SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE PROCEDURES

• US 20080058836A1
• Filed: 08/03/2007
• Published: 03/06/2008
• Est. Priority Date: 08/03/2006
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Barbagli, Federico, Stahler, Gregory, Carlson, Christopher, Moll, Frederic, Wallace, Daniel
• Granted Patent: US 8,409,172 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00082 Balloons
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/307 for the urinary organs, e.g. urethroscopes, cystoscopes
• CPC Class Codes: A61B 17/0057 Implements for plugging an opening in the wall of a hollow or tubular organ, e.g. for sealing a vessel puncture or closing a cardiac septal defect sutures A61B17/04; closing rectum or urethra near body surface A61F2/0009
• CPC Class Codes: A61B 17/12122 within the heart for closing a cardiac septal defect A61B17/0057
• CPC Class Codes: A61B 17/12172 having a pre-set deployed three-dimensional shape methods of manufacturing A61B2017/00526
• CPC Class Codes: A61B 17/221 Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions surgical snare instruments A61B17/32056
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/32056 Surgical snare instruments for removing or smashing calculi A61B2017/2212; tonsillotomes A61B17/26
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 18/26 for producing a shock wave, e.g. laser lithotripsy
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/00274 Prostate operation, e.g. prostatectomy, turp, bhp treatment
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00575 for closure at remote site, e.g. closing atrial septum defects
• CPC Class Codes: A61B 2017/00632 Occluding a cavity, i.e. closing a blind opening
• CPC Class Codes: A61B 2017/22034 for gripping the obstruction or the tissue part from inside
• CPC Class Codes: A61B 2017/22059 transparent
• CPC Class Codes: A61B 2017/22069 : Immobilising; Stabilising
• CPC Class Codes: A61B 2017/22072 : with an instrument channel, e.g. for replacing one instrument by the other
• CPC Class Codes: A61B 2017/2212 : having a closed distal end, e.g. a loop
• CPC Class Codes: A61B 2017/2215 : having an open distal end
• CPC Class Codes: A61B 2018/00392 : Transmyocardial revascularisation
• CPC Class Codes: A61B 2018/00547 : Prostate
• 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 2034/741 : Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2090/3614 : using optical fibre
• CPC Class Codes: A61B 2090/3782 : transmitter or receiver in catheter or minimal invasive instrument
• 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: A61M 2025/1072 : having balloons with two or more compartments
• CPC Class Codes: A61M 2025/1086 : having a special balloon surface topography, e.g. pores, protuberances, spikes or grooves
• CPC Class Codes: A61M 25/0127 : Magnetic means; Magnetic markers
• CPC Class Codes: A61M 25/1002 : characterised by balloon shape A61M25/1006, A61M25/1009 take precedence

Abstract

A robotic surgical system includes an instrument driver and an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly. The instrument assembly components include an elongate flexible guide instrument, an optical light source, a camera and a working tool, wherein the light source, camera, and working tool are carried in one or more lumens of the guide instrument. An operator control station is operatively coupled to the instrument driver via a remote communication link. The instrument assembly further includes an inflatable visualization balloon carried on a distal end portion of the guide instrument, the light source and camera having distal ends located within an interior of the balloon, the balloon comprising a lumen extending from the guide instrument to a distal facing wall of the balloon, such that the working instrument may extend from a respective lumen of the guide instrument through the balloon lumen to contact body tissue when the distal end of the guide instrument is positioned in an interior body region.

Claims

1. A robotic surgical system, comprising:

an instrument driver;

an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly, the instrument assembly components including an elongate flexible guide instrument, an optical light source, a camera and a working tool, wherein the light source, camera, and working tool are carried in one or more lumens of the guide instrument; and

an operator control station operatively coupled to the instrument driver via a remote communication link;

wherein the instrument assembly further comprises an inflatable visualization balloon carried on a distal end portion of the guide instrument, the light source and camera having distal ends located within an interior of the balloon, the balloon comprising a lumen extending from the guide instrument to a distal facing wall of the balloon, such that the working instrument may extend from a respective lumen of the guide instrument through the balloon lumen to contact body tissue when the distal end of the guide instrument is positioned in an interior body region.

2. The robotic surgical system of claim 1, wherein the working instrument comprises a laser fiber.

3. The robotic surgical system of claim 2, wherein the laser fiber is movable relative to the guide instrument.

4. The robotic surgical system of claim 2, wherein the laser fiber is a lithotripsy laser fiber.

5. The robotic surgical system of claim 4, wherein the lithotripsy laser fiber is a Holmium YAG laser.

6. The robotic surgical system of claim 1, wherein the working instrument comprises a tissue grasper.

7. The robotic surgical system of claim 6, wherein the tissue grasper is movable relative to the guide instrument.

8. The robotic surgical system of claim 1, wherein the working instrument comprises a basket apparatus.

9. The robotic surgical system of claim 8, wherein the basket apparatus is movable relative to the guide instrument.

10. The robotic surgical system of claim 1, wherein the instrument assembly components further include a sheath instrument, and wherein the guide instrument is carried in a lumen of, and is movable relative to, the sheath instrument.

11. A robotic surgical system, comprising:

an instrument driver;

an instrument assembly operatively coupled to the instrument driver, such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly, the instrument assembly components including an elongate guide instrument sized for being positioned in a urethra, an image capture device and a working tool, wherein the image capture device and working tool are carried in one or more lumens of the guide instrument; and

an operator control station operatively coupled to the instrument driver via a remote communication link;

characterized in that movement, operation, or both, of components of the instrument assembly are at least partially automatically controlled based on images obtained by the image capture device.

12. The robotic surgical system of claim 11, wherein the working instrument comprises a laser fiber.

13. The robotic surgical system of claim 12, wherein the laser fiber is movable relative to the guide instrument.

14. The robotic surgical system of claim 12, wherein the laser fiber is a lithotripsy laser fiber.

15. The robotic surgical system of claim 14, wherein the lithotripsy laser fiber is a Holmium YAG laser.

16. The robotic surgical system of claim 15, wherein the image capture device is an imaging fiber.

17. The robotic surgical system of claim 11, the instrument assembly further comprising a flush port in communication with a fluid flush lumen extending through the guide instrument.

18. The robotic surgical system of claim 17, wherein the fluid flush lumen is provided in a tubular body that extends out of a distal end of the guide instrument.

19. The robotic surgical system of claim 18, wherein the tubular body is movable relative to the guide instrument.

20. The robotic surgical system of claim 18, wherein the tubular body has a distal end section that bends or curves back in a proximal facing direction, such that fluid discharged out of the flush port is directed at the distal end of the guide instrument.

21. The robotic surgical system of claim 18, wherein the imaging device is carried in the tubular body.

22. The robotic surgical system of claim 11, wherein the instrument assembly components further include a sheath instrument, and wherein the guide instrument is carried in a lumen of, and is movable relative to, the sheath instrument.

23. The robotic surgical system of claim 11, further comprising a second working instrument carried in a lumen of the guide instrument.

24. The robotic surgical system of claim 23, wherein the second working instrument comprises a wire loop apparatus.

25. The robotic surgical system of claim 23, wherein the second working instrument comprises a grasper.

26. A robotic surgical system, comprising:

an instrument driver;

an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly, the instrument assembly components including an elongate sheath instrument sized for being positioned in a urethra, an elongate guide instrument carried in a lumen of and movable relative to the sheath instrument, and a resectoscope carried in a lumen of the guide instrument.