Flexible instrument

• US 8,114,097 B2
• Filed: 06/13/2007
• Issued: 02/14/2012
• Est. Priority Date: 02/24/1998
• Status: Expired due to Term

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Brock, David L., Lee, Woojin, Rogers, Gary, Weitzner, Barry
• Primary Examiner(s): Philogene, Pedro
• Application Number:
  US11/762,772
• Publication Number:
  US 20070255291A1
• Time in Patent Office: 1,707 Days
• Field of Search: 600/114, 600/142, 600/139, 600/140, 600/141, 600/146, 700/302, 700/255, 606/130, 606/205
• 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 robotic medical system comprises a catheter having an elongated shaft with a plurality of flexible segments spaced apart along the catheter, and a drive unit coupled to the catheter. The catheter may have a plurality of cables respectively terminating at the flexible segments, in which case, the drive unit will be coupled to the plurality of cables. The robotic medical system further comprises a user interface remote from the drive unit and configured for generating at least one command, and an electric controller configured, in response to the command(s), for directing the drive unit to independently bend the flexible segments (e.g., three flexible segments).

Claims

1. A robotic medical system, comprising:

a catheter having an elongated shaft with a plurality of bendable segments spaced apart along the catheter;

a drive unit coupled to the catheter;

a user interface remote from the drive unit and configured for generating at least one command; and

an electric controller configured, in response to the at least one command, for directing the drive unit to independently bend the bendable segments.

2. The robotic medical system of claim 1, wherein the electric controller is configured for directing the drive unit to independently bend the flexible segments corresponding to movements at the user interface.

3. The robotic medical system of claim 1, wherein the electrical controller is coupled to the drive unit via external cabling.

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

5. The robotic medical system of claim 1, wherein the catheter has a plurality of cables respectively terminating at the flexible segments, and the drive unit is coupled to the plurality of cables.

6. The robotic medical system of claim 1, wherein the catheter has an end effector carried by the elongated shaft, and the electric controller is configured, in response to the at least one command, for directing the drive unit to actuate the end effector.

7. The robotic medical system of claim 1, wherein the electric controller is configured, in response to the at least one command, for directing the drive unit to independently bend at least two of the flexible segments in different directions.

8. The robotic medical system of claim 1, wherein the different directions are opposite directions.

9. The robotic medical system of claim 1, wherein the flexible segments are contiguous.

10. The robotic medical system of claim 1, wherein the plurality of flexible segments comprises three flexible segments.

11. A robotic medical system, comprising:

a catheter having an elongated shaft with a plurality of bendable segments spaced apart along the catheter;

a plurality of actuators configured for independently bending the bendable segments; and

a controller configured for remotely controlling the actuators.

12. The robotic medical system of claim 11, wherein the controller has a user interface configured for receiving movements corresponding to the bending of the flexible segments.

13. The robotic medical system of claim 11, wherein the controller is coupled to the actuators via external cabling.

14. The robotic medical system of claim 11, wherein the catheter has a plurality of cables respectively terminating at the flexible segments, and the actuators are respectively coupled to the cables.

15. The robotic medical system of claim 11, wherein the catheter has an end effector carried by the elongated shaft, the robotic medical system further comprising another actuator configured for actuating the end effector, and the controller is configured for remotely controlling the other actuator.

16. The robotic medical system of claim 11, wherein the plurality of actuators is configured for independently bending at least two of the flexible segments in different directions.

17. The robotic medical system of claim 16, wherein the different directions are opposite directions.

18. The robotic medical system of claim 11, wherein the flexible segments are contiguous.

19. The robotic medical system of claim 11, wherein the plurality of flexible segments comprises three flexible segments.

20. A robotic medical system, comprising:

a catheter having an elongated shaft with a plurality of bendable segments spaced apart along the catheter; and

a drive unit configured for independently bending the bendable segments in response to commands received from a remote location.

21. The robotic medical system of claim 20, wherein the drive unit has a motor array.

22. The robotic medical system of claim 20, wherein the catheter has a plurality of cables respectively terminating at the flexible segments, and the drive unit is coupled to the plurality of cables.

23. The robotic medical system of claim 20, wherein the catheter has an end effector carried by the elongated shaft, and the drive unit is configured for actuating the end effector in response to the commands received from the remote location.

24. The robotic medical system of claim 20, wherein the drive unit is configured for independently bending at least two of the flexible segments in response to the commands received from the remote location.

25. The robotic medical system of claim 24, wherein the different directions are opposite directions.

26. The robotic medical system of claim 24, wherein the flexible segments are contiguous.

27. The robotic medical system of claim 24, wherein the plurality of flexible segments comprises three flexible segments.