ENDOSCOPIC DEVICE WITH HELICAL LUMEN DESIGN

• US 20150164594A1
• Filed: 11/14/2014
• Published: 06/18/2015
• Est. Priority Date: 10/24/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Romo, Enrique, Bogusky, Joseph
• Granted Patent: US 10,405,939 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00071 Insertion part of the endoscope body A61B1/0055 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 25/0009 Making of catheters or other medical or surgical tubes
• CPC Class Codes: A61M 25/0012 : with embedded structures, e.g. coils, braids, meshes, strands or radiopaque coils
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: Y10T 29/49815 : Disassembling

Abstract

An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Claims

1. An elongated endoscopic instrument, comprising:

a lumen spiraled at an angle along the length of the instrument;

wherein the angle varies along the length of the instrument.

2. The instrument of claim 1, wherein the angle is zero with respect to the axis of the instrument along a section of the instrument that is configured to actuate.

3. The instrument of claim 1, wherein the angle is pre-determined.

4. The instrument of claim 1, further comprising an actuating element that is positioned within the lumen.

5. The instrument of claim 4, wherein the actuating element is attached near the distal end of the instrument, such that application of an actuating force on the actuating element results in a reactive force along the instrument.

6. The instrument of claim 5, wherein the angle is configured to selectively distribute the reactive force along the instrument arising from the application of the actuating force.

7. The instrument of claim 1, further comprising a layer of braid wire along the length of the instrument.

8. The instrument of claim 1, further comprising a working channel.

9. The instrument of claim 8, wherein the working channel runs along the length of the instrument.

10. The instrument of claim 9, further comprising an imaging means at the distal end of the instrument.

11. The instrument of claim 10, wherein the imaging means is a digital camera.

12. The instrument of claim 10, further comprising an illumination means configured to be used with the imaging means.

13. A method of performing a robotically-driven endoscopic procedure comprising:

providing an elongated instrument that comprises;

a control lumen spiraled at an angle around the length of the instrument;

wherein the angle varies along the length of the instrument;

inserting the instrument into a patient; and

actuating the instrument with at least one degree of freedom to control disposition of the distal end of the instrument.

14. The method of claim 13, wherein the instrument further comprises a working channel.

15. The method of claim 14, wherein the working channel is configured to convey a variety of tools down the length of the instrument.

16. The method of claim 13, wherein the angle is zero with respect to the axis of the instrument along a section of the instrument that is configured to actuate.

17. The method of claim 13, wherein the angle is pre-selected.

18. The method of claim 13, wherein the instrument further comprises an actuating element that is positioned within the lumen.

19. The method of claim 18, wherein the actuating element is attached near the distal end of the instrument, such that application of an actuating force on the actuating element results in a reactive force along the instrument.

20. The method of claim 19, wherein the angle is configured to selectively distribute the reactive force along the instrument arising from the application of the actuating force.