Flexible instrument

• US 20020087148A1
• Filed: 11/16/2001
• Published: 07/04/2002
• Est. Priority Date: 02/24/1998
• Status: Abandoned Application

• Current Assignee: endoVia Medical, Inc. (Johnson & Johnson)
• Original Assignee: endoVia Medical, Inc. (Johnson & Johnson)
• Inventors: Rogers, Gary, Brock, David L., Weitzner, Barry, Lee, Woojin
• Application Number:
  US10/022,038
• Publication Number:
  US 20020087148A1
• Time in Patent Office: Days
• US Class Current: 606/1
• 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 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0483 Hand-held instruments for holding sutures A61B17/0469 takes precedence; other holders for needles or sutures A61B17/06061; surgical forceps A61B17/28; surgical pincettes A61B17/30
• CPC Class Codes: A61B 17/0487 Suture clamps, clips or locks, e.g. for replacing suture knots; Instruments for applying or removing suture clamps, clips or locks suture anchors A61B17/0401; wound clamps or clips A61B17/08; ligaturing clamps or clips A61B17/122
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00088 using thermistors
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00331 with preformed bends
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/00986 Malecots, e.g. slotted tubes, of which the distal end is pulled to deflect side struts
• CPC Class Codes: A61B 2017/0409 Instruments for applying suture anchors
• CPC Class Codes: A61B 2017/0414 having a suture-receiving opening, e.g. lateral opening
• CPC Class Codes: A61B 2017/0437 the barbs being resilient or spring-like
• CPC Class Codes: A61B 2017/0464 : for soft tissue
• CPC Class Codes: A61B 2017/0645 : being elastically deformed for insertion
• CPC Class Codes: A61B 2017/0648 : threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2017/22069 : Immobilising; Stabilising
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• CPC Class Codes: A61B 2034/2051 : Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• 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 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/715 : Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2034/744 : Mouse
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 : using ultrasound
• CPC Class Codes: A61B 2090/506 : using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• 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
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0084 : for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/015 : By temperature mapping of body part
• CPC Class Codes: A61B 5/4893 : Nerves
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61F 2/2445 : Annuloplasty rings in direct contact with the valve annulus
• CPC Class Codes: A61F 2/2466 : Delivery devices therefor
• CPC Class Codes: B25J 3/04 : involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/104 : with cables, chains or ribbons

Abstract

A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Claims

1. A medical device comprising:

a disposable mechanically drivable mechanism drivably coupled to a tool via a disposable shaft for insertion into a body vessel or cavity along a selected length of the shaft, the tool being operable to carry out a medical procedure, the shaft being disposable together with the mechanically drivable mechanism; and

a receiver for receiving the mechanically drivable mechanism; and

a drive unit coupled to the receiver.

2. The medical device of claim 1, wherein the disposable shaft is flexible.

3. The medical device of claim 1, wherein the drive unit is disposed at a first location which is remote from a second location at which the receiver is disposed.

4. The medical device of claim 1, wherein the drive unit comprises a plurality of motors, each motor being readily drivably interconnectable to and disconnectable from the disposable mechanically drivable mechanism.

5. The medical device of claim 4, wherein the tool is drivably interconnectable to and disconnectable from at least one of the motors.

6. The medical device of claim 1, wherein the tool is drivably interconnected to the disposable mechanically drivable mechanism.

7. The medical device of claim 1, wherein the tool is mounted on a disposable two degree of freedom movement mechanism which is mounted at the distal end of the disposable flexible shaft.

8. The medical device of claim 1, wherein the disposable mechanically drivable mechanism, the flexible shaft and the tool are readily disposable as a single piece unit.

9. The medical device of claim 1, wherein the disposable mechanically drivable mechanism is remote controllably drivable by a user via a user input device which is electrically interconnected to the drive unit through an electrical drive control mechanism.

10. A medical device comprising:

a disposable implement, comprising;

a disposable flexible shaft supporting a tool at its distal end, for insertion into a subject; and

a disposable first drive interface drivably coupled with the tool through the shaft;

a second drive interface for drivably coupling the disposable implement with a drive unit, the second drive interface being drivably engageable engageable with the disposable implement via the first drive interface.

11. The medical device of claim 10, wherein the first drive interface is connected to a proximal end of the shaft and drivably interconnected to a flexible portion of the shaft via at least one cable, the cable being disposable as a unit together with the shaft.

12. The medical device of claim 10, wherein the second drive interface is interconnected to a remotely disposed electronic control mechanism which controls operation of the drive unit.

13. The medical device of claim 10, wherein the first and second drive interfaces are readily engageable with and disengageable from each other.

14. The medical device of claim 13, wherein the disposable implement is readily manually portable.

15. The medical device of claim 10, wherein the second drive interface is readily manually portable.

16. The medical device of claim 10, wherein the drive unit is readily manually portable.

17. The medical device of claim 10, wherein the disposable implement is readily manually portable.

18. A disposable medical device comprising:

a disposable flexible shaft having a proximal end and a distal end;

a disposable mechanically drivable interface connected to the proximal end of the shaft;

a tool mounted at the distal end of the shaft;

at least one disposable cable drivably interconnected between the mechanically drivable interface and the tool, the mechanically drivable interface being interconnected to a remotely disposed electronic control mechanism which controls drive operation of the device.

20. A disposable electronically controlled surgical instrument comprising:

a disposable flexible elongate shaft having a proximal end and a distal end on which is mounted a tool, the proximal end of the shaft being connected to a mechanically drivable interface;

the disposable shaft including at least one disposable cable drivably interconnected between the mechanically drivable interface and the tool;

the mechanically drivable interface being interconnected to a remotely disposed electronic control mechanism which controls drive operation of the device.

19. The disposable medical device of claim 20, wherein the flexible shaft includes a deformable portion connected to the cable, the deformable portion being controllably bendable by the electronic control mechanism.