Activated polymer articulated instruments and methods of insertion

• US 20050085693A1
• Filed: 08/20/2004
• Published: 04/21/2005
• Est. Priority Date: 04/03/2000
• Status: Abandoned Application

• Current Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Belson, Amir, Ohline, Robert M.
• Application Number:
  US10/923,602
• Publication Number:
  US 20050085693A1
• Time in Patent Office: Days
• US Class Current: 600/146
• 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 1/008 Articulations
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00871 polymeric
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61M 2025/0058 having an electroactive polymer material, e.g. for steering purposes, for control of flexibility, for locking, for opening or closing
• CPC Class Codes: A61M 25/0158 with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials

Abstract

An electro-polymeric articulated endoscope and method of insertion are described herein. A steerable endoscope having a segmented, elongated body with a manually or selectively steerable distal portion and an automatically controlled proximal portion can be articulated by electro-polymeric materials. These materials are configured to mechanically contract or expand in the presence of a stimulus, such as an electrical field. Adjacent segments of the endoscope can be articulated using the electro-polymeric material by inducing relative differences in size or length of the material when placed near or around the outer periphery along a portion of the endoscope.

Claims

1. A method of advancing along a path an instrument having a plurality of selectively controllable segments, a plurality of automatically controllable segments, an electronic motion controller, and a plastic actuator connected to each segment to alter the geometry of the segment under the control of the electronic motion controller, the method comprising:

selectively altering the geometry of a selectively controllable segment to assume a curve along the path using the electronic motion controller to actuate the plastic actuator coupled to the selectively controllable segment; and

using the electronic motion controller to automatically deform the plastic actuator coupled to an automatically controllable segment to alter the geometry of the automatically controllable segment to assume the curve along the path.

2. The method of claim 1 wherein the plastic actuator is an electrorheological plastic actuator.

3. The method of claim 1 further comprising:

advancing the instrument distally while automatically controlling the plastic actuators in the proximal automatically controllable segments to propagate the curve proximally.

4. The method of claim 1, further comprising:

withdrawing the instrument proximally while automatically controlling the plastic actuators in the segments to propagate the curve distally along the instrument.

5. The method of claim 3 further comprising:

measuring the advancing using a transducer.

6. The method of claim 4 further comprising:

measuring the withdrawing using a transducer.

7. The method of claim 1, wherein the geometry of the segments is controlled by the actuation of the plastic actuators so that the curve remains approximately fixed in space as the instrument is advanced proximally and/or withdrawn distally.

8. The method of claim 1 wherein the path traverses a tube.

9. The method of claim 8 wherein the tube is an organ in a body.

10. The method of claim 1, wherein the instrument is an endoscope and the path is along a patient'"'"'s colon.

11. An endoscope, comprising:

a plurality of articulating segments wherein the shape of each segment is altered by the actuation of an electroactive polymer actuator operable in air.

12. The endoscope of claim 11 wherein the shape of each segment is altered by the cooperative actuation of two or more electroactive polymer actuators operable in air.

13. The endoscope of claim 12 wherein at least one electroactive polymer actuator operable in air is inactive while at least one electroactive polymer actuator operable in air is actuated.

14. The endoscope of claim 11 wherein the electroactive polymer actuator operable in air is actuated by Coulomb forces.

15. The endoscope of claim 11 wherein the electroactive polymer actuator operable in air is actuated by a force selected from the group consisting of:

electrostrictive, electrostatic, piezoelectric, and ferroelectric.

16. The endoscope of claim 11 wherein the electroactive polymer actuator operable in air is categorized as an electronic electroactive polymer.

17. The endoscope of claim 11 wherein each segment further comprises a plurality of electroactive polymer actuators operable in air, the plurality of electroactive polymer actuators configured such that the segment is capable of bending along an axis related to the longitudinal axis of the segment.

18. The endoscope of claim 11 further comprising an electronic motion controller configured to actuate the at least one electroactive polymer actuator in each articulating segment.

19. The endoscope of claim 18 wherein the electroactive polymer actuators in a portion of the articulating segments are selectively controllable to follow a curve and the electroactive polymer actuators in another portion of the articulating segments are automatically controllable by the electronic motion controller to propagate the curve along the automatically controllable articulating segments while the endoscope advance through the curve.

