ROBOTICALLY-ENABLED MEDICAL SYSTEMS WITH MULTIFUNCTION END EFFECTORS HAVING ROTATIONAL OFFSETS

• US 20190298465A1
• Filed: 03/27/2019
• Published: 10/03/2019
• Est. Priority Date: 03/29/2018
• Status: Active Application

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Chin, Erica Ding, Schuh, Travis Michael, Marsot, Travis R., Doisneau, Anne Donahue
• Application Number:
  US16/366,269
• Publication Number:
  US 20190298465A1
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/0467 Instruments for cutting sutures surgical cutting instruments A61B17/32
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/062 Needle manipulators
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3201 Scissors for biopsy A61B10/02
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00353 one mechanical instrument performing multiple functions, e.g. cutting and grasping channel for multiple instruments A61B2017/3445; instrument channel A61B2017/22072; replaceable heads A61B2017/2931; suction A61M1/00
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• CPC Class Codes: A61B 2017/2946 Locking means
• CPC Class Codes: A61B 2017/2947 Pivots
• CPC Class Codes: A61B 2018/1422 Hook
• CPC Class Codes: A61B 2018/1457 having opposing blades cutting tissue grasped by the jaws, i.e. combined scissors and pliers
• CPC Class Codes: A61B 2018/146 Scissors
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 : Optical tracking systems
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2034/2061 : using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2065 : Tracking using image or pattern recognition
• 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 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/0801 : Prevention of accidental cutting or pricking
• CPC Class Codes: A61B 2090/306 : using optical fibres
• CPC Class Codes: A61B 2090/309 : using white LEDs
• CPC Class Codes: A61B 2090/3614 : using optical fibre
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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: A61G 13/04 : tiltable around transverse or longitudinal axis
• CPC Class Codes: A61G 13/06 : raising or lowering of the whole table surface A61G13/04 takes precedence
• CPC Class Codes: A61G 13/10 : Parts, details or accessories surgical drape sheets A61B46/00

Abstract

A robotically-enabled medical system can include a multifunction end effector. The multifunction end effector can be configured to perform at least two functions. The two functions can be rotationally offset with respect to one another. The rotational offset can allow the robotically-enabled system to operate the multifunction end effector in a plurality of modes. At least some of the modes can preclude access to one or more functions of the end effector.

Claims

1. A medical system comprising:

a medical instrument including an end effector comprising;

a first body that shares a pivot axis with the second body, the first body rotatable relative to the second body to permit a first mode of operation and a second mode of operation,

wherein during the first mode of operation the second mode of operation is inoperable, and wherein the first mode of operation and second mode of operation can be controlled substantially about one axis.

2. The medical system of claim 1, wherein the first mode of operation comprises a gripping mode and the second mode of operation comprises a cutting mode.

3. The medical system of claim 1, wherein the first body includes a first engagement surface having a first portion rotationally offset from a second portion, and wherein the second body includes a second engagement surface having a first portion rotationally offset from a second portion.

4. The medical system of claim 3, further comprising:

at least one non-transitory computer readable medium having stored thereon executable instruments; and

at least one processor in communication with the at least one non-transitory computer readable medium and configured to execute the instructions to cause the system to at least;

operate the end effector in the first mode of operation to permit cooperation between the first portion of the first engagement surface and the first portion of the second engagement surface and preclude cooperation between the second portion of the first engagement surface and the second portion of the second engagement surface,

transition the end effector from the first mode of operation to the second mode of operation to permit cooperation between at least the second portion of the first engagement surface and the second portion of the second engagement surface, and

operate the end effector in the second mode of operation.

5. The medical system of claim 3, wherein the first portion of the first body is rotationally offset from the second portion of the first body by at least 10 degrees.

6. The medical system of claim 1, wherein the first body includes a first portion and a second portion, wherein the first portion comprises a gripping portion and the second portion comprises a cutting portion.

7. The medical system of claim 1, wherein during the first mode of operation, the cutting portion is unexposed.

8. The medical system of claim 1, wherein both the first body and the second body comprise a gripping portion and a cutting portion, and wherein during the first mode of operation, the cutting portions overlap.

9. The medical system of claim 7, wherein during the second mode of operation, a recess is formed between the cutting portions.

10. The medical system of claim 1, wherein in the first mode of operation, the end effector comprises a mechanical stop that makes the second mode of operation inoperable.

11. The medical system of claim 10, wherein the mechanical stop comprises a hard stop formed on the first body and the second body of the end effector.

12. The medical system of claim 1, further comprising a robotic arm coupled to the medical instrument.

13. A medical system comprising:

a medical instrument including an end effector comprising;

a first body and a second body,

wherein the end effector comprises a first mode of operation and a second mode of operation, wherein during the first mode of operation the second mode of operation is hidden, and wherein the first mode of operation and second mode of operation can be controlled substantially about one axis.

14. The medical system of claim 13, wherein the first mode of operation comprises active gripping and the second mode of operation comprises active cutting.

15. The medical system of claim 13, further comprising:

a robotic arm coupled to the medical instrument; and

at least one processor configured to execute instructions to cause the medical system to at least;

operate the end effector in the first mode of operation; and

preclude operation of the end effector in the second mode of operation.

16. The medical system of claim 15, wherein the processor is configured to transition the end effector from the first mode of operation to the second mode of operation and operate the end effector in the second mode of operation.

17. A medical system comprising:

a robotically controlled end effector for a robotic surgical instrument, the end effector comprising;

a first body including a first engagement surface having a first portion rotationally offset from a second portion,

a second body including a second engagement surface having a first portion rotationally offset from a second portion, and

a pivot axis substantially shared by the first body and the second body, the first body and the second body configured for the rotational movement about the pivot axis;

at least one non-transitory computer readable medium having stored thereon executable instructions; and

at least one processor in communication with the at least one non-transitory computer readable medium and configured to execute the instructions to cause the system to at least;

operate the end effector in a first mode of operation to permit cooperation between the first portion of the first engagement surface and the first portion of the second engagement surface and preclude cooperation between the second portion of the first engagement surface and the second portion of the second engagement surface,

transition the end effector from the first mode of operation to a second mode of operation to permit cooperation between at least the second portion of the first engagement surface and the second portion of the second engagement surface, and

operate the end effector in the second mode of operation.

18. The robotic surgical system of claim 17, wherein the first mode of operation comprises a gripping mode and the second mode of operation comprises a cutting mode.

19. The robotic surgical system of claim 18, wherein when the end effector is in the gripping mode, the cutting mode is inoperable.

20. The robotic surgical system of claim 17, wherein the first portion of the first body comprises a gripping portion and the second portion of the first body comprises a cutting portion, wherein during the first mode of operation the cutting portion is exposed.