Flexible instrument

• US 7,918,861 B2
• Filed: 06/13/2007
• Issued: 04/05/2011
• Est. Priority Date: 02/24/1998
• Status: Expired due to Fees

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Rogers, Gary, Brock, David L., Weitzner, Barry, Lee, Woojin
• Primary Examiner(s): Philogene; Pedro
• Application Number:
  US11/762,768
• Publication Number:
  US 20070250073A1
• Time in Patent Office: 1,392 Days
• Field of Search: 606/130, 606/1, 606/34, 600/114, 600/120, 600/143, 600/146, 600/151, 600/101, 600/109, 600/106, 600/104, 600/117, 600/118, 600/141, 700/250, 700/258, 700/302, 128/898, 604/510
• US Class Current: 606/130
• 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 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0483 Hand-held instruments for holding sutures A61B17/0469 takes precedence; other holders for needles or sutures A61B17/06061; surgical forceps A61B17/28; surgical pincettes A61B17/30
• CPC Class Codes: A61B 17/0487 Suture clamps, clips or locks, e.g. for replacing suture knots; Instruments for applying or removing suture clamps, clips or locks suture anchors A61B17/0401; wound clamps or clips A61B17/08; ligaturing clamps or clips A61B17/122
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00088 using thermistors
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00331 with preformed bends
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/00986 Malecots, e.g. slotted tubes, of which the distal end is pulled to deflect side struts
• CPC Class Codes: A61B 2017/0409 Instruments for applying suture anchors for applying suture clamps, clips or locks A61B2017/0488
• CPC Class Codes: A61B 2017/0414 having a suture-receiving opening, e.g. lateral opening lateral eyelet for attaching suture to needle A61B2017/06019
• CPC Class Codes: A61B 2017/0437 the barbs being resilient or spring-like
• CPC Class Codes: A61B 2017/0464 : for soft tissue
• CPC Class Codes: A61B 2017/0645 : being elastically deformed for insertion
• CPC Class Codes: A61B 2017/0648 : threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2017/22069 : Immobilising; Stabilising
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• CPC Class Codes: A61B 2034/2051 : Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• 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 2034/715 : Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2034/744 : Mouse
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 : using ultrasound
• CPC Class Codes: A61B 2090/506 : using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• 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 34/35 : for telesurgery
• 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 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0084 : for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/015 : By temperature mapping of body part
• CPC Class Codes: A61B 5/4893 : Nerves
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61F 2/2445 : Annuloplasty rings in direct contact with the valve annulus
• CPC Class Codes: A61F 2/2466 : Delivery devices therefor
• CPC Class Codes: B25J 3/04 : involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/104 : with cables, chains or ribbons

Abstract

A medical instrument assembly and robotic medical system are provided. The medical instrument assembly comprises an outer probe having an elongated shaft, an inner probe having an elongated shaft, coaxially disposed within the outer probe shaft, and a driver interface module having a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom. The robotic medical system may comprise the driver interface module, a user interface configured for generating at least one command, a drive unit coupled to the actuating elements, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating elements to independently effect movement of each of the outer and inner probes to the degree(s)-of-freedom.

Claims

1. A medical instrument assembly, comprising:

an outer probe having an elongated shaft;

an inner probe having an elongated shaft coaxially disposed within the outer probe shaft;

a driver interface module having a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom;

a first cable extending within the outer probe shaft, the first cable coupled to a first one of the actuating elements in the driver interface via a first complementary actuating element to which the first cable is connected; and

a second cable extending within the inner probe shaft, the second cable coupled to a second one of the actuating elements in the driver interface via a second complementary actuating element to which the second cable is connected,

wherein the first and second actuating elements in the driver interface comprise respective pulleys that pull the first and second cables via the respective first and second complementary actuating elements to thereby independently effect the deflection of the respective outer probe shaft and inner probe shaft.

2. The medical instrument assembly of claim 1, wherein the inner probe has an end effector associated with the inner probe shaft, and the at least one degree-of-freedom comprises an actuation of the end effector.

3. The medical instrument assembly of claim 2, further comprising an additional cable extending within the inner probe shaft, wherein the plurality of actuating elements in the driver interface comprises a respective pulley that pulls the additional cable to effect the actuation of the end effector.

4. The medical instrument assembly of claim 1, wherein the driver interface module comprises a drivable mechanism in which the outer probe shaft and inner probe shaft are mounted, and a receiver to which the drivable mechanism is configured for being removably mated.