20. The endoscope of claim 11 further comprising an electroactive polymer actuator connected between two adjacent articulating segments such that actuation of the electroactive polymer actuator results in relative movement between the two adjacent articulating segments.

21. The endoscope of claim 11 wherein the electroactive polymer actuator is a ring disposed about the circumference of an articulating segment.

22. The endoscope of claim 11 wherein the electroactive polymer actuator is disposed about the periphery of the articulating segment.

23. The endoscope of claim 11 wherein three electroactive polymer actuators are spaced about an articulating segment.

24. The endoscope of claim 23 wherein the electroactive polymer actuators are uniformly spaced.

25. The endoscope of claim 11 wherein expansion of the electroactive polymer in the electroactive polymer actuator bends the articulating segment.

26. The endoscope of claim 11 wherein contraction of the electroactive polymer in the electroactive polymer actuator bends the articulating segment.

27. An endoscope, comprising:

an elongate body;

at least one electronic electroactive polymer actuator that when actuated bends at least a portion of the elongate body into a desired curve at a position; and

an electronic motion controller configured to actuate the at least one electronic electroactive polymer actuator to bend at least a portion of the elongate body into the desired curve and to propagate the desired curve along the unbent portion of the elongate body as the unbent portion of the elongate body passes the position.

28. The endoscope of claim 27 wherein the curve is a portion of a pathway.

29. The endoscope of claim 28 wherein the pathway is a tubular pathway.

30. The endoscope of claim 28 or 29 wherein the pathway is within a human body.

31. The endoscope of claim 29 wherein the pathway is within a human colon.

32. The endoscope of claim 27 wherein the elongate body comprises a plurality of segments.

33. The endoscope of claim 32 wherein the at least one electronic electroactive polymer actuator bends at least a portion of the elongate body into a desired curve by causing relative movement between adjacent segments.

34. The endoscope of claim 32 wherein the at least one electronic electroactive polymer actuator is connected between two or more segments.

35. The endoscope of claim 27 wherein the electronic electroactive polymer actuator is a sheet disposed about the elongate body, the sheet having a plurality of active areas and a plurality of inactive areas wherein the plurality of active areas are positioned to bend the elongate body.

36. The endoscope of claim 35 wherein the electronic motion controller selectively actuates the active areas to propagate the desired curve along the elongate body.

37. The endoscope of claim 27 wherein the elongate body is a continuous bendable structure.

38. The endoscope according to claim 27 wherein the at least one electronic electroactive polymer actuator is a rolled electroactive polymer actuator.

39. The endoscope according to claim 34 wherein the at least one electronic electroactive polymer actuator is a rolled electroactive polymer actuator.

40. An articulating instrument comprising:

at least two segments, each segment having an outer surface and an inner surface and comprising at least two internal actuator access ports disposed between the outer surface and the inner surface; and

at least one electromechanical actuator extending through each of the internal actuator access ports and coupled to the at least two segments so that actuation of the at least one electromechanical actuator results in deflection between the at least two segments.

41. An articulating instrument according to claim 40 wherein the at least one electromechanical actuator, when activated by an electric field, demonstrates an induced strain proportional to the square of the electric field.

42. An articulating instrument according to claim 40 wherein the at least one electromechanical actuator is an actuated polymer actuator.

43. An articulating instrument according to claim 42 wherein the actuated polymer actuator operates without an electrolyte.

44. An articulating instrument according to claim 42 wherein the actuated polymer actuator activation mechanism utilizes coulomb forces.

45. An articulating instrument according to claim 42 wherein the actuated polymer actuator activation mechanism utilizes electrostrictive forces, electrostatic forces, piezoelectric forces or ferroelectric forces.

46. An articulating instrument according to claim 45 wherein the polymer actuator is a ferroelectric polymer.

47. An articulating instrument according to claim 45 wherein the polymer actuator comprises a polymer demonstrating piezoelectric behavior.

48. An articulating instrument according to claim 45 wherein the polymer actuator comprises an electret material.

49. An articulating instrument according to claim 45 wherein the polymer actuator is a dielectric electroactive polymer.

50. An articulating instrument according to claim 42 wherein the actuated polymer actuator activation mechanism comprises non-electrically activated polymers.

