Connector device for a controllable instrument

• US 20060052664A1
• Filed: 11/12/2004
• Published: 03/09/2006
• Est. Priority Date: 04/03/2000
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Swinehart, Charles E., Belson, Amir, Kreidler, Marc S., Julian, Christopher A., Ohline, Robert M., Whitin, Katherine, Romo, Enrique, Reiner, Scott J., Harasym, Mark, Brown, Aaron W.
• Granted Patent: US 8,888,688 B2
• Time in Patent Office: Days
• US Class Current: 600/146
• CPC Class Codes: A61B 1/00128 mechanical, e.g. for tubes or pipes
• CPC Class Codes: A61B 1/0016 using motor drive units
• 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 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A connector assembly for controllable articles is described herein The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

Claims

1. A connection assembly for connecting an articulating instrument to a force generator, comprising:

the connection assembly having a first portion releasably coupled to a second portion;

the first portion comprising at least one guideway, a carriage assembly moveable relative to the at least one guideway, a force transmission element attached to the carriage assembly and coupled to the force generator;

the second portion comprising at least one guideway, a carriage assembly moveable relative to the at least one guideway, a force transmission element attached to the carriage assembly and coupled to the articulating instrument.

3. A connection assembly according to claim 1 wherein the first portion is coupled to the second portion using a first motion and the carriage assembly of the first portion engages the carriage assembly of the second portion using a second motion.

4. A connection assembly according to claim 1 wherein when the first portion is coupled to the second portion movement of a carriage assembly in the first portion relative to the at least one guideway in the first portion moves the articulating instrument.

5. A connection assembly according to claim 1 wherein when the first portion is coupled to the second portion a carriage assembly of the first portion is engaged to a carriage assembly of the second portion.

6. A connection assembly according to claim 5 wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion using hooks.

7. A connection assembly according to claim 5 wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion using gears.

8. A connection assembly according to claim 5 wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion using an engaging surface and a complementary engaging surface.

10. A connection assembly according to claim 5 wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion using a pin and a slot.

11. A connection assembly according to claim 5 wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion using a mechanical connector.

12. A connection assembly according to claim 5 wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion using a magnetic field.

13. A connection assembly according to claim 5 wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion using suction.

14. A connection assembly according to claim 1 wherein the force generator comprises rotational energy.

15. A connection assembly according to claim 1 wherein the force generator comprises a motor.

16. A connection assembly according to claim 1 wherein the force generator comprises a pump.

17. A connection assembly according to claim 1 wherein application of force to the force transmission element in the first portion moves the carriage assembly in the first portion relative to the at least one guideway in the first portion.

18. A connection assembly according to claim 1 wherein application of force to the force transmission element in the first portion moves the articulating instrument.

19. A connection assembly according to claim 1 wherein the articulating Instrument is a medical instrument.

20. A connection assembly according to claim 19 wherein the medical instrument is a segmented endoscope.

21. A connection assembly according to claim 20 wherein the force transmission element of the second portion is connected to at least one segment of a segmented endoscope.

22. A connection assembly according to claim 1 further comprising a sensor that indicates an operational condition of the connection assembly.

23. A connection assembly according to claim 1 wherein the connection assembly comprises a quick release mechanism.

24. A connection assembly according to claim 1 wherein the connection assembly comprises a mechanical interface adapted to transfer force from the first portion to the second portion.

25. A connection assembly according to claim 1 wherein a guideway defines a limited range of travel for a carriage assembly.

26. A connection assembly according to claim 1 wherein a guideway comprises a stop to limit carriage assembly movement.

27. A connection assembly according to claim 1 wherein a guideway comprises a protrusion.

28. A connection assembly according to claim 27 wherein the protrusion is adapted to retain a carriage assembly.

29. A connection assembly according to claim 1 wherein a guideway comprises a recess.

30. A connection assembly according to claim 29 wherein the recess is adapted to retain a carriage assembly.

9. A connection assembly according to claim S wherein the carriage assembly of the first portion is engaged to a carriage assembly of the second portion when a shape memory alloy element is activated.

