Systems and methods for manipulating an elongate member

• US 9,314,306 B2
• Filed: 06/30/2011
• Issued: 04/19/2016
• Est. Priority Date: 09/17/2010
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Yu, Alan L.
• Primary Examiner(s): Crandall, Lynsey
• Application Number:
  US13/174,605
• Publication Number:
  US 20120071821A1
• Time in Patent Office: 1,755 Days
• Field of Search: 606/1
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00991 Telescopic means
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 Joysticks
• 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 34/25 User interfaces for surgical systems
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4423 related to hygiene or sterilisation
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4218 characterised by articulated arms
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G06T 19/00 : Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2210/41 : Medical

Abstract

System and methods for manipulating and positioning elongated flexible members are described herein. In on variation, an elongate member manipulator includes an elongate member holder having first and second rotary members configured to hold an elongate member, wherein the rotary members are actuated in opposite rotational directions to generate a corresponding linear motion of the elongate member held by the rotary members along a longitudinal axis of the elongate member, and wherein the rotary members are actuated in opposite linear directions to generate a corresponding rotational motion of the elongate member held by the rotary members about the longitudinal axis of the elongate member.

Claims

1. A robotic surgical system, comprising:

a controller including a master input device;

an instrument driver in communication with the controller; and

an elongate member manipulator coupled to the instrument driver, the elongate member manipulator comprising;

a drive belt assembly;

an idler belt assembly, comprising a plurality of spaced idler belts; and

a drive assembly, comprising an insert motor, a roll motor, and a slide assembly,

wherein the drive assembly is responsive to control signals generated, at least in part, by the master input device of the controller,

wherein the insert motor of the drive assembly is configured to actuate the drive belt assembly and the idler belt assembly in opposite rotational directions to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member, and

wherein the roll motor of the drive assembly is configured to move the slide assembly to actuate the drive belt assembly and the idler belt assembly in opposite linear directions to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member.

2. The robotic surgical system of claim 1, wherein the drive assembly is configured to actuate the drive belt assembly and the idler belt assembly in rotational and linear directions simultaneously.

3. The robotic surgical system of claim 2, wherein the drive belt assembly and the idler belt assembly are actuated in the rotational and linear directions at different respective rates.

4. The robotic surgical system of claim 1, wherein the drive assembly is configured to provide rotational actuation and linear actuation for the drive belt assembly and the idler belt assembly separately, and wherein the drive belt assembly and the idler belt assembly are configured to maintain engagement with the elongate member between the rotational actuation and linear actuation.

5. The robotic surgical system of claim 1, wherein the elongate member comprises a guide wire.

6. The robotic surgical system of claim 1, further comprising an elongate member support configured to hold the elongate member and to prevent buckling of the elongate member during rotational or linear motion of the elongate member.

7. The robotic surgical system of claim 6, wherein the plurality of spaced idler belts of the idler belt assembly are configured to provide clearance for at least a portion of the elongate member support.

8. The robotic surgical system of claim 6, wherein the drive belt assembly comprises a drive belt weaved around a plurality of reverse idlers to create a multiple segmented belt, the multiple segmented belt configured to provide clearance for a portion of the elongate member support.

9. The robotic surgical system of claim 6, wherein the elongate member support has one or more protrusions with grooves, wherein the grooves are configured to hold the elongate member to prevent buckling of the elongate member during rotational or linear motion of the elongate member, and the protrusions are positioned between the spaced idler belts.

10. The robotic surgical system of claim 1, further comprising a roll support configured to position the elongate member so that a bend in the elongate member faces towards a first direction, and to position the elongate member so that the bend faces towards a second direction that is opposite from the first direction.

11. The robotic surgical system of claim 10, wherein the roll support comprises a scissor jack.

12. The robotic surgical system of claim 1, further comprising a force sensor to measure force at a distal tip of the elongate member.

13. The robotic surgical system of claim 1, further comprising one or more slip rollers for gripping the elongate member, wherein the slip rollers are decoupled from the drive belt assembly and the idler belt assembly to detect sliding or slipping of the elongate member between the drive belt assembly and the idler belt assembly.