51. An articulating instrument according to claim 46 wherein the polymer actuator is a chemically activated polymer.

52. An articulating instrument according to claim 46 wherein the polymer actuator is a shape memory polymer.

53. An articulating instrument according to claim 46 wherein the polymer actuator is an McKibben artificial muscle.

54. An articulating instrument according to claim 46 wherein the polymer actuator is a light activated polymer.

55. An articulating instrument according to claim 46 wherein the polymer actuator is a magnetically activated polymer.

56. An articulating instrument according to claim 46 wherein the polymer actuator is a thermally activated polymer gel.

57. An articulating instrument according to claim 42 wherein the actuated polymer actuator activation mechanism utilizes electrochemical forces.

58. An articulating instrument according to claim 42 wherein the actuated polymer actuator activation mechanism utilizes ionic forces without a conductive polymer.

59. An articulating instrument according to claim 42 wherein the actuated polymer actuator activation mechanism utilizes ionic forces with a conductive polymer.

60. An articulating instrument according to claim 40 further comprising a sheath extending between the at least two segments.

61. An articulating instrument according to claim 40 wherein the segments are continuous.

62. An articulating instrument according to claim 40 wherein the segments are annular.

63. An articulating instrument according to claim 40 wherein at least one of the access ports has a regular geometric shape.

64. An articulating instrument according to claim 40 wherein at least one of the access ports has a regular geometric shape selected from the group consisting of:

circle, rectangle, oval, ellipse and polygons.

65. An articulating instrument according to claim 40 wherein at least one of the access ports has a compound geometric shape.

66. An articulating instrument according to claim 60 wherein the sheath is attached to the outer surface of the at least two segments.

67. An articulating instrument according to claim 60 wherein the sheath is attached to the inner surface of the at least two segments.

68. An articulating instrument according to claim 60 wherein the sheath is attached to the inner surface of the at least two segments and another sheath is attached to the outer surface of the at least two segments.

69. An articulating instrument according to any of claims 60, 66, 67, and 68 wherein the sheath material comprises a biocompatible material.

70. A segmented instrument, comprising:

a plurality of segments;

a sheath comprising a polymer layer and a pre-strained polymer layer having an active area, the sheath disposed about the plurality of segments wherein providing a voltage across a portion of the pre-strained polymer layer produces a deflection between at least two of the plurality of segments.

71. The segmented instrument of claim 70 wherein the sheath is disposed about the plurality of segments so as encircle the plurality of segments.

72. The segmented instrument of claim 70 wherein the sheath is disposed about the plurality of segments so as encircle the plurality of segments to form multiple layers of the sheath about the plurality of segments.

73. The segmented instrument of claim 70 wherein the sheath is disposed about the plurality of segments to form a working channel defined by the plurality of segments and the sheath.

74. The segmented instrument of claim 70 wherein the sheath is disposed about the plurality of segments on the outer perimeter of the plurality of segments.

75. The segmented instrument of claim 70 wherein the sheath is disposed about the plurality of segments on the inner perimeter of the plurality of segments.

76. The segmented instrument of claim 70 wherein the sheath comprises a compound laminate polymer actuator.

77. An articulating instrument, comprising:

an elongated, flexible, tubular body of multi-layered wall construction having a selectively steerable distal end for insertion into a body and an automatically controllable proximal end;

at least one pair of structural elements within the flexible tubular body at axially spaced locations;

at least one pair of compliant electrodes forming an active area on at least one polymer layer included in said multi-layered wall construction, the at least one pair of complaint electrodes between said at least one pair of structural elements; and

control means for selectively activating the active area thereby making the portion of the elongated, flexible, tubular body between the at least one pair of structural elements selectively steerable or automatically controllable.

78. An articulating instrument according to claim 77 wherein the outermost layer of the multi-layered wall construction is the outer layer of the articulating instrument.

79. An articulating instrument according to claim 77 wherein an outer flexible sheath concentrically surrounds the flexible tubular body.

80. An articulating instrument according to claim 77 wherein at least one pair of compliant electrodes forming an active area on at least one polymer layer are part of an electrically activated polymer actuator.