5. The medical instrument assembly of claim 1, wherein the outer and inner probe shafts are flexible catheter shafts.

6. A medical instrument assembly, comprising:

an outer probe having an elongated shaft;

an inner probe having an elongated shaft coaxially disposed within the outer probe shaft;

a driver interface module having a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom; and

a carriage on which the driver interface module is movably disposed.

7. A medical instrument assembly, comprising:

an outer probe having an elongated shaft;

an inner probe having an elongated shaft coaxially disposed within the outer probe shaft;

a drivable mechanism to which the outer and inner probe shafts are mounted, the drivable mechanism having a plurality of actuating elements configured to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom; and

a receiver to which the drivable mechanism is configured for being removably mated, the receiver configured for operably coupling a drive unit to the plurality of actuating elements,

wherein the receiver has a plurality of complementary actuating elements that mechanically interface with the actuating elements in the drivable mechanism.

8. The medical instrument assembly of claim 7, wherein the at least one degree-of-freedom comprises a deflection of at least one of the outer probe shaft and inner probe shaft.

9. The medical instrument assembly of claim 8, further comprising a cable extending within the at least one of the outer probe shaft and inner probe shaft, wherein the plurality of actuating elements comprises a pulley that pulls the cable via a respective complementary actuator to which the cable is connected to effect the deflection of the at least one of the outer probe shaft and inner probe shaft.

10. The medical instrument assembly of claim 7, wherein the inner probe has an end effector associated with the inner probe shaft, and the at least one degree-of-freedom comprises an actuation of the end effector.

11. The medical instrument assembly of claim 10, further comprising a cable extending within the inner probe shaft, wherein the plurality of actuating elements comprises a pulley that pulls the cable via a respective complementary actuator to which the cable is connected to effect the actuation of the end effector.

12. The medical instrument assembly of claim 7, wherein the plurality of actuating elements comprises a gear, and the plurality of complementary actuating elements comprises a complementary gear that mechanically interfaces with the gear.

13. The medical instrument assembly of claim 7, wherein the plurality of actuating elements comprises a pulley, and the plurality of complementary actuating elements comprises a complementary pulley that mechanically interfaces with the pulley.

14. The medical instrument assembly of claim 13, wherein the pulley and complementary pulley have matching patterns that interlock with each other.

15. The medical instrument assembly of claim 7, wherein the outer and inner probe shafts are flexible catheter shafts.

16. The medical instrument assembly of claim 7, further comprising a carriage on which the driver interface module is movably disposed.

17. A robotic medical system for use with a coaxial arrangement of an outer probe and an inner probe, comprising:

a driver interface module having a plurality of actuating elements;

a user interface configured for generating at least one command;

a drive unit including a motor array operatively coupled to the respective actuating elements; and

an electric controller configured, in response to the at least one command, for directing the drive unit to drive the actuating elements to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom.

18. The robotic medical system of claim 17, wherein the electric controller is configured for directing the drive unit to drive the actuating elements to effect movements of each of the outer and inner probes corresponding to movements at the user interface.

19. The robotic medical system of claim 17, wherein the user interface is located remotely from the drive unit.

20. The robotic medical system of claim 17, wherein the electrical controller is coupled to the drive unit via external cabling.

21. The robotic medical system of claim 17, further comprising a carriage on which the driver interface module is movably disposed.

22. The robotic medical system of claim 17, wherein the drive unit is coupled to the actuating elements via external cabling.

23. The robotic medical system of claim 17, wherein the at least one degree-of-freedom comprises an axial rotation of the outer and inner probe shafts relative to each other.

24. The robotic medical system of claim 17, wherein the at least one degree-of-freedom comprises a deflection of at least one of the outer probe shaft and inner probe shaft.

25. The robotic medical system of claim 17, wherein the inner probe has an end effector associated with the inner probe shaft, and the at least one degree-of-freedom comprises an actuation of the end effector.

26. The robotic medical system of claim 17, wherein the driver interface module comprises a drivable mechanism in which the coaxial arrangement is mounted, and a receiver to which the drivable mechanism is configured for being removably mated.

27. The robotic medical system of claim 17, further comprising the coaxial arrangement.

28. The robotic medical system of claim 27, wherein the coaxial arrangement is a coaxial flexible catheter arrangement.