, wherein the first component and second component comprise a component positioned adjacent one link in the pair of links that moves along with movement of another of the links in the pair of links.

3. The segmented instrument according to claim 1, wherein the brake assembly is placed in the second state by pulling on a cable to apply the force along the axial direction of the pair of adjacent links.

4. The segmented instrument according to claim 1, wherein only a portion of the plurality of links includes the brake assembly.

5. The segmented instrument according to claim 4, wherein the portion of the plurality of links is a distal portion of the plurality of links.

6. The segmented instrument according to claim 4, wherein the portion of the plurality of links is a proximal portion of the plurality of links.

7. The segmented instrument according to claim 4, wherein the portion of the plurality of links is a middle portion of the plurality of links.

8. The segmented instrument according to claim 1, wherein actuation of the brake assembly to the second state removes one degree of freedom from a portion of the instrument.

9. The segmented instrument according to claim 1, further comprising a plurality of brake assemblies coupled to the instrument, wherein actuation of the plurality of brake assemblies to the second state substantially locks a shape of the instrument by locking substantially all of the plurality of links in the instrument.

10. The segmented instrument according to claim 1, further comprising a plurality of brake assemblies coupled to the instrument, wherein actuation of the plurality of brake assemblies to the second state substantially removes one degree of freedom of movement of the segmented instrument.

19. The segmented instrument according to claim 1, wherein the first component and second component are moveably coupled to the links of the pair of adjacent links.

20. The segmented instrument according to claim 1, wherein the first surface and second surface are respective complementary concave and convex surfaces.

11. A method of controlling movement of a segmented instrument, comprising:

introducing a segmented instrument into a patient, the segmented instrument having a plurality of links, each link of the plurality of links having opposing ends with arcuate mating surfaces, wherein adjacent links of the plurality of links are joined by a hinge;

manipulating the links about the hinges to maneuver the segmented instrument to provide access to a surgical site within the patient, wherein the manipulating produces a sliding motion of a first component and a second component of a brake assembly relative to one another in a first state of the brake assembly, wherein the first component and the second component are positioned consecutively along an axial direction of the segmented instrument in a space between the adjacent links and configured to mate with the arcuate mating surfaces of the links; and

actuating the brake assembly to engage the first component and the second component with each other in a second state of the brake assembly and to substantially prevent movement about the hinge, wherein the actuating comprises applying a force along an axial direction of the adjacent links.

12. The method of controlling movement of a segmented instrument according to claim 11, wherein the actuating comprises pulling a cable.

13. The method of controlling movement of a segmented instrument according to claim 11, wherein the actuating substantially locks a shape of a portion of the controllable instrument.

14. The method of controlling movement of a segmented instrument according to claim 11, further comprising:

advancing a surgical implement through a working channel in the segmented instrument to the surgical site.

15. The method of controlling movement of a segmented instrument according to claim 14, wherein the advancing is performed after the actuating and with the brake assembly in the first state.

16. The method of controlling movement of a segmented instrument according to claim 14, further comprising:

accessing the surgical site with a controllable surgical instrument advanced through the segmented instrument.

17. The method of controlling movement of a segmented instrument according to claim 16, wherein the advancing is performed after the actuating and with the brake assembly in the first state.

23. The method according to claim 11, wherein the plurality of links is disposed in series along an axial direction of the segmented instrument, and wherein the arcuate mating surfaces are axially spaced from each link of the adjacent links.

18. A segmented instrument, comprising:

a plurality of links disposed in series along an axial direction of the instrument, the plurality of links defining a central lumen extending from a proximal end to a distal end of the segmented instrument, the central lumen being sized to receive and advance a surgical instrument through the segmented instrument to a location beyond the distal end of the segmented instrument; and

at least one lockable and articulatable joint positioned to connect a pair of consecutively disposed links in the plurality of links,

wherein the at least one lockable and articulatable joint comprises a plurality of components positioned in a space between the pair of consecutively disposed links and an arm pivotably coupled via pin joints at opposite ends to the pair of consecutively disposed links, wherein each component of the plurality of components comprises an aperture through which the arm extends,

wherein three frictional interfaces are consecutively disposed along the axial direction of the segmented instrument between the pair of consecutively disposed links, the frictional interfaces being respectively defined by complementary surfaces of adjacent components of the plurality of components and by complementary surfaces of at least one component of the plurality of components and at least one link of the pair of consecutively disposed links,

wherein the complementary surfaces of each frictional interface move relative to each other in a first, unlocked state of the joint and engage each other in response to an axially directed force to prevent the pair of consecutively disposed links from moving relative to each other in a second, locked state of the joint.

21. The segmented instrument according to claim 18, wherein the plurality of components span the space between the pair of consecutively disposed links.

22. The segmented instrument according to claim 18, wherein at least a portion of each of the frictional interfaces is oriented substantially perpendicular to a longitudinal axis of the joint.