SURGICAL INSTRUMENT CONTROL AND ACTUATION

• US 20080065103A1
• Filed: 06/13/2007
• Published: 03/13/2008
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: COOPER, THOMAS, McGrogan, Anthony
• Granted Patent: US 7,967,813 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/002 having rod-lens arrangements A61B1/055 takes precedence
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• 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 2017/00225 Systems for controlling multiple different instruments, e.g. microsurgical systems
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00318 Steering mechanisms
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/0034 adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 : Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/3447 : Linked multiple cannulas
• CPC Class Codes: A61B 2034/2061 : using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 2034/306 : Wrists with multiple vertebrae
• CPC Class Codes: A61B 2090/062 : penetration depth
• 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 34/70 : 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 5/0086 : using infrared radiation
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.

Claims

1. An apparatus comprising:

a guide tube;

a first instrument comprising a first elongate body and a first transmission mechanism at a proximal end of the first elongate body, wherein the first transmission mechanism is coupled to move a component at a distal end of the first instrument, and wherein the first transmission mechanism comprises a wedge shape;

a second instrument comprising a second elongate body and a second transmission mechanism at a proximal end of the second elongate body, wherein the second transmission mechanism is coupled to move a component at a distal end of the second instrument, and wherein the second transmission mechanism comprises a wedge shape;

wherein the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprise a vertex edge;

wherein the vertex edges of the wedge shapes of the first and the second transmission mechanisms are oriented towards an extended centerline of the guide tube; and

wherein the first and the second elongate bodies extend through the guide tube.

2. The apparatus of claim 1:

wherein the first elongate body is substantially rigid and is resiliently bent between the first transmission mechanism and a proximal end of the guide tube.

3. The apparatus of claim 1, further comprising:

a third transmission mechanism positioned near or at a proximal end of the guide tube;

wherein the third transmission mechanism is coupled to move a guide tube component; and

wherein the first elongate body extends through the third transmission mechanism.

4. The apparatus of claim 1, further comprising:

a third transmission mechanism positioned near or at a proximal end of the guide tube;

wherein the third transmission mechanism is coupled to move a guide tube component; and

wherein the first and the second elongate bodies extend through the third transmission mechanism.

5. The apparatus of claim 1:

wherein the first transmission mechanism being coupled to move a component at a distal end of the first instrument comprises being coupled to roll the first elongate body in the guide tube.

6. The apparatus of claim 1, further comprising:

a first actuator assembly on which the first transmission mechanism is mounted; and

a second actuator mechanism on which the second transmission mechanism is mounted;

wherein the first actuator assembly translates the first instrument through the guide tube; and

wherein the second actuator mechanism translates the second instrument through the guide tube independently of the translation of the first instrument.

7. The apparatus of claim 1:

wherein the first transmission mechanism comprises a mechanical interface for an actuator mechanism; and

wherein the mechanical interface is positioned on a side of the first transmission mechanism proximal to the guide tube.

8. The apparatus of claim 1:

wherein the first transmission mechanism comprises a mechanical interface for an actuator mechanism; and

wherein the mechanical interface is positioned on a side of the first transmission mechanism distal to an extended centerline of the guide tube.

9-17. -17. (canceled)

18. An apparatus comprising:

a telemanipulation actuator assembly;

a surgical instrument; and

an endoscopic imaging system;

wherein the surgical instrument and the endoscopic imaging system are interchangeably mountable on the actuator assembly.

20. The apparatus of claim 18 further comprising:

a control system;

wherein the control system operates in an instrument control mode to control the actuator assembly when the surgical instrument is mounted to the actuator assembly; and

wherein the control system operates in a camera control mode to control the actuator assembly if the imaging system is mounted to the actuator assembly.

21. The apparatus of claim 18 further comprising:

a first transmission mechanism at a proximal end of the surgical instrument; and

a second transmission mechanism at a proximal end of the imaging system;

wherein the first and second transmission mechanisms each comprise a wedge shape.

22. The apparatus of claim 18 further comprising:

a guide tube comprising a proximal end, a distal end, and a channel between the proximal and distal ends;

wherein the surgical instrument extends through the channel if the surgical instrument is mounted on the actuator assembly; and

wherein the imaging system extends through the channel if the imaging system is mounted on the actuator assembly.

23. The apparatus of claim 22:

wherein the guide tube comprises a second channel between the proximal and distal ends; and

wherein a second surgical instrument mounted on a second telemanipulation actuator assembly extends through the second channel.

19. A method comprising:

sensing if a surgical instrument or an imaging system is mounted on a telemanipulation actuator assembly;

manipulating the surgical instrument with the actuator assembly in an instrument control mode if the instrument is mounted on the actuator assembly; and

manipulating the imaging system with the actuator assembly in a camera control mode if the imaging system is mounted on the actuator assembly.

24. A surgical instrument comprising:

a transmission mechanism comprising a wedge shape, the wedge shape comprising a vertex edge; and

an elongate instrument body comprising a proximal end;

a distal end, and a longitudinal axis defined between the proximal end and the distal end, wherein the instrument body is coupled to the transmission mechanism such that the longitudinal axis is generally parallel to the vertex edge.

25. The surgical instrument of claim 24:

wherein the proximal end of the instrument body is coupled to a bottom of the transmission mechanism near the vertex edge.

26. The surgical instrument of claim 24:

wherein the transmission mechanism comprises a mechanical interface that receives actuating forces for the instrument; and

wherein the mechanical interface is positioned on a side of the transmission mechanism generally opposite the vertex edge.

27. The surgical instrument of claim 24:

wherein the transmission mechanism comprises a mechanical interface that receives actuating forces for the instrument; and

wherein the mechanical interface is positioned on a side of the transmission mechanism generally perpendicular to the vertex edge.

28. The surgical instrument of claim 24:

wherein the instrument body is resiliently bendable.