MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY WITH REDUCED CROSS SECTION

• US 20080071290A1
• Filed: 06/13/2007
• Published: 03/20/2008
• 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: Williams, Matthew, Rosa, David, Duval, Eugene, Cooper, Thomas, Shafer, David, Larkin, David
• Granted Patent: US 8,986,196 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

A surgical instrument extends through a guide tube and exits at an intermediate position of the guide tube. The instrument includes a parallel motion mechanism that changes the position of a distal end of the surgical instrument without changing the orientation of the distal end. An image capture component is at the distal end of the guide tube, and a joint allows the image capture component to move while the intermediate position remains stationary. The configuration allows a cross section of the guide tube to be oblong. In some aspects, a joint for the image capture component is placed between exit ports for surgical instruments, which allows the guide tube cross section to be further reduced.

Claims

1. A surgical instrument assembly comprising:

a guide tube comprising a proximal end, a distal end, a joint between the proximal and distal ends, and an intermediate position between the proximal and distal ends;

a surgical instrument comprising a parallel motion mechanism, wherein the surgical instrument passes through the guide tube and exits the guide tube at the intermediate position; and

a stereoscopic image capture component positioned at a distal end of the guide tube, wherein the joint allows the image capture component to move while the intermediate position remains stationary.

2. The assembly of claim 1:

wherein the guide tube comprises two independently controllable joints that move the image capture component while the intermediate position remains stationary.

3. The assembly of claim 1:

wherein a cross section of the guide tube comprises an oblong shape; and

wherein the surgical instrument passes through one end of the oblong shape.

4. The assembly of claim 1:

wherein the guide tube comprises a parallel motion mechanism that moves the image capture component while the intermediate position remains stationary; and

wherein the joint is included in the parallel motion mechanism.

5. The assembly of claim 1, further comprising:

a second surgical instrument comprising a parallel motion mechanism;

wherein the second surgical instrument passes through the guide tube and exits the guide tube at the intermediate position.

6. The assembly of claim 5:

wherein the joint is between the first and the second surgical instruments when the first and the second surgical instruments extend from the intermediate position.

7. The assembly of claim 1:

wherein a cross section of the guide tube comprises an oblong shape;

wherein the surgical instrument passes through a first end of the oblong shape; and

wherein the second surgical instrument passes through a second end of the oblong shape.

8. A method comprising:

extending a surgical instrument from an intermediate position of a guide tube;

moving a parallel motion mechanism of the surgical instrument; and

moving a stereoscopic image capture component on the guide tube while the intermediate position remains stationary.

9. The method of claim 8:

wherein moving the image capture component comprises moving two independently controllable joints.

10. The method of claim 8:

wherein moving the image capture component comprises moving a parallel motion mechanism.

11. The method of claim 8, further comprising:

extending the surgical instrument through a first end of an oblong cross section of the guide tube.

12. The method of claim 11, further comprising:

extending a second surgical instrument through a second end of the oblong cross section of the guide tube.

13. A surgical instrument assembly comprising:

a guide tube comprising a proximal end, a distal end;

a parallel motion mechanism comprising a proximal end and a distal end, wherein the proximal end of the parallel motion mechanism is coupled to the distal end of the guide tube;

an image capture component coupled to the distal end of the parallel motion mechanism;

a first surgical instrument that extends through the guide tube and exits the guide tube; and

a second surgical instrument that extends through the guide tube and exits the guide tube.

14. The surgical instrument assembly of claim 13, wherein a longitudinal axis is defined between the proximal and distal ends of the guide tube, the assembly further comprising:

a joint between the image capture component and the parallel motion mechanism, wherein the joint allows the image capture component to move in yaw with reference to the longitudinal axis at the distal end of the guide tube.

15. The surgical instrument assembly of claim 13, wherein a longitudinal axis is defined between the proximal and distal ends of the guide tube, the assembly further comprising:

a joint between the image capture component and the parallel motion mechanism, wherein the joint allows the image capture component to move in pitch with reference to the longitudinal axis at the distal end of the guide tube.

16. The surgical instrument assembly of claim 13:

wherein the first surgical instrument comprises a parallel motion mechanism between a position at which the first surgical instrument exits the guide tube and a distal end of the first surgical instrument.

17. The surgical instrument assembly of claim 13:

wherein the first surgical instrument comprises a flexible portion between a position at which the first surgical instrument exits the guide tube and a distal end of the first surgical instrument.