Surgical instrument coupling mechanism

• US 7,947,051 B2
• Filed: 06/13/2007
• Issued: 05/24/2011
• Est. Priority Date: 09/09/2002
• Status: Expired due to Fees

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Mazzuca, Michael J., Gorhan, Michael C., Lee, Woojin
• Primary Examiner(s): TRUONG, KEVIN THAO
• Application Number:
  US11/762,745
• Publication Number:
  US 20070238925A1
• Time in Patent Office: 1,441 Days
• Field of Search: 606/130, 600/101, 600/102, 600/109, 600/114, 600/229, 600/234, 600/235, 600/407, 600/429, 700/85, 700/245, 700/247
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• 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 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

A medical system and surgical instrument adapter are provided. The medical system comprises a surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, an adapter having a clam-shell configuration configured for removably receiving a proximal end of the surgical instrument, and a drive unit configured for being coupled to the adapter to control the movement of the surgical instrument within at least one degree-of-freedom. The surgical instrument adapter may comprise a base portion configured for receiving a proximal end of the surgical instrument, and a clam-shell that pivots relative to the base portion between a first position that encloses the proximal end of the surgical instrument within the base portion and a second position that allows the proximal end of the surgical instrument to be removed from the base portion.

Claims

1. A medical system, comprising:

a surgical instrument configured for performing a medical procedure on a patient;

an adapter configured for removably receiving a proximal end of the surgical instrument; and

a drive unit configured for being coupled to the adapter to control the movement of the surgical instrument within at least one degree-of-freedom,

wherein the adapter has a driver element configured for being actuated by the drive unit, and the surgical instrument has a driven element configured for being actuated by the driver element to move the surgical instrument within the at least one degree-of-freedom, and

wherein the adapter has a base portion and a clam-shell that pivots relative to the base portion between a first position that encloses the proximal end of the surgical instrument within the adapter and a second position that allows the proximal end of the surgical instrument to be removed from the adapter.

2. The medical system of claim 1, further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.

3. The medical system of claim 2, wherein the remote controller has a user interface for receiving commands from a user.

4. The medical system of claim 3, wherein movements made at the user interface correspond to movements of the surgical instrument.

5. The medical system of claim 2, wherein the remote controller is coupled to the drive unit via external cabling.

6. The medical system of claim 1, wherein the drive unit has a motor array.

7. The medical system of claim 1, further comprising a coupling mechanism through which the adapter is operably coupled to the drive unit.

8. The medical system of claim 7, wherein the coupling mechanism comprises a carriage on which the surgical instrument is slidably mounted.

9. The medical system of claim 1, wherein the driver element is a drive shaft, and the driven element is a wheel that mates with the drive shaft.

10. The medical system of claim 1, wherein the at least one degree-of-freedom is an actuation of a distal tool carried on a distal end of the surgical instrument.

11. The medical system of claim 1, wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.

12. The medical system of claim 1, wherein the adapter and the proximal end of the surgical instrument have corresponding mechanisms that align with each other when the proximal end of the surgical instrument is received within the adapter.

13. The medical system of claim 1, wherein the adapter has a catch mechanism configured for engaging the clam-shell in the first position.

14. The medical system of claim 13, wherein the adapter has a release mechanism configured for being actuated to disengage the clam-shell from the catch mechanism to place the clam-shell within the second position.

15. A surgical instrument adapter, comprising:

a base portion configured for receiving a proximal end of a surgical instrument;

a clam-shell that pivots relative to the base portion between a first position that encloses the proximal end of the surgical instrument within the base portion and a second position that allows the proximal end of the surgical instrument to be removed from the base portion; and

a driver element configured for actuating a driven element located at the proximal end of the surgical instrument to move the surgical instrument within at least one degree-of-freedom.

16. The surgical instrument adapter of claim 15, wherein the driver element is configured for being actuating by a drive unit located external to the adapter.

17. The surgical instrument adapter of claim 15, wherein the driver element is a drive shaft.

18. The medical instrument adapter of claim 15, wherein the at least one degree-of-freedom is an actuation of a distal tool carried by the medical instrument.

19. The medical instrument adapter of claim 15, wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.

20. The medical instrument adapter of claim 15, wherein the adapter has a mechanism configured for aligning the proximal end of the surgical instrument within the base portion.

21. The medical instrument adapter of claim 15, wherein the adapter has a catch mechanism configured for engaging the clam-shell in the first position.

22. The medical instrument adapter of claim 21, wherein the adapter has a release mechanism configured for being actuated to disengage the clam-shell from the catch mechanism to place the clam-shell in the second position.