31. A system for controlling the movement of an instrument, comprising:

a connection assembly having a first portion removably coupled to a second portion, the first portion comprising a carriage assembly connected to a first force transmission element and the second portion comprising a carriage assembly connected to a second force transmission element;

an actuator coupled to the first force transmission element;

the instrument coupled to the second force transmission element; and

a control system responsive to inputs for controlling movement of the instrument.

32. A system for controlling the movement of an instrument according to claim 31 wherein the control system controls instrument movement by regulating the operation of the actuator.

33. A system for controlling the movement of an instrument according to claim 31 wherein the first portion carriage assembly is engaged with the second portion carriage assembly when the first portion is coupled to the second portion.

34. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is mechanically engaged with the second portion carriage assembly,

35. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is magnetically engaged with the second portion carriage assembly.

36. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is pneumatically engaged with the second portion carriage assembly.

37. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is hydraulically engaged with the second portion carriage assembly.

38. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly using a set of engaging teeth

39. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly using a set of engaging gear teeth.

40. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly using a spur gear,

41. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly using a worm gear.

42. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly by activating a shape memory alloy element.

43. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly using at least one hook.

44. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly using a threaded member.

45. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly by engaging a slot and a pin.

46. A system for controlling the movement of an instrument according to claim 33 wherein the first portion carriage assembly is engaged with the second portion carriage assembly using a spline and a rack.

47. A system for controlling the movement of an instrument according to claim 31 wherein the first force transmission element or the second force transmission element is a cable.

48. A system for controlling the movement of an instrument according to claim 31 wherein the first force transmission element or the second force transmission element is a piston.

49. A system for controlling the movement of an instrument according to claim 31 wherein the first force transmission element or the second force transmission element comprises a fluid.

50. A system for controlling the movement of an instrument according to claim 31 wherein the first force transmission element or the second force transmission element is a Bowden cable.

51. A system for controlling the movement of an instrument according to claim 31 wherein the first force transmission element or the second force transmission element is a wire.

52. A system for controlling the movement of an instrument according to claim 31 wherein the first force transmission element or the second force transmission element is a rod.

53. A system for controlling the movement of an intent according to claim 31 wherein the first force transmission element or the second force transmission element is a control rod.

54. A system for controlling the movement of an instrument according to claim 31 wherein the first force transmission element and the second force transmission element are cables.

55. A system for controlling the movement of an instrument according to claim 31 wherein the actuator is a motor.

56. A system for controlling the movement of an instrument according to claim 31 wherein the actuator is a pump.

57. A system for controlling the movement of an instrument according to claim 31 wherein the actuator is a vacuum pump.

58. A system for controlling the movement of an instrument according to claim 31 wherein the actuator is a pneumatic pump.

59. A system for controlling the movement of an instrument according to claim 31 wherein the actuator comprises a shape memory alloy.

60. A system for controlling the movement of an instrument according to claim 31 wherein the actuator comprises an electroactive polymer.

61. A system for controlling the movement of an instrument according to claim 31 wherein the first portion carriage assembly is disengaged with the second portion carriage assembly when the first portion is disengaged from the second portion.

62. A system for controlling the movement of an instrument according to claim 31 wherein the articulating instrument is a medical instrument

63. A system for controlling the movement of an instrument according to claim 62 wherein the medical instrument is an endoscope.

64. A system for controlling the movement of an instrument according to claim 62 wherein the medical instrument is a catheter.

65. A system for controlling the movement of an instrument according to claim 62 wherein the medical instrument is a segmented endoscope.

66. A system for controlling the movement of an instrument according to claim 63 wherein when the first portion is coupled to the second portion movement of the first force transmission element moves a segment of the segmented endoscope.

67. A system for controlling the movement of an instrument according to claim 63 wherein the control system generates a command to operate the actuator and thereby move a segment of the segmented endoscope in a desired fashion.

68. A system for controlling the movement of an instrument according to claim 63 wherein the control system generates a command to operate the actuator and thereby move a segment of the segmented endoscope in response to an input.

69. A system for controlling the movement of an instrument according to claim 63 wherein the input is provided by a user.

70. A system for controlling the movement of an instrument according to claim 63 wherein the input is provided by a surgical planning program.

