Rotational apparatus system and method for a robotic instrument system

• US 8,409,234 B2
• Filed: 05/23/2008
• Issued: 04/02/2013
• Est. Priority Date: 05/25/2007
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Stahler, Gregory J., Carlson, Christopher R., Younge, Robert G.
• Primary Examiner(s): Severson, Ryan
• Assistant Examiner(s): Cronin, Ashley
• Application Number:
  US12/126,814
• Publication Number:
  US 20090024141A1
• Time in Patent Office: 1,775 Days
• Field of Search: 600/101, 600/104, 600/106, 606/1, 606/167, 606170-171
• US Class Current: 606/170
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• 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 2017/293 with means preventing relative rotation between the shaft and the actuating rod
• 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 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• 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 2034/741 Glove like input devices, e.g. "data gloves"
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/80 Implements for cleaning or washing the skin of surgeons or patients

Abstract

Robotic instrument systems, apparatus, and methods for controllably rotating a tool or adapter coupled to a distal portion of a medical instrument such as a catheter. An interface, which may be integral with the medical instrument or a component of a separate rotatable apparatus or adapter, is operably coupled, e.g. fixedly coupled, to the distal end of the instrument. A tool, such as a rotatable portion of a collar or tool base, or a working instrument operably coupled thereto, is rotatable relative to the interface. The interface and collar have guide channels. A control element extends through the medical instrument and respective guide channels such that the tool or collar is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument.

Claims

1. A medical instrument system, comprising:

an instrument defining a longitudinal axis;

a tool rotatably coupled to a distal end portion of the instrument;

a control element extending from the instrument and coupled to the tool such that the tool is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument; and

a guide channel through which the control element passes, said guide channel having a first portion extending axially along said longitudinal axis, and a second portion distal to said first portion, said second portion not rotatable with said tool relative to said instrument, wherein the second portion of the guide channel curves so as to extend in a substantially helical shape about said longitudinal axis.

2. The system of claim 1, the instrument having a fixed tool interface, and the tool having a base rotatably coupled to the interface, wherein said guide channel extends along said interface and said tool base.

3. The system of claim 1, wherein the instrument distal end portion is flexible, and wherein the control element is coupled to the tool in a manner such that axial movement of the control element relative to the instrument does not cause appreciable bending of the instrument distal end portion.

4. The system of claim 1, wherein the control element comprises a first control element, the system further comprising a second control element extending from the instrument and coupled to the tool, such that the tool is controllably rotatable about the instrument axis in a first direction by axial movement of the first control element relative to the instrument, and the tool is controllably rotatable about the instrument axis in a second direction opposite to the first direction by axial movement of the second control element relative to the instrument.

5. The system of claim 4, the instrument having a fixed tool interface, and the tool having a base rotatably coupled to the interface, wherein the first control element passes through first respective guide channels in the interface and the tool base, and the second control element passes through second respective guide channels in the interface and the tool base.

6. The system of claim 5, wherein the guide channels in the interface and the guide channels in the tool base lie within different planes.

7. The system of claim 5, wherein respective ends of the first and second control elements are secured to the tool base within the respective first and second guide channels in the tool base.

8. The system of claim 5, wherein the first and second control elements extend from the instrument at circumferentially offset locations, the first and second guide channels in the interface having arcuate shapes and being arranged to direct the respective first and second control elements to cross one another.

9. The system of claim 8, wherein the first and second control elements cross each other multiple times.

10. The system of claim 8, wherein the respective first and second guide channels in the tool base have substantially linear shapes.

11. The system of claim 8, wherein arcuate shaped first and second guide channels of the interface form a V-shaped or Y-shaped channel.

12. The system of claim 8, wherein the first and second control elements each wraps around a respective portion of the tool base in between the respective guide channels of the instrument interface and tool base.

13. The system of claim 8, wherein the respective first and second guide channels in the instrument interface have a common channel portion.

14. The system of claim 4, wherein the instrument comprises a plurality of interlocking segments that are drawn together by at least one of the first and second control elements being placed in tension.

15. The system of claim 4, wherein the instrument distal end portion is bendable, and wherein the control element is coupled to the tool in a manner such that axial movement of the first or second controls element relative to the instrument does not cause appreciable bending of the instrument distal end portion.

16. The system of claim 1, wherein said tool comprises a distal surface having at least one tool guide channel through which said control element passes.

17. The system of claim 16, wherein said at least one tool guide channel comprises four channels orthogonally arranged on said distal surface and defining a plane that is substantially parallel to a plane of rotation of said tool.

18. A medical instrument system, comprising:

an elongate instrument;

a rotatable apparatus coupled to the elongate instrument, the rotatable apparatus defining a lumen therethrough and a longitudinal axis;

a guide catheter disposed within the lumen of the rotatable apparatus;

a working instrument operatively coupled to the guide catheter;

a control element operatively coupled to the rotatable apparatus, wherein respective rotation of the rotatable apparatus and working instrument are controllable by manipulation of the control element; and

a guide channel through which the control element passes, said guide channel having a first portion extending axially along said longitudinal axis, and a second portion distal to said first portion, said second portion not rotatable with said rotatable apparatus, wherein the second portion of the guide channel extends in a substantially helical shape about said longitudinal axis.

19. The system of claim 18, the rotatable apparatus having an interface for coupling the rotatable apparatus to the elongate instrument, and a collar that is controllably rotatable relative to the interface, the working instrument being coupled to and controllably rotatable with the collar.

20. The system of claim 19, wherein the interface is integral with the elongate instrument.

21. The system of claim 19, wherein the collar and the interface are operably coupled together as a single unit.

22. The system of claim 19, wherein the collar is integral with the working instrument.

23. The system of claim 18, wherein said guide channel has an interface portion extending along said interface and a collar portion extending along said collar.

24. The system of claim 23, wherein the interface portion of the guide channel has an arcuate shape, and the collar portion of the guide channel has a substantially linear shape.

25. The system of claim 23, wherein the interface portion and the collar portion of the guide channel lie within different planes.

26. A medical instrument system, comprising:

an instrument defining a longitudinal axis;

an adapter rotatably coupled to a distal end portion of the instrument;

a control element extending from the instrument and coupled to the adapter such that the adapter is controllably rotatable about the longitudinal axis by axial movement of the control element relative to the instrument; and

a guide channel through which the control element passes, said guide channel having a first portion extending axially along said longitudinal axis, and a second portion distal to said first portion, said second portion not rotatable with said adapter, wherein the second portion of the guide channel curves so to extend in a substantially helical shape about said longitudinal axis.

27. The system of claim 26, the adapter having an interface and a collar rotatably coupled to the interface, wherein said guide channel extends along said interface and said collar.

28. The system of claim 26, further comprising a working instrument operably coupled to the adapter, the working instrument being configured for a minimally invasive procedure.

29. The system of claim 28, wherein the working instrument is a clasper, a clamp, a scissors, an electrode, or an endoscope.

30. A medical instrument system, comprising:

an instrument defining a longitudinal axis;

a tool rotatably coupled to a distal end portion of the instrument;

a control element extending from the instrument and coupled to the tool such that the tool is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument; and

a guide channel through which the control element passes, said guide channel having a first portion extending axially along said longitudinal axis, and a second portion distal to said first portion, said second portion not rotatable with said tool relative to said instrument, wherein the second portion of the guide channel curves so as to extend at least partially transverse to said longitudinal axis;

said tool comprising a distal surface having at least one tool guide channel through which said control element passes; and

said at least one tool guide channel comprising four channels orthogonally arranged on said distal surface and defining a plane that is substantially parallel to a plane of rotation of said tool.