81. An articulating instrument according to claim 77 wherein at least one pair of compliant electrodes forming an active area on at least one polymer layer are part of an ionically activated polymer actuator.

82. An articulating instrument according to claim 77 wherein at least one pair of compliant electrodes forming an active area on at least one polymer layer are part of a non-electrically activated polymer actuator.

83. An articulating instrument according to claim 77 wherein multi-layered wall construction includes a plastic actuator formed using a laminate polymer sheet structure.

84. An articulating instrument according to claim 83 wherein the laminate polymer sheet structure includes strained polymers and/or unstrained polymers.

85. An articulating instrument according to claim 77 wherein the active area provides one planar direction of polymer deformation.

86. An articulating instrument according to claim 77 wherein the active area provides two planar directions of polymer deformation.

87. An articulating instrument according to claim 77 wherein the at least one pair of compliant electrodes comprises electrode patterning that produces multiple degrees of freedom of polymer deformation.

88. An articulating instrument according to claim 77 wherein an elongated, flexible, tubular body of multi-layered wall construction comprises a compound laminate polymer actuator.

89. A bendable instrument, comprising:

An elongate body having a distal end and a proximal end, the elongate body having a pre-bias shape; and

At least one activated polymer actuator coupled to the elongate body such that when activated the at least one activated polymer actuator alters at least a portion of the elongate body out of the pre-bias shape.

90. A bendable instrument according to claim 89 wherein the at least one activated polymer actuator comprises an electrically activated polymer actuator.

91. A bendable instrument according to claim 89 wherein the at least one activated polymer actuator comprises an ionically activated polymer actuator.

92. A bendable instrument according to claim 89 wherein the at least one activated polymer actuator comprises a non-electrically activated polymer actuator.

93. A bendable instrument according to claim 89 wherein the pre-bias shape is related to a typical pathway used in a surgical procedure.

94. A bendable instrument according to claim 89 wherein the pre-bias shape is related to a portion of the vasculature.

95. A bendable instrument according to claim 89 wherein the pre-bias shape is related to a portion of the skeleton.

96. A bendable instrument according to claim 89 wherein the pre-bias shape is related to the shape of an organ.

97. A bendable instrument according to claim 96 wherein the pre-bias shape is related to an internal shape of an organ.

98. A bendable instrument according to claim 97 wherein the pre-bias shape is related to the internal shape of a heart.

99. A bendable instrument according to claim 97 wherein the pre-bias shape is related to the internal shape of a colon.

100. A bendable instrument according to claim 97 wherein the pre-bias shape is related to the internal shape of the gut.

101. A bendable instrument according to claim 97 wherein the pre-bias shape is related to the internal shape of the throat.

102. A bendable instrument according to claim 96 wherein the pre-bias shape is related to an external shape of an organ.

103. A bendable instrument according to claim 102 wherein the pre-bias shape is related to the external shape of the heart.

104. A bendable instrument according to claim 102 wherein the pre-bias shape is related to the external shape of the liver.

105. A bendable instrument according to claim 102 wherein the pre-bias shape is related to the external shape of a kidney.

106. An articulating instrument, comprising:

an elongate body having a plurality of segments;

a first portion of the plurality of segments forming a selectively steerable distal portion a second portion of the plurality of segments forming an automatically controllable proximate portion;

at least one activated polymer actuator that when actuated articulates or bends either the first or second portion of the plurality of segments; and

an electronic motion controller configured to activate the at least one activated polymer actuator and to propagate a desired curve from the first portion to the second portion.

107. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator actuates both the first and second portion.

108. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a compliant electrode.

109. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a charge distribution layer.

110. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a compound laminate polymer actuator.

111. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a rolled activated polymer actuator.

112. An articulating instrument according to claim 111 wherein the rolled activated polymer actuator is a compound rolled activated polymer actuator.

113. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises an ionically actuated polymer actuator that actuates without an electrolyte.

114. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a conductive polymer and a compliant electrode.

115. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a conductive polymer and a charge distribution layer.

116. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a conductive polymer and a compound laminate polymer actuator.

117. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises an electrically activated polymer.

118. An articulating instrument according to claim 106 wherein the at least one activated polymer actuator comprises a non-electrically activated polymer.