Side looking minimally invasive surgery instrument assembly

• US 8,057,385 B2
• Filed: 06/13/2007
• Issued: 11/15/2011
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Rosa, David J., Larkin, David Q., Cooper, Thomas G., Williams, Matthew R., Duval, Eugene F.
• Primary Examiner(s): Kasztejna; Matthew J
• Assistant Examiner(s): HENDERSON, RYAN N
• Application Number:
  US11/762,135
• Publication Number:
  US 20080071289A1
• Time in Patent Office: 1,616 Days
• Field of Search: 600/104, 600/106, 600/107, 600/141, 600/142, 600/170, 600/171, 600/166, 600/114, 600/127, 600/129
• US Class Current: 600/104
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/002 having rod-lens arrangements A61B1/055 takes precedence
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• 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 2017/00225 Systems for controlling multiple different instruments, e.g. microsurgical systems
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00318 Steering mechanisms
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/0034 adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 : Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/3447 : Linked multiple cannulas
• CPC Class Codes: A61B 2034/2061 : using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 2034/306 : Wrists with multiple vertebrae
• CPC Class Codes: A61B 2090/062 : penetration depth
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• 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 5/0086 : using infrared radiation
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube'"'"'s longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube'"'"'s distal end. The image capture component'"'"'s field of view is generally perpendicular to the guide tube'"'"'s longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Claims

1. A surgical instrument assembly comprising:

a guide tube comprising a proximal end, a distal end portion having a distal end, and an intermediate position between the proximal end and the distal end portion, wherein a longitudinal axis extends between the proximal and distal ends;

a first surgical instrument comprising an end effector, a U-turn mechanism, and a joint between the U-turn mechanism and the end effector,

wherein the U-turn mechanism comprises a first end, a second end, and a permanent U-shape section between the first and second ends, the first end of the U-turn mechanism being affixed to and remaining fixed in position relative to the distal end of the guide tube, the second end of the U-turn mechanism being coupled to the end effector, the U-turn mechanism being configured to transmit actuation forces for the end effector and the joint through the U-turn mechanism, and

wherein at least a part of the first surgical instrument including at least the U-turn mechanism, the joint, and the end effector extends out from the distal end of the guide tube;

a second surgical instrument, wherein at least a part of the second surgical instrument extends out from the guide tube at the intermediate position, and wherein the at least a part of the second surgical instrument extends out generally parallel to the longitudinal axis of the guide tube; and

a stereoscopic image capture component positioned in a fixed location on the guide tube between the intermediate position and the distal end,

wherein a field of view of the capture component is generally perpendicular to the longitudinal axis of the guide tube at a location proximal to the distal end of the guide tube.

2. The assembly of claim 1:

wherein the part of the first surgical instrument that extends out from the distal end of the guide tube comprises a flexible segment.

3. The assembly of claim 1:

wherein the part of the first surgical instrument that extends out from the distal end of the guide tube comprises a rigid segment.

4. The assembly of claim 1:

wherein the part of the second surgical instrument that extends out from the guide tube comprises a parallel motion mechanism;

wherein the parallel motion mechanism comprises a proximal end and a distal end;

wherein a Cartesian reference frame is defined for the parallel motion mechanism; and

wherein with reference to the Cartesian reference frame, the parallel motion mechanism allows a position of the distal end of the parallel motion mechanism to change with reference to the proximal end of the parallel motion mechanism without changing an orientation of the distal end of the parallel motion mechanism with reference to the proximal end of the parallel motion mechanism.

5. The assembly of claim 1:

wherein the part of the second surgical instrument that extends out from the guide tube comprises a rigid segment.

6. The assembly of claim 1:

wherein the part of the second surgical instrument that extends out from the guide tube comprises a flexible segment.

7. The assembly of claim 1:

wherein the second surgical instrument passes through the guide tube and exits from the intermediate position with the at least a part of the second surgical instrument extending out generally parallel to the longitudinal axis of the guide tube.

8. The assembly of claim 1, further comprising:

a second image capture component positioned on the guide tube;

wherein a field of view of the second image capture component is generally parallel to the longitudinal axis of the guide tube.

9. The assembly of claim 1:

wherein distal ends of the first and second surgical instruments are positioned within the field of view of the image capture component in an area to the side of the guide tube.