Mechanized multi-instrument surgical system

• US 9,333,040 B2
• Filed: 02/04/2013
• Issued: 05/10/2016
• Est. Priority Date: 02/02/2012
• Status: Active Grant

• Current Assignee: Great Belief International Limited
• Original Assignee: TransEnterix Surgical, LLC
• Inventors: Shellenberger, Carson, Laby, Keith Phillip, Mueller, Richard M, Bender, Nicholas J., Robertson, Galen, Jardine, Nicholas J., Penny, Matthew R., Nathan, Mohan, Tew, Lucas, Cuevas, James, Wilson, Jeff
• Primary Examiner(s): Shi, Katherine M
• Assistant Examiner(s): MENDOZA, MICHAEL G
• Application Number:
  US13/759,036
• Publication Number:
  US 20140107665A1
• Time in Patent Office: 1,191 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2901 Details of shaft
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.

Claims

1. A method of performing surgery, comprising:

inserting a distal end of an instrument driver through an incision in a body wall into a body cavity, the instrument driver comprising a steerable finger having a lumen;

removably inserting a distal portion of a surgical instrument in contact with the instrument driver by inserting the surgical instrument through the lumen, and removably positioning a proximal portion of the surgical instrument in contact with a user input device;

manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; and

operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity, wherein operating the motor tensions an actuation element anchored to the finger so as to deflect the finger within the body cavity.

2. The method of claim 1, wherein:

the input device is provided to include a base and an instrument receiver on the base, manually manipulating the proximal portion of the surgical instrument includes manually moving the instrument receiver relative to the base in at least two degrees of freedom to generate the movement signals;

the step of operating a motor includes selectively operating at least two motors in response to the movement signals to deflect the finger in at least two degrees of freedom, operation of each such motor tensioning at least one actuation element anchored to the finger.

3. The method of claim 2, wherein the system is provide to include an insertion support, the steerable finger as a first steerable finger extending distally from the insertion support, and a second steerable finger extending distally from the insertion support, and wherein the method further includes:

inserting the insertion support into the body cavity;

laterally moving at least one of the first and second fingers between a first position in which a distal portion of the finger is spaced from a longitudinal axis of the insertion support by a first distance, and a second position in which a distal portion of the finger is spaced from a longitudinal axis of the insertion support by a second distance, wherein the second distance is greater than the first distance.

4. The method of claim 3, including simultaneously moving the first and second fingers between the first and second positions.

5. The method of claim 3, including independently moving the first and second fingers between the first and second positions.

6. The method of claim 3, further including generating a signal in response to movement of at least one of the fingers between the first and second positions.

7. The method of claim 1:

wherein positioning the surgical instrument includes positioning a distal portion of the surgical instrument in contact with a roll driver, and wherein the method further includes;

generating roll movement signals in response to manual manipulation of at least one of a moveble member on a roll input device and the proximal portion of the surgical instrument; and

operating a roll motor in response to the roll movement signals, operation of the roll motor causing the roll driver to axially roll the distal portion of the surgical instrument.

8. The method of claim 7, further including manually moving the surgical instrument longitudinally relative to the roll driver to advance or retract a distal end of the surgical instrument within the body cavity, wherein the roll driver remains rotationally coupled with the surgical instrument throughout longitudinal movement of the surgical instrument.

9. The method of claim 8, further including sensing a change in the longitudinal position of the surgical instrument.

10. The method of claim 7, wherein the roll driver is provided to include a tubular member having a lumen, and wherein the method further includes:

positioning a portion of the surgical instrument within the lumen of the tubular member; and

operating the roll motor to axially rotate the tubular member, wherein at least one first feature in the lumen of the tubular member rotationally couples with at least one second feature on the shaft of the surgical instrument to cause axial rotation of the distal portion of the surgical instrument shaft.

11. The method of claim 10, wherein one of the first and second features includes at least one longitudinal spline and the other of the first and second features includes at least one longitudinal groove, wherein the method includes causing said spline and groove to rotationally engage.

12. The method of claim 10, wherein said first feature comprises a member having a non-circular transverse cross-section, wherein said second first feature comprises the lumen having a interior wall having non-circular transverse cross-section, wherein insertion of the member into the lumen rotationally engages the member within the lumen.

13. The method of claim 10, wherein one of the first and second features includes at least one pin and the other of the first and second features includes at least one longitudinal groove, wherein the method includes causing said spline and groove to rotationally engage.

14. The method of claim 1, further including generating an instrument presence signal in response to positioning of a proximal portion of a surgical instrument on the input device.

15. The method of claim 14, further including preventing operation of the motor in response to the movement signals unless an instrument presence signal has been generated.

16. The method of claim 11, wherein at least one of the surgical instrument and the input device includes a magnet, and the other of the surgical instrument and the input device includes a magnetic encoder, wherein the magnetic encoder produces the instrument presence signal in response to positioning of the magnetic in proximity to the encoder.

