Robotic system for flexible endoscopy

• US 8,882,660 B2
• Filed: 05/31/2010
• Issued: 11/11/2014
• Est. Priority Date: 05/29/2009
• Status: Expired due to Fees

• Current Assignee: Nanyang Technology University, National University of Singapore
• Original Assignee: Nanyang Technology University, National University of Singapore
• Inventors: Phee, Soo Jay Louis, Low, Soon Chiang, Ho, Khek Yu, Chung, Sheung Chee
• Primary Examiner(s): Nia, Alireza
• Assistant Examiner(s): NEAL, TIMOTHY JAY
• Application Number:
  US13/322,879
• Publication Number:
  US 20120078053A1
• Time in Patent Office: 1,625 Days
• Field of Search: 600/139, 318/568.21, 901/2, 901/34, 744/900.1, 700/254, 606/130
• US Class Current: 600/139
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00292 mounted on or guided by flexible, e.g. catheter-like, means
• CPC Class Codes: A61B 2017/00296 mounted on an endoscope
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2018/1422 Hook
• CPC Class Codes: A61B 2018/1495 Electrodes being detachable from a support structure
• 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 2090/064 for measuring force, pressure or mechanical tension
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: Y10S 901/34 force feedback

Abstract

A robotic manipulator controller and system for use in flexible endoscopy, the manipulator comprising a flexible member configured to be coupled to an endoscope, and an arm connected to and movable by the flexible member, wherein the flexible member has a first end connected to the arm and a second end connectable to the controller to allow a physical movement of the arm to be controllable by a physical movement of the controller.

Claims

1. A robotic manipulator for flexible endoscopy comprising:

an arm;

a flexible member comprising a tendon sheath system including a tendon in a sheath, the tendon deformable within the sheath such that the tendon and the sheath can exert forces upon and react against each other, the flexible member configured to be coupled to an endoscope, the flexible member having a first end and a second end, the first end of the flexible member connected to the arm such that the arm is movable by the flexible member, the second end of the flexible member couplable to an actuator to allow a physical movement of the arm to be controllable by a physical movement of a controller coupled to the actuator;

an end effector connected to and movable by the arm; and

an end effector force prediction unit configured to predict as a function of flexible member parameters sensed at the second end of the flexible member (a) tendon sheath system elongation including tendon elongation and sheath elongation at the first end of the flexible member and (b) force experienced by the end effector,

wherein the end effector force prediction unit is configured to predict tendon sheath system elongation at the first end of the flexible member and force experienced by the end effector without requiring any sensor at a slave manipulator comprising the tendon, the arm, and the end effector.

2. The robotic manipulator according claim 1, wherein the tendon is an Ultra High Molecular Weight Polyethylene (UHMWPE) fibre and the sheath is a helical metal coil.

3. The robotic manipulator according to claim 1, wherein the arm is configured to have at least three of the following degrees of freedom:

degree of freedom allowing forward and backward motion of the arm substantially parallel to a longitudinal axis of the endoscope;

degree of freedom for controlling the opening and closing of the arm, the opening of the arm being a movement out of alignment with the longitudinal axis of the endoscope, and the closing of the arm being a movement to bring the arm into alignment with the longitudinal axis of the endoscope;

degree of freedom for controlling the supination or pronation of the arm;

degree of freedom for controlling the flexion or hyperextension of the arm; and

optionally degree of freedom for controlling the opening and closing of the end effector of the arm.

4. The robotic manipulator according to claim 3, wherein each degree of freedom is controllable by two antagonistic tendons of the flexible member.

5. The robotic manipulator according to claim 4, wherein each antagonistic tendon is independently attachable to a corresponding actuator, and wherein each actuator is controlled by the controller.

6. The robotic manipulator according to claim 1, wherein the end effector is selected from the group consisting of a gripper, hook, pincer, forceps and knife.

7. The robotic manipulator according to claim 1, wherein the arm comprises a biosensor or a force sensor configured to provide a signal to the controller.

8. The robotic manipulator according to claim 1, wherein the end effector force prediction unit is configured for signal communication with the controller.

9. The robotic manipulator according to claim 1, wherein the end effector force prediction unit comprises:

a set of sensors configured to sense information corresponding to the second end of the flexible member, wherein the information allows determination of specific parameters related to the tendon sheath system elongation at the first end of the flexible member and the force experienced by the end effector;

a processor configured to analyse the parameters to determine a specific equation between (a) the force applied to the tendon sheath system at the second end of the flexible member and (b) the tendon sheath system elongation at the first end of the flexible member and the force experienced by the end effector; and

a module configured to implement the equation at the controller.

10. The robotic manipulator according to claim 1, wherein the controller includes a movable hand-held member, and wherein the controller includes a microprocessor configured to:

detect the motions of the hand-held member,

scale the motion detected to suit the robotic manipulator, and

transmit signals to the actuator for controlling the flexible member connected to the robotic manipulator.

11. The robotic manipulator according to claim 10, wherein the hand-held member includes a prime mover to receive signals to provide force feedback to a user using the hand-held member based upon the predicted force experienced by the end effector.

12. The robotic manipulator according to claim 10, wherein the hand-held member comprises grippers attachable to fingers of the user and all motion of the robotic manipulator is controllable using the grippers.

13. A method of treatment of a gastrointerinal tract related disease comprising the step of inserting the robotic manipulator of claim 1 into a natural orifice of the human body.