ENDOSCOPIC DEVICE WITH DOUBLE-HELICAL LUMEN DESIGN

• US 20150164596A1
• 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 10,405,940 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 endoscopic instrument, comprising:

a first elongated body comprising

a first lumen spiraled at a first angle along the length of the first elongated body;

a cavity along the length of the first elongated body;

a second elongated body comprising a second lumen spiraled at a second angle along the length of the second elongated body;

wherein the second elongated body is positioned inside the cavity of the first elongated body.

2. The instrument of claim 1, wherein the first angle varies along the length of the first elongated body and the second angle varies along the length of the second elongated body.

3. The instrument of claim 1, wherein the first angle and the second angle are pre-selected.

4. The instrument of claim 1, wherein the second elongated body is configured to slidingly move within the cavity of the first elongated body.

5. The instrument of claim 1, further comprising:

a first actuating element that is positioned within the first lumen; and

a second actuating element that is positioned within the second lumen.

6. The instrument of claim 5, wherein

the first angle is configured to selectively distribute a first reactive force along the first elongated body arising from application of a first actuating force on the first actuating element;

and

the second angle is configured to selectively distribute a second reactive force along the second elongated body arising from application of a second actuating force on the second actuating element.

7. The instrument of claim 6, wherein

the first actuating element is attached near the distal end of the first elongated body, such that the application of the first actuating force on the first actuating element results in the first reactive force along the first elongated body;

and

the second actuating element is attached near the distal end of the second elongated body, such that the application of the second actuating force on the second actuating element results in the second reactive force along the second elongated body.

8. The instrument of claim 7, wherein

the first reactive force along the first elongated body does not affect the second reactive in the second elongated body;

and

the second reactive force along the second elongated body does not affect the first reactive force in the first elongated body.

9. The instrument of claim 7, wherein the first actuating force and the second actuating force may be applied independently of each other.

10. The instrument of claim 1, wherein the second elongated body further comprises a working channel that runs along the length of the second elongated body.

11. The instrument of claim 10, wherein the working channel is configured to convey a variety of tools down to the distal end of the second elongated body.

12. The instrument of claim 1, further comprising an imaging means at the distal end of the second elongated body.

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

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

providing an elongated instrument that comprises;

a first elongated body comprising

a first lumen spiraled at a first angle along the length of the first elongated body;

a cavity along the length of the first elongated body;

a second elongated body comprising

a second lumen spiraled at a second angle along the length of the second elongated body;

wherein the second elongated body is positioned inside the cavity of the first elongated body;

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 second elongated body.

15. The method of claim 14, wherein the first angle varies along the length of the first elongated body, and the second angle varies along the length of the second elongated body.

16. The method of claim 14, wherein the second elongated body further comprises a working channel.

17. The method of claim 14, wherein

the first elongated body further comprises a first actuating element that is positioned within the first lumen;

and

the second elongated body further comprises a second actuating element that is positioned within the second lumen.

18. The instrument of claim 14, wherein

the first angle is configured to selectively distribute a first reactive force along the first elongated body arising from application of a first actuating force on the first actuating element;

and

the second angle is configured to selectively distribute a second reactive force along the second elongated body arising from application of a second actuating force on the second actuating element.

19. The instrument of claim 18, wherein

the first actuating element is attached near the distal end of the first elongated body, such that the application of the first actuating force on the first actuating element results in the first reactive force along the first elongated body;

and

the second actuating element is attached near the distal end of the second elongated body, such that the application of the second actuating force on the second actuating element results in the second reactive force along the second elongated body.

20. The method of claim 19, wherein actuating the instrument involves applying the first actuating force to the first actuating element or applying the second actuating force to the second actuating element.