REMOTELY-OPERATED ROBOTIC CONTROL SYSTEM FOR USE WITH A MEDICAL INSTRUMENT AND ASSOCIATED USE THEREOF

• US 20140243849A1
• Filed: 02/26/2014
• Published: 08/28/2014
• Est. Priority Date: 02/26/2013
• Status: Active Grant

• Current Assignee: Elmed Elektronik VE Medikal San TIC As
• Original Assignee: Ahmet Sinan Kabakci, Erhan Koruk, Remzi Saglam
• Inventors: Saglam, Remzi, Kabakci, Ahmet Sinan, Koruk, Erhan
• Granted Patent: US 10,219,867 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2018/20357 by movable optical fibre end
• CPC Class Codes: A61B 2018/205547 Controller with specific architecture or programmatic algorithm for directing scan path, spot size or shape, or spot intensity, fluence or irradiance
• CPC Class Codes: A61B 2018/2238 with means for selectively laterally deflecting the tip of the fibre
• 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 2218/002 Irrigation
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A manipulator, for use with a robotic control system, to maneuver an existing instrument (e.g., medical instrument) to a desired location within a target zone includes at least one controller, a rotation mechanism in communication with the at least one controller and being rotated about a first axis, a horizontal movement mechanism in communication with the at least one controller and being displaced along a first path, and a deflection mechanism capable of receiving a portion of the existing instrument. Such a deflection mechanism is in communication with the at least one controller and displaced along a second path in such a manner that causes deflection of a distal end (e.g., portion of an insertion tube) of the existing medical instrument.

Claims

1. A manipulator for maneuvering an existing instrument to a desired location within a target zone, said manipulator comprising:

at least one controller;

a rotation mechanism in communication with said at least one controller and being rotated about a first axis;

a horizontal movement mechanism in communication with said at least one controller and being displaced along a first path; and

a deflection mechanism capable of receiving a portion of the existing instrument, said deflection mechanism being in communication with said at least one controller and displaced along a second path;

wherein displacement of said deflection mechanism along said second path causes deflection of a distal end of the existing instrument.

2. The manipulator of claim 1, wherein said second path is a second axis registered substantially perpendicular to said first axis.

3. The manipulator of claim 1, wherein said first path is linear and registered substantially parallel to said first axis.

4. The manipulator of claim 1, wherein said first path is non-overlapping and mutually exclusive of said second path.

5. The manipulator of claim 1, wherein said deflection mechanism is independently operable from each of said horizontal movement mechanism and said rotation mechanism.

6. The manipulator of claim 1, wherein said deflection mechanism is contemporaneously operable with each of said horizontal movement mechanism and said rotation mechanism.

8. The manipulator of claim 1, further comprising:

an auxiliary instrument actuating mechanism in communication with said at least one controller and attached to said deflection mechanism and located proximate to said horizontal movement mechanism.

9. The manipulator of claim 2, wherein said first axis is an x-axis and said second axis is a y-axis, wherein said second path has an arcuate curvature defined along a plane parallel to a z-axis.

7. The manipulator of 1, further comprising:

a vertical movement mechanism in communication with said at least one controller and configured to raise and lower said rotation mechanism and said deflection mechanism along a third path registered substantially orthogonal to said first path.

10. A robotic control system for maneuvering an existing medical instrument to a desired location within a target zone during a medical procedure, said robotic control system comprising:

a control unit capable of receiving an operator input; and

a manipulator in communication with said control unit and responsive to said operator input, said manipulator including

at least one controller,

a rotation mechanism in communication with said at least one controller and being rotated about a first axis,

a horizontal movement mechanism in communication with said at least one controller and being displaced along a first path, and

a deflection mechanism capable of receiving a portion of the existing instrument, said deflection mechanism being in communication with said at least one controller and being displaced along a second path;

wherein displacement of said deflection mechanism along said second path causes deflection of a distal end of the existing medical instrument.

11. The robotic control system of claim 10, wherein said second path is a second axis registered substantially perpendicular to said first axis.

12. The robotic control system of claim 10, wherein said first path is linear and registered substantially parallel to said first axis.

13. The robotic control system of claim 10, wherein said first path is non-overlapping and mutually exclusive of said second path.

14. The robotic control system of claim 10, wherein said deflection mechanism is independently operable from each of said horizontal movement mechanism and said rotation mechanism.

15. The robotic control system of claim 10, wherein said deflection mechanism is contemporaneously operable with each of said horizontal movement mechanism and said rotation mechanism.

17. The robotic control system of claim 10, further comprising:

an auxiliary instrument actuating mechanism in communication with said at least one controller and attached to said deflection mechanism and located proximate to said horizontal movement mechanism.

18. The robotic control system of claim 11, wherein said first axis is an x-axis and said second axis is a y-axis, wherein said second path has an arcuate curvature defined along a plane parallel to a z-axis.

19. The robotic control system of claim 10, further comprising:

an irrigation pump actuating mechanism in communication with said control unit and being responsive to said user input for selectively discharging fluid into a working channel of the existing medical instrument.

16. The robotic control system of 10, further comprising:

a vertical movement mechanism in communication with said at least one controller and configured to raise and lower said rotation mechanism and said deflection mechanism along a third path registered substantially orthogonal to said first path.

20. A method of utilizing a robotic control system for maneuvering an existing medical instrument to a desired location within a target zone during a medical procedure, said method comprising the steps of:

obtaining a control unit capable of receiving an operator input;

obtaining and communicating a manipulator with said control unit wherein said manipulator is responsive to said operator input, said manipulator including at least one controller, a rotation mechanism in communication with said at least one controller and being rotated about a first axis, a horizontal movement mechanism in communication with said at least one controller and being displaced along a first path, and a deflection mechanism capable of receiving a portion of the existing instrument wherein said deflection mechanism is in communication with said at least one controller and displaced along a second path; and

displacing said deflection mechanism along said second path thereby causing deflection of a distal end of the existing medical instrument.