17. The method of claim 16, wherein the surgical instrument includes the magnet and the input device includes the magnetic encoder and a surface magnetically adherable to the magnet, wherein the encoder produces the instrument presence signal in response to magnetic coupling between the magnet and the surface.

18. The method of claim 1, further including preventing operation of the motor in response to the movement signals unless a user engage switch has been actuated to engage the system.

19. The method of claim 18, further including preventing operation of the motor in response to the movement signals if the user engage switch has been actuated to disengage the system.

20. The method of claim 1, wherein the surgical instrument is a manually actuatable instrument, and wherein the method further comprises manually actuating the surgical instrument to perform a procedure in the body cavity.

21. A method of performing surgery, comprising:

inserting a distal end of an instrument driver through an incision in a body wall into a body cavity;

removably positioning a distal portion of a surgical instrument in contact with the instrument driver and in contact with a roll driver and removably positioning a proximal portion of the surgical instrument in contact with a user input device;

manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; and

operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity;

generating roll movement signals in response to manual axial rotation of the proximal portion of the surgical instrument; and

operating a roll motor in response to the roll movement signals, operation of the roll motor causing the roll driver to axially roll the distal portion of the surgical instrument.

22. A method of performing surgery, comprising:

inserting a distal end of an instrument driver through an incision in a body wall into a body cavity;

removably positioning a distal portion of a surgical instrument in contact with the instrument driver and in contact with a roll driver and removably positioning a proximal portion of the surgical instrument in contact with a user input device;

manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; and

operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity

generating roll movement signals in response to manual rotation of a knob on a roll input device and

operating a roll motor in response to the roll movement signals, operation of the roll motor causing the roll driver to axially roll the distal portion of the surgical instrument.

23. A method of performing surgery, comprising:

inserting a distal end of an instrument driver through an incision in a body wall into a body cavity;

removably positioning a distal portion of a surgical instrument in contact with the instrument driver, removably positioning a proximal portion of the surgical instrument in contact with a user input device, providing a roll driver that includes a tubular member having a lumen, and positioning a portion of the surgical instrument within the lumen of the tubular member;

manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument;

operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity

generating roll movement signals in response to manual manipulation of at least one of a moveble member on a roll input device and the proximal portion of the surgical instrument; and

operating a roll motor in response to the roll movement signals, wherein operating the roll motor axially rotates the tubular member, and wherein at least one first feature in the lumen of the tubular member rotationally couples with at least one second feature on the shaft of the surgical instrument to cause axial rotation of the distal portion of the surgical instrument shaft.

24. The method of claim 23, wherein one of the first and second features includes at least one longitudinal spline and the other of the first and second features includes at least one longitudinal groove, wherein the method includes causing said spline and groove to rotationally engage.

25. The method of claim 23, wherein said first feature comprises a member having a non-circular transverse cross-section, wherein said second first feature comprises the lumen having a interior wall having non-circular transverse cross-section, wherein insertion of the member into the lumen rotationally engages the member within the lumen.

26. The method of claim 23, wherein one of the first and second features includes at least one pin and the other of the first and second features includes at least one longitudinal groove, wherein the method includes causing said spline and groove to rotationally engage.

27. A method of performing surgery, comprising:

inserting a distal end of an instrument driver through an incision in a body wall into a body cavity;

removably positioning a distal portion of a first surgical instrument in contact with the instrument driver and removably positioning a proximal portion of the first surgical instrument in contact with a user input device;

manually manipulating the proximal portion of the first surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the first surgical instrument; and

operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the first surgical instrument within the body cavity

with the distal end of the instrument driver in the body cavity;

separating the first surgical instrument from the instrument driver and the user input device;

removably positioning a distal portion of a second surgical instrument in contact with the instrument driver, and removably positioning a proximal portion of the second surgical instrument in contact with the user input device;

manually manipulating the proximal portion of the second surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; and

operating the motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the second surgical instrument within the body cavity.

28. The method of claim 27:

wherein positioning the first surgical instrument includes positioning a distal portion of the first surgical instrument in contact with a roll driver, and wherein the method further includes;

generating roll movement signals in response to manual manipulation of at least one of a moveble member on a roll input device and the proximal portion of the first surgical instrument; and

operating a roll motor in response to the roll movement signals, operation of the roll motor causing the roll driver to axially roll the distal portion of the first surgical instrument.

29. The method of claim 28, further including manually moving the surgical instrument longitudinally relative to the roll driver to advance or retract a distal end of the first surgical instrument within the body cavity, wherein the roll driver remains rotationally coupled with the surgical instrument throughout longitudinal movement of the first surgical instrument.

30. The method of claim 29, further including sensing a change in the longitudinal position of the first surgical instrument.

31. The method of claim 27, wherein the first surgical instrument is a manually actuatable instrument, and wherein the method further comprises manually actuating the first surgical instrument to perform a procedure in the body cavity.