Highly articulated robotic probes and methods of production and use of such probes

• US 8,992,421 B2
• Filed: 10/21/2011
• Issued: 03/31/2015
• Est. Priority Date: 10/22/2010
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Stand, Joseph A., Didomenico, Robert A., Zubiate, Brett, Darisse, Ian J., Flaherty, J. Christopher
• Primary Examiner(s): KASZTEJNA, MATTHEW JOHN
• Application Number:
  US13/880,525
• Publication Number:
  US 20140005683A1
• Time in Patent Office: 1,257 Days
• Field of Search: 600141-144
• US Class Current: 600/142
• 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 1/018 for receiving instruments
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.

Claims

1. An articulated probe having at least a portion configured to be controllably rigid and flexible, comprising:

an inner core having a plurality of inner links;

an inner cable extending through the plurality of inner links and configured to control the inner core;

an outer sleeve having a plurality of outer links; and

a plurality of outer cables extending through the plurality of outer links and configured to control the outer sleeve,

wherein the inner cable extending through the inner links of the inner core has a tensile strength that is greater than that of each of the individual outer cables extending through the outer links.

2. The articulated probe of claim 1, wherein the tensile strength of the inner cable is approximately equal to a combined tensile strength of the plurality of outer cables.

3. The articulated probe of claim 1, wherein each of the plurality of outer cables has approximately the same tensile strength.

4. The articulated probe of claim 3, wherein the tensile strength of each of the plurality of outer cables is approximately 1/Nth of a tensile strength of the inner cable, where N is the number of outer cables.

5. The articulated probe of claim 1, wherein each of the plurality of outer cables has approximately the same cross-sectional area.

6. The articulated probe of claim 5, wherein the cross-sectional area of each of the plurality of outer cables is approximately 1/Nth of a cross-sectional area of the inner cable, where N is the number of outer cables.

7. The articulated probe of claim 1, wherein the inner cable and the plurality of outer cables are comprised of at least one of steel, polyethylene, nylon and fluorocarbons.

8. The articulated probe of claim 1, wherein the tensile strength of each of the outer cables is less than or equal to the tensile strength of the inner cable and greater than or equal to 1/Nth of the tensile strength of the inner cable, where N is the number of outer cables.

9. The articulated probe of claim 1, wherein the inner cable has a diameter that is greater than those of each of the individual outer cables.