Mechanized multi-instrument surgical system

• US 9,345,545 B2
• Filed: 07/11/2013
• Issued: 05/24/2016
• 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
• Primary Examiner(s): Woo, Julian W
• Assistant Examiner(s): MENDOZA, MICHAEL G
• Application Number:
  US13/939,227
• Publication Number:
  US 20150088158A1
• Time in Patent Office: 1,048 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 surgical system, comprising:

an instrument driver having a distal end positionable in a body cavity, the instrument driver comprising a steerable finger having a lumen proportioned to receive a distal portion of a surgical instrument;

a plurality of actuation elements extending at least partially through the finger;

a user input device, wherein 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 configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument; and

at least two motors operably coupled to the instrument driver, the motors operable in response to the movement signals to cause tensioning of the actuation elements so as to deflect the finger in at least two degrees of freedom and to thereby change position of the distal portion of the surgical instrument within the body cavity;

wherein

the input device includes a base and an instrument receiver on the base, the instrument receiver manually moveable relative to the base in at least two degrees of freedom to generate the movement signals.

2. The system of claim 1, further including:

a roll driver positioned to rotationally couple with a surgical instrument received by the instrument driver and the input device;

a roll input device configured to generate roll signals in response to manual manipulation of at least one of a moveable member on the roll input device and a proximal portion of the surgical instrument; and

a roll motor operably coupled to the roll driver, the roll motor operable to move the roll driver in response to the roll movement signals, such that said roll driver axially rotates the distal portion of the surgical instrument.

3. The system of claim 2, wherein the roll input device is configured to generate the roll signals in response to manual axial rotation of a surgical instrument positioned in contact with the roll input device.

4. The system of claim 2 wherein the roll input device is configured to generate the roll signals in response to manual rotation of a knob on the roll input device.

5. The system of claim 2 wherein the roll driver is configured to permit longitudinal movement of a surgical instrument relative to the roll driver when the surgical instrument is rotationally coupled with the roll driver.

6. The system of claim 5, further including a sensor positioned to generate signals in response to a change in a longitudinal position of a surgical instrument.

7. The system of claim 2, wherein:

the roll driver comprises a roll drive member having an opening proportioned to receive a portion of a surgical instrument and features surrounding the opening lumen that are rotationally coupleable with the surgical instrument shaft; and

the roll motor is operable to axially rotate the roll drive member.

8. The system of claim 1, further including a sensor positioned to generate an instrument presence signal in response to positioning of a proximal portion of a surgical instrument on the input device.

9. A surgical system, comprising:

an instrument driver having a distal end positionable in a body cavity, the instrument driver comprising a steerable finger having a lumen proportioned to receive a distal portion of a surgical instrument;

at least one actuation element extending at least partially through the finger;

a user input device, wherein 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 configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument; and

at least one motor operably coupled to the instrument driver, the motor operable to actuate the instrument driver in response to the movement signals to cause tensioning of the actuation element so as to deflect the finger and to thereby change position of the distal portion of the surgical instrument within the body cavity;

an insertion support insertable through an incision into a body cavity;

a second steerable finger, the first and second steerable fingers extending from a distal end of the insertion support, the second steerable finger having a lumen proportioned to receive a distal portion of a second surgical instrument;

a second user input device, wherein the second finger and second user input device are positioned to removably receive distal and proximal portions, respectively, of a second surgical instrument, the second user input device configured to generate second movement signals in response to manual manipulation of the proximal portion of the second surgical instrument; and

at least one second motor operably coupled to the second finger, the second motor operable to deflect the second finger in response to the second movement signals.

10. The system of claim 9, wherein at least one of the first and second fingers is laterally moveable from a first position in which the distal portion of said 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 said 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.

11. The system of claim 10, further including a sensor positioned to generate a signal in response to movement of at least one of the fingers between the first and second positions.

12. A surgical system, comprising:

an instrument driver having a distal end positionable in a body cavity, the instrument driver comprising a steerable finger having a lumen proportioned to receive a distal portion of a surgical instrument;

at least one actuation element extending at least partially through the finger;

a user input device, wherein 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 configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument;

at least one motor operably coupled to the instrument driver, the motor operable to actuate the instrument driver in response to the movement signals to cause tensioning of the actuation element so as to deflect the finger and to thereby change position of the distal portion of the surgical instrument within the body cavity;

a roll driver positioned to rotationally couple with a surgical instrument received by the instrument driver and the input device;

a roll input device configured to generate roll signals in response to manual manipulation of at least one of a moveable member on the roll input device and a proximal portion of the surgical instrument, wherein the roll input device includes;

a support,

a receiver on the support, the receiver having an opening for receiving a shaft of a surgical instrument, the receiver axially rotatable relative to the support;

a magnet rotatable in response to axial rotation of the receiver; and

a roll sensor positioned to detect rotation of the magnet and to generate the roll movement signals in response to rotation of the magnet; and

a roll motor operably coupled to the roll driver, the roll motor operable to move the roll driver in response to the roll movement signals, such that said roll driver axially rotates the distal portion of the surgical instrument.

13. The system of claim 12, wherein the receiver is longitudinally moveable relative to the support.

14. The system of claim 12, wherein the receiver is a tubular receiver having a lumen for receiving a shaft of a surgical instrument.

15. A surgical system, comprising:

an instrument driver having a distal end positionable in a body cavity, the instrument driver comprising a steerable finger having a lumen proportioned to receive a distal portion of a surgical instrument;

at least one actuation element extending at least partially through the finger;

a user input device, wherein 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 configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument;

at least one motor operably coupled to the instrument driver, the motor operable to actuate the instrument driver in response to the movement signals to cause tensioning of the actuation element so as to deflect the finger and to thereby change position of the distal portion of the surgical instrument within the body cavity;

a roll driver positioned to rotationally couple with a surgical instrument received by the instrument driver and the input device, wherein the roll driver comprises a tubular member having a lumen and an opening proportioned to receive a distal shaft portion of a surgical instrument, the lumen including first surface features positioned to rotationally couple with second surface features of a shaft portion of a surgical instrument;

a roll input device configured to generate roll signals in response to manual manipulation of at least one of a moveable member on the roll input device and a proximal portion of the surgical instrument

a roll motor operably coupled to the roll driver, the roll motor operable to move the roll driver in response to the roll movement signals, the roll motor is operable to axially rotate the member such that said roll driver axially rotates the distal portion of the surgical instrument;

wherein the first and second surface features are shaped to permit sliding longitudinal movement of the second surface features relative to the first surface features while preventing rotational movement of the second surface features relative to the first surface features.

16. The system of claim 15, 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, the spline slidably receivable within the groove.

17. The system of claim 15, wherein said first feature comprises a member having an exterior surface defining a non-circular transverse cross-section, wherein said second first feature comprises the lumen having a interior wall surface having non-circular transverse cross-section.

18. The system of claim 17, wherein each of the exterior surface of the member and the interior wall surface of the lumen includes a plurality of longitudinally-extending planar surfaces.

19. The system of claim 15, 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, the pin longitudinally slidable within the groove method includes causing said spline and groove to rotationally engage.