Surgical instrument design

• US 8,007,511 B2
• Filed: 06/01/2004
• Issued: 08/30/2011
• Est. Priority Date: 06/06/2003
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Brock, David L., Lee, Woojin
• Primary Examiner(s): Severson; Ryan J
• Application Number:
  US10/858,822
• Publication Number:
  US 20050049580A1
• Time in Patent Office: 2,646 Days
• Field of Search: 606/130, 606/170, 606/205, 606206-208, 606/210, 606/211, 901/15, 901/28, 901/29
• US Class Current: 606/205
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• 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 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

A surgical instrument system having an instrument member or shaft with a distal portion positionable through an incision of a patient to an internal site and for operation by a surgeon from outside the patient. A tool is carried at the distal end of the instrument shaft controlled by the surgeon in performing a procedure at an operative site of the patient. At least first and second turnable members are spacedly disposed along the instrument shaft distal portion, both disposed within the internal site, and each controlled from outside the patient for providing at least respective first and second degrees of freedom of control of the tool. The turnable members may be either a pivot joint or a bendable section.

Claims

1. A surgical instrument system comprising:

an instrument member having an instrument shaft and a distal portion positionable through an incision, formed during a minimally invasive procedure performed on a patient, to an internal site and for operation by a surgeon from outside the patient;

a plurality of control cables extending within proximal and distal portions of the instrument shaft;

a motor array coupled to the plurality of control cables;

a tool carried at the distal portion of the instrument member controlled by the surgeon in performing the minimally invasive procedure at an operative site of the patient by manipulation of at least one control cable; and

a wrist member, an elongated rigid forearm member located proximally of the wrist member, and a flexible elbow member located proximally of the elongated rigid forearm member, the wrist member, the elongated rigid forearm member and the flexible elbow member being disposed along the distal portion of the instrument member and controllable with respective control cables, respective distal ends of respective control cables terminating at different respective axial locations within the distal portion of the instrument shaft such that the motor array is operable to drive respective control cables and control movement of the tool, the wrist member, the elongated rigid forearm member and the flexible elbow member, the flexible elbow member being controllably movable with multiple degrees of freedom, the distal portion of the instrument member controllable by the surgeon from outside the patient to pivot and rotate the tool about the wrist member without actuation of the tool, and to pivot the elongated rigid forearm member about the flexible elbow member, wherein the flexible elbow member and the wrist member are spaced apart, separated by the elongated rigid forearm member extending there between, and positioned relative to a distal end of the distal portion so that both the flexible elbow member and the wrist member can be inserted through the incision and into the patient to allow movement of the flexible elbow and wrist members without causing additional trauma to the incision.

2. The surgical instrument system of claim 1 further comprising a user interface including an input device manipulable by the surgeon to control the wrist member, the rigid forearm, the flexible elbow member, and the tool.

3. The surgical instrument system of claim 2 wherein the user interface is located at a master station area remote from the instrument member.

4. The surgical instrument system of claim 1 further comprising a slider supporting the instrument member and controllable by the surgeon from outside the patient to linearly translate the instrument member.

5. The surgical instrument system of claim 4 wherein the slider is controllable by the surgeon from outside the patient to rotate the instrument member about a longitudinal axis of the instrument member.

6. The surgical instrument system of claim 4 further comprising a bracket to which the linear slider is mounted.

7. The surgical instrument system of claim 6 further comprising a rail connectable to a patient bed, wherein the bracket is mounted to the rail.

8. The surgical instrument system of claim 1 wherein the distal portion of the instrument member is controllable by the surgeon from outside the patient to rotate the forearm member about a longitudinal axis of the forearm member relative to the instrument shaft.

9. The surgical instrument system of claim 1 wherein the tool includes opposing jaw members controllable by the surgeon from outside the patient to alternately open and close the jaw members.

10. The surgical instrument system of claim 1 further comprising a rigid arm member and a flexible shoulder member disposed along the distal portion of the instrument member, the distal portion of the instrument member controllable by the surgeon from outside the patient to pivot the arm member about the flexible shoulder member.

11. The surgical instrument system of claim 10, the flexible shoulder member comprising alternating ribs and slots.

12. The surgical instrument system of claim 10, the flexible shoulder member being bendable with two degrees of freedom.

13. The surgical instrument system of claim 1 wherein the forearm member is shorter than the instrument shaft.

14. The surgical instrument system of claim 1, the flexible elbow member comprising alternating ribs and slots.

15. The surgical instrument system of claim 1, the flexible elbow member being bendable in orthogonal directions.

16. The surgical instrument system of claim 1, the wrist member comprising a wrist joint.

17. The surgical instrument system of claim 1, the wrist member comprising a flexible wrist member.

18. The surgical instrument system of claim 17, the flexible wrist member being bendable with two degrees of freedom.

19. The surgical instrument system of claim 17, the flexible wrist member comprising alternating ribs and slots.

20. The surgical instrument system of claim 17, the flexible wrist member being movable with multiple degrees of freedom.

21. A surgical instrument system comprising:

an instrument member having an instrument shaft and a distal portion positionable through an incision, formed during a minimally invasive procedure performed on a patient, to an internal site and for operation by a surgeon from outside the patient;

a plurality of control cables extending within proximal and distal portions of the instrument shaft;

a motor array coupled to the plurality of control cables;

a tool carried at the distal portion of the instrument member controlled by the surgeon in performing the minimally invasive procedure at an operative site of the patient;

a wrist member having multiple degrees of freedom;

an elongated rigid forearm member located proximally of the wrist member; and

an elbow member located proximally of the elongated rigid forearm member, having multiple degrees of freedom and disposed along the distal portion of the instrument member,

respective control cables extending within the instrument shaft, respective distal ends of respective control cables terminating at different respective axial locations within the distal portion of the instrument shaft such that the motor array is operable to drive respective control cables and control movement of the tool, the wrist member, the elongated rigid forearm member and the elbow member, the distal portion of the instrument member being controllable by the surgeon from outside the patient to pivot the tool about the wrist member without actuation of the tool, and to pivot the elongated rigid forearm member about the elbow member, wherein the elbow member and the wrist member are spaced apart, separated by the elongated rigid forearm member extending there between, and positioned relative to a distal end of the distal portion so that both the elbow member and the wrist member can be inserted through the incision and into the patient to allow movement of the elbow and wrist members without causing additional trauma to the incision.

22. The surgical instrument system of claim 21, further comprising a rigid arm member and a shoulder member having multiple degrees of freedom disposed along the distal portion of the instrument member.