Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof

• US 9,364,955 B2
• Filed: 12/20/2012
• Issued: 06/14/2016
• Est. Priority Date: 12/21/2011
• Status: Active Grant

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Frangolis, Todd, Oyola, Arnold E., Anderson, Robert, Johnston, Gabriel, Darisse, Ian J., Stand, Joseph A., Bettencourt, Luis, Flaherty, J. Christopher
• Primary Examiner(s): Boes, Terence
• Application Number:
  US14/364,195
• Publication Number:
  US 20140318299A1
• Time in Patent Office: 1,272 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: Y10S 901/21 Flaccid drive element
• CPC Class Codes: Y10T 74/20323 including flaccid drive element

Abstract

An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

Claims

1. An apparatus for driving an articulating probe, the apparatus comprising:

at least one elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state;

a force transfer mechanism constructed and arranged to apply a force to the at least one elongate probe, said force selected from the group consisting of;

a force that causes the at least one elongate probe to articulate in the at least one predetermined degree of motion; and

a force that causes the at least one elongate probe to transition from the flexible state to the rigid state;

a base structure attached to at least a portion of the force transfer mechanism and the at least one elongate probe, the base structure including a coupling mechanism that removably secures the probe to the base structure; and

one or more stabilizing elements constructed and arranged to resist undesired movement of the at least one elongate probe caused by force from the force transfer mechanism,

wherein the at least one elongate probe comprises a first probe arm and a second probe arm, the second probe arm slidable longitudinally within the first probe arm, wherein the force transfer mechanism is constructed and arranged to drive the first and second probe arms longitudinally with respect to each other, and wherein the force transfer mechanism comprises a locking mechanism to independently transition each of the first and second probe arms from the flexible state to the rigid state.

2. The apparatus of claim 1 wherein at least one of the stabilizing elements is constructed and arranged to resist twisting, flexing, compression, stretching and/or lengthening of the base structure.

3. The apparatus of claim 1 further comprising a housing at least partially covering the force transfer mechanism, wherein at least one of the stabilizing elements comprises a reinforced housing rib connected to the housing.

4. The apparatus of claim 1 wherein the one or more stabilizing elements comprises a force distribution plate.

5. The apparatus of claim 4 wherein the force transfer mechanism comprises a plastic housing and wherein the force distribution plate comprises a metal plate attached to the plastic housing.

6. The apparatus of claim 4 wherein the force transfer mechanism comprises at least one cable and at least one bobbin, wherein applying a force to the at least one elongate probe comprises rotating the at least one bobbin, and wherein the at least one bobbin is attached to and stabilized by the force distribution plate.

7. The apparatus of claim 4 wherein the force transfer mechanism comprises at least one cable, at least one bobbin and at least one cart, wherein applying a force to the at least one elongate probe comprises rotating the at least one bobbin, wherein the at least one cart is constructed and arranged to advance and retract the at least one elongate probe, and wherein the at least one bobbin and the at least one cart are attached to the force distribution plate.

8. The apparatus of claim 1 further comprising at least one cart attached to the at least one elongate probe, wherein the at least one cart comprises a first cart that is constructed and arranged to advance and retract the at least one elongate probe, and wherein at least one stabilizing element comprises an elongate guide fixture constructed and arranged to slidingly guide the first cart.

9. The apparatus of claim 1 wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 1 pound.

10. The apparatus of claim 1 wherein the force transfer mechanism comprises at least one cable constructed and arranged to transmit the force that causes the at least one elongate probe to transition from the flexible state to the rigid state.

11. The apparatus of claim 1 wherein the portion of the force transfer mechanism attached to the base structure is driven by at least one force-generating unit.

12. The apparatus of claim 11 wherein the at least one force generating unit comprises a motor.

13. The apparatus of claim 1 wherein the one or more stabilizing elements comprises one or more vertically oriented posts extending between a ground connecting interface and a chassis of the base structure.

14. The apparatus of claim 1 further comprising an introducer conduit attached to the force transfer mechanism, the introducer conduit constructed and arranged to guide the at least one elongate probe along a predetermined path.

15. The apparatus of claim 1 wherein the first probe arm and the second probe arm extend in a longitudinal direction, wherein a link of the first probe arm has an opening having an inner width greater than an outer width of a link of the second probe arm, and wherein the link of the second probe arm extends through, and is movable in a longitudinal direction relative to, the opening of the link of the first probe arm.

16. The apparatus of claim 15 wherein the second probe arm comprises an inner link mechanism of the articulating probe and wherein the first probe arm comprises an outer link mechanism of the articulating probe.

17. The apparatus of claim 15 wherein the at least one elongate probe comprises a steerable distal end.

18. The apparatus of claim 17 wherein the at least one predetermined degree of motion comprises three degrees of motion about which the steerable distal end can be steered.

19. The apparatus of claim 1 wherein the at least one elongate probe is constructed and arranged to receive a tool.

20. The apparatus of claim 1, wherein a combination of the coupling mechanism and the one or more stabilizing elements of the base structure is constructed and arranged to resist undesired movement of the at least one elongate probe caused by the force from the force transfer mechanism.

21. The apparatus of claim 2, wherein the one or more stabilizing elements resists an undesired force transfer between the base structure and the force transfer mechanism.

22. The apparatus of claim 4, wherein the force distribution plate further comprises a stabilizing element of the one or more stabilizing elements that includes a heel fixed to the force distribution plate and extending from the force distribution plate, and is constructed and arranged to lockably engine the base structure.

23. The apparatus of claim 22, wherein the heel plate comprises at least one alignment rib to resist an undesired force transfer between the base structure and the force transfer mechanism.

24. The apparatus of claim 1, wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 10 pounds.

25. The apparatus of claim 1, wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 20 pounds.

26. The apparatus of claim 1, wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 30 pounds.

27. The apparatus of claim 1, wherein the one or more stabilizing elements are positioned at the base structure.

28. The apparatus of claim 1, wherein the one or more stabilizing elements are positioned at the force transfer mechanism.

29. The apparatus of claim 1, wherein the one or more stabilizing elements are positioned at the base structure and the force transfer mechanism.