Robotic medical instrument system

• US 20040176751A1
• Filed: 08/12/2003
• Published: 09/09/2004
• Est. Priority Date: 08/14/2002
• Status: Abandoned Application

• Current Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Original Assignee: endoVia Medical, Inc. (Johnson & Johnson)
• Inventors: Brock, David L., Lee, Woojin, Solbjor, Albert, Rogers, Gary S., Meglan, Dwight, Driscoll, David, Ailinger, Robert, Weitzner, Barry D.
• Application Number:
  US10/639,785
• Publication Number:
  US 20040176751A1
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0491 Sewing machines for surgery
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/1135 End-to-side connections, e.g. T- or Y-connections Y-shaped blood vessel prostheses A61F2002/065
• CPC Class Codes: A61B 2017/22054 with two balloons
• CPC Class Codes: A61B 2017/22069 Immobilising; Stabilising
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• 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 90/361 Image-producing devices, e.g. surgical cameras

Abstract

A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; and a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed. The first medical instrument member is disposed so as to extend into the anatomy at a first ingress location and passing intraluminally; and the second medical instrument member is disposed so as to extend into the anatomy at a second ingress location different than said first ingress location and passing extraluminally. A controller is provided for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application.

Claims

1. A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising:

a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed;

a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed;

said first medical instrument member disposed so as to extend into the anatomy at a first ingress location and passing intraluminally;

said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location and passing extraluminally; and

a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application.

2. The robotic medical apparatus of claim 1 wherein said first and second medical instrument members are separately and controllably operable, in unison, to perform the medical procedure or application.

3. The robotic medical apparatus of claim 1 wherein said first medical instrument member comprises a rigid shaft instrument, and said second medical instrument member comprises a flexible shaft instrument.

4. The robotic medical apparatus of forth in claim 3 wherein said first medical instrument member extends into the anatomy at the first ingress location defined by a small incision.

5. The robotic medical apparatus of claim 4 wherein said second medical instrument member extends into the anatomy at the second ingress location defined by a percutaneous or surgical access, or by introduction through a natural orifice.

6. The robotic medical apparatus of claim 1 wherein said first medical instrument member comprises a rigid shaft instrument, and said second medical instrument member comprises a flexible shaft instrument, said flexible shaft instrument adapted to extend intralumenally through an anatomic vessel, or the like.

7. The robotic medical apparatus of claim 6 wherein said rigid shaft instrument is adapted to extend extralumenally about the anatomic vessel.

8. The robotic medical apparatus of claim 1 wherein both said first and second medical instruments are flexible shaft instruments.

9. The robotic medical apparatus of claim 1 wherein both said first and second medical instruments are rigid shaft instruments.

10. The robotic medical apparatus of claim 1 wherein said first medical instrument member is rigid entering the anatomy laparoscopically, while the second medical instrument member is flexible and meant to enter a body lumen such as through a natural body orifice or percutaneously.

11. The robotic medical apparatus of claim 1 wherein the working end of each instrument member is at its distal end and includes a tool for performing the medical procedure or application.

12. The robotic medical apparatus of claim 11 wherein said tool is for sewing.

13. The robotic medical apparatus of claim 11 wherein said tool is for suturing.

14. The robotic medical apparatus of claim 11 wherein said tool is for grasping.

15. The robotic medical apparatus of claim 11 wherein said tool is for applying clips, staples, or clamps.

16. The robotic medical apparatus of claim 1 including separate input devices communicating with the controller.

17. The robotic medical apparatus of claim 16 wherein the input devices issue the control commands for respectively controlling the motion of said first and second medical instrument members, and are disposed at a master control station remote from said instrument members.

25. The robotic medical apparatus of claim 11 wherein said tool is for applying clips, staples, or clamps.

18. A robotic medical apparatus for performing a securing procedure, at an internal body site, said apparatus comprising:

a medical instrument member having a working end adapted to be disposed at the internal body site at which the securing procedure is to be performed;

and a controller for receiving a remotely generated control command for controlling the motion of said medical instrument member to perform the securing procedure;

said medical instrument member including, at a distal section thereof, a securing tool having one and another ends adapted to be disposed at opposite sides of a tissue that is to be secured; and

at least one of said tool ends adapted to hold a securing member for securing said tissue.

19. The robotic medical apparatus of claim 18 wherein said medical instrument member includes an instrument shaft.

20. The robotic medical apparatus of claim 19 including a controllably bendable section along said instrument shaft for directing the position of said tool.

21. The robotic medical apparatus of claim 20 including a remote input device controlled by an operator, and coupled by way of said controller to remotely control said bendable section.

22. The robotic medical apparatus of claim 19 wherein said instrument shaft is rigid.

23. The robotic medical apparatus of claim 18 wherein said tool is for sewing.

24. The robotic medical apparatus of claim 18 wherein said tool is for suturing.

26. The robotic medical apparatus of claim 18 wherein one end of said tool is active while another end is passive.

27. A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising:

a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed;

a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed;

said first medical instrument member disposed so as to extend into the anatomy at a first ingress location;

said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location;

a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application;

both said first and second medical instrument members comprising active work elements at said respective member working ends and disposed at opposite sides of an anatomic wall; and

said active work elements being controlled cooperatively to perform the medical procedure or application.

28. The robotic medical apparatus of claim 27 wherein said active work elements include at least one element that extends a securing piece through said body vessel wall.

29. The robotic medical apparatus of claim 27 wherein said active work element comprises an end effector.

30. A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising:

a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed;

a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed;

said first medical instrument member disposed so as to extend into the anatomy at a first ingress location;

said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location;

and

a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application.

31. The robotic medical apparatus of claim 30 wherein said first medical instrument passes intralumenally and said second medical instrument passes extralumenally.

32. The robotic medical apparatus of claim 30 including a first master input device remote from said first medical instrument for control thereof, and a second master input device remote from said second medical instrument for control thereof.

33. A robotic medical apparatus for performing a securing procedure, at an internal body site, said apparatus comprising:

a medical instrument member having a working end adapted to be disposed at the internal body site at which the securing procedure is to be performed;

a controller for receiving a remotely generated control command for controlling the motion of said medical instrument member to perform the securing procedure;

said medical instrument member including, at a distal section thereof, a securing tool having one and another ends adapted to be disposed at opposite sides of a tissue that is to be secured; and

at least one of said tool ends adapted to hold a securing member for securing said tissue.

34. The robotic medical apparatus of claim 33 wherein said medical instrument member includes an instrument shaft.

35. The robotic medical apparatus of claim 34 including a controllably bendable section along said instrument shaft for directing the position of said tool.

36. The robotic medical apparatus of claim 35 including a remote input device controlled by an operator, and coupled by way of said controller to remotely control said bendable section.

37. The robotic medical apparatus of claim 34 wherein said instrument shaft is rigid.

38. The robotic medical apparatus of claim 33 wherein said tool is for sewing.

39. The robotic medical apparatus of claim 33 wherein said tool is for suturing.

40. The robotic medical apparatus of claim 33 wherein said tool is for applying clips, staples, or clamps.

41. The robotic medical apparatus of claim 33 wherein one end of said tool is active while another end is passive.