71. A system for controlling the movement of an instrument according to claim 69 the input further comprising input from a surgical planning program.

72. A system for controlling the movement of an articulating instrument according to claim 63 wherein the input is based on an image of the desired path of travel for the segmented endoscope.

100. A system according to claim 31 further comprising:

a sensor coupled to the connection assembly having an output that indicates a position of the instrument.

101. A system according to claim 100 wherein the output is used by the control system to control the instrument.

73. A connector for coupling a force or positional controller to move a segmented medical instrument comprising:

a connector having a first connector housing releaseably coupled to a second connector housing;

the first connector housing having a plurality of guideways and at least one carriage assembly disposed in each guideway, the carriage assembly adapted to be coupled to an actuator or a force generator; and

a second connector housing having a plurality of guideways and at least one carriage assembly disposed in each guideway, a force or position transmission, element attached to each carriage assembly and adapted for connection to a segmented medical instrument.

74. A connector according to claim 73 wherein a carriage assembly in the first connector housing is adapted to be coupled to the force generator an actuator using a force or position transmission element.

75. A connector according to claim 73 wherein the force or position transmission element attached to a carriage assembly in the second connector housing passes through a proximal segment of the segmented medical instrument and is attached to a distal segment of the segmented medical instrument.

76. A connector according to claim 73 wherein application of a force to a carriage assembly in the first connector housing moves a carriage assembly in the second connector housing.

77. A connector according to claim 73 wherein application of a force to a carriage assembly in the first connector housing moves a segment of the segmented medical instrument.

78. A connector according to claim 76 wherein the carriage assembly in the second connector housing moves along a guideway.

79. A connector according to claim 73 wherein at least one of the first connector housing and the second connector housing comprise a slack area.

80. A connector according to claim 79 wherein the slack area is in the first connector housing and a portion of the slack area is in a non-linear orientation to the guideways in the first connector housing.

81. A connector according to claim 79 wherein the slack area is in the second-connector housing and a portion of the slack area is in a non-linear orientation to the guideways in the second connector housing.

82. A connector according to claim 74 wherein the slack area contains the force transmission element coupled to the first connector housing arranged in an angular relationship to the guideways in the first-connector housing.

83. A connector according to claim 79 wherein the slack area contains the force transmission elements of the second connector housing arranged in an angular relationship to the guideways in the second connector housing.

84. A connector according to claim 73 further comprising a sensor to sense an operational characteristic of the connector.

85. A connector according to claim 84 wherein the operational characteristic sensed in the connector is the engagement of a carriage assembly in the first connector housing to a carriage assembly in the second connector housing.

86. A connector according to claim 84 wherein the operational characteristic sensed in the connector is the disengagement of a carriage assembly in the first connector housing from a carriage assembly in the second connector housing.

87. A connector according to claim 84 wherein the operational characteristic sensed in the connector is the tension in a force transmission element.

88. A connector according to claim 84 wherein the operational characteristic sensed in the connector is the torque exerted on a force transmission element.

89. A connector according to claim 84 wherein the operational characteristic sensed in the connector is a force acting on a force transmission element.

90. A connector according to claim 84 wherein the operational characteristic sensed in the connector is a force acting on a carriage assembly.

91. A connector according to claim 84 wherein the operational characteristic sensed in the connector is the range of travel of a carriage assembly.

92. A connector according to claim 84 wherein the operational characteristic sensed in the connector is the position of a carriage assembly.

93. A connector according to claim 84 wherein the operational characteristic sensed in the connector is an indication of friction losses.

94. A connector according to claim 84 wherein the operational characteristic sensed in the connector is related to component wear.

95. A connector according to claim 73 firer comprising an indicator that provides information about the segmented medical instrument coupled to the connector.

96. A connector according to claim 95 wherein the information is related to the time since maintenance was performed on the segmented medical instrument.

97. A connector according to claim 95 wherein the information is related to the physical parameters of the segmented medical instrument.

98. A connector according to claim 95 wherein information provided by the indicator alters the manner in which the segmented medical instrument is actuated.

99. A connector according to claim 73 wherein the segmented medical instrument is an endoscope.