Connector device for a controllable instrument

• US 8,888,688 B2
• Filed: 11/12/2004
• Issued: 11/18/2014
• Est. Priority Date: 04/03/2000
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Julian, Christopher A., Belson, Amir, Brown, Aaron W., Harasym, Mark, Kreidler, Marc S., Ohline, Robert M., Reiner, Scott J., Romo, Enrique, Swinehart, Charles E., Whitin, Katherine
• Primary Examiner(s): KASZTEJNA, MATTHEW JOHN
• Application Number:
  US10/988,212
• Publication Number:
  US 20060052664A1
• Time in Patent Office: 3,658 Days
• Field of Search: 600/136, 600146-152
• US Class Current: 600/146
• CPC Class Codes: A61B 1/00128 mechanical, e.g. for tubes or pipes
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0053 using distributed actuators, e.g. artificial muscles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

Claims

1. A connector assembly for a controllable medical instrument, the connector assembly comprising:

a first connector portion, wherein the first connector portion comprises first force transmission elements, and wherein each of the first force transmission elements comprises a connecting element; and

a second connector portion, wherein the second connector portion releasably mates with the first connector portion, wherein the second connector portion comprises second force transmission elements, and wherein each of the second force transmission elements comprises a connecting element;

wherein the connecting elements of the first and second first force transmission elements are configured for interlocking engagement with each other,

wherein, in a mated configuration of the first connector portion with the second connector portion, the connecting elements of the first and second force transmission elements are moveable relative to each other from a disengaged configuration in which the first and second force transmission elements are uncoupled into a releasable, interlocking engagement in which the first and second force transmission elements are coupled.

2. The connector assembly according to claim 1, wherein each first force transmission element is coupled to an actuator.

3. The connector assembly according to claim 1:

wherein a first portion of the second force transmission elements are coupled to a first movable segment of a flexible medical instrument; and

wherein a second portion of the second force transmission elements are coupled to a second movable segment of the flexible medical instrument.

4. The connector assembly according to claim 1 further comprising:

a quick release mechanism that brings the first connector portion into engagement with the second connector portion.

5. The connector assembly according to claim 1, wherein each of the first force transmission elements transmits both a pulling force and a pushing force to a corresponding second force transmission element.

6. The connector assembly according to claim 1, wherein each connecting element comprises a carriage assembly positioned to move within a guideway.

7. The connector assembly according to claim 1 further comprising:

a slack area in at least one of the first connector portion and the second connector portion, wherein the slack area is configured to provide space for slack in the first force transmission elements or in the second force transmission elements.

8. The connector assembly according to claim 7, wherein the slack area is in the first connector portion, and wherein a portion of the slack area is in a nonlinear orientation to a guideway in the first connector portion.

9. The connector assembly according to claim 7, wherein the slack area is in the second connector portion, and wherein a portion of the slack area is in a non-linear orientation to a guideway in the second connector portion.

10. The connector assembly according to claim 1 further comprising:

a sensor that senses an operational characteristic of the connector assembly.

11. The connector assembly according to claim 10, wherein the operational characteristic comprises tension in a force transmission element.

12. The connector assembly according to claim 1, wherein the second force transmission elements are coupled to move at least one segment of an endoscope.

13. The connector assembly according to claim 1, wherein the connecting elements of each of the first and second force transmission elements comprise an engagement feature, the engagement features of the respective connecting elements being complimentary with each other.

14. The connector assembly according to claim 13, wherein the engagement features comprise teeth.

15. The connector assembly of claim 14,

wherein the connecting elements of the first and second force transmission elements are moveable relative to each other in a first direction from the disengaged configuration into releasable, interlocking engagement;

and

wherein the first connector portion and the second connector portion are moveable relative to each other in a second direction, different from the first direction, from an unmated configuration to the mated configuration.

16. The connector assembly of claim 15, wherein the first direction and the second direction are substantially perpendicular to each other.

17. The connector assembly according to claim 1, wherein, in the interlocking engagement, the first and second force transmission elements transmit force between the first and second force transmission elements via movement along an axial direction of the first and second force transmission elements.

18. A connector assembly for a controllable medical instrument, the connector assembly comprising:

a first connector portion, wherein the first connector portion comprises first force transmission elements, and wherein each of the first force transmission elements comprises a connecting element; and

a second connector portion, wherein the second connector portion releasably mates with the first connector portion, wherein the second connector portion comprises second force transmission elements, and wherein each of the second force transmission elements comprises a connecting element;

wherein, in a mated configuration of the first connector portion with the second connector portion, the connecting elements of the first and second force transmission elements are positionable between a disengaged configuration and a releasable, interlocking configuration,

wherein, in the interlocking configuration, the connecting elements of the first and second force transmission elements have a fixed arrangement relative to each other during transmission of force between the first and second force transmission elements.

19. The connector assembly of claim 18,

wherein the connecting elements of the first and second force transmission elements are moveable relative to each other in a first direction from the disengaged configuration into releasable, interlocking engagement;

and

wherein the first connector portion and the second connector portion are moveable relative to each other in a second direction, different from the first direction, from the disengaged configuration to the interlocking configuration.

20. The connector assembly of claim 19, wherein the first direction and the second direction are substantially perpendicular to each other.