Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures

• US 9,572,628 B2
• Filed: 03/08/2016
• Issued: 02/21/2017
• Est. Priority Date: 09/13/2011
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Zubiate, Brett, Oyola, Arnold, Whipple, Dale, Stand, Joseph A., Didomenico, Robert, Kennefick, William H., Flaherty, J. Christopher
• Primary Examiner(s): Boes, Terence
• Application Number:
  US15/064,043
• Publication Number:
  US 20160262840A1
• Time in Patent Office: 350 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/0056 the insertion parts being asymmetric, e.g. for unilateral bending mechanisms
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/065 Snake robots

Abstract

An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link.

Claims

1. An articulating probe, comprising:

a first mechanism comprising;

a first link comprising a first longitudinal axis, a first articulation surface and a first motion limiting element;

a second link comprising a second longitudinal axis, a second articulation surface and a second motion limiting element;

an articulation joint comprising the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link; and

a motion resisting assembly comprising the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis; and

a second mechanism comprising;

a third link comprising a third longitudinal axis and a third articulation surface;

a fourth link comprising a fourth longitudinal axis and a fourth articulation surface;

an articulation joint comprising the third articulation surface and the fourth articulation surface and constructed and arranged to allow at least two degree of freedom articulation of the fourth link relative to the third link, wherein the first mechanism and the second mechanism extend in a longitudinal direction, wherein a link of one of the first and second mechanisms has an opening having an inner width greater than a greatest outer width of a link of the other of the first and second mechanisms, and wherein the link of the other of the first and second mechanisms extends through the opening of the link of the one of the first and second mechanisms and an entire length of the link of the other of the first and second mechanisms is movable in a longitudinal direction through the opening of the link of the one of the first and second mechanisms.

2. The articulating probe of claim 1 wherein the first mechanism comprises an inner link mechanism of the articulating probe and wherein the second mechanism comprises an outer link mechanism of the articulating probe.

3. The articulating probe of claim 1 wherein the first mechanism comprises an outer link mechanism of the articulating probe and wherein the second mechanism comprises an inner link mechanism of the articulating probe.

4. The articulating probe of claim 1

wherein the third link further comprises a third motion limiting element;

wherein the fourth link further comprises a fourth motion limiting element; and

wherein the second mechanism further comprises a motion resisting assembly comprising the third motion limiting element and the fourth motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the fourth link about the fourth longitudinal axis.

5. The articulating probe of claim 1 wherein the first motion limiting element comprises at least one projecting member and the second motion limiting element comprises at least one receiving region constructed and arranged to receive the at least one projecting member.

6. The articulating probe of claim 5 wherein the projecting member comprises a pin and the receiving region comprises a slot.

7. The articulating probe of claim 5 wherein the projecting member comprises a rib and the receiving region comprises a recess.

8. The articulating probe of claim 5 wherein the projecting member comprises multiple projecting members and the receiving member comprises multiple receiving regions.

9. The articulating probe of claim 8 wherein the multiple projecting members are distributed evenly about the first link at equal angular intervals.

10. The articulating probe of claim 1 wherein the first motion limiting element comprises a pin and wherein the second motion limiting element comprises a slot and wherein the pin of the first link engages the slot of the second link.

11. The articulating probe of claim 1

wherein the first motion limiting element comprises a pin;

wherein the second motion limiting element comprises a slot;

wherein the pin of the first link engages the slot of the second link; and

wherein the pin of the first link interfaces with sidewalls of the slot of the second link to resist the rotation of the first link relative to the second link.

12. The articulating probe of claim 1 wherein the first motion limiting element comprises first and second pins and wherein the second motion limiting element comprises first and second corresponding slots and wherein over a range of articulation motion of the second link relative to the first link, at least one of the first and second pins is at least partially engaged with the corresponding at least one of the first and second slots.

13. The articulating probe of claim 1 wherein the first motion limiting element comprises at least one rib and wherein the second motion limiting element comprises at least one recess and wherein over a range of articulation motion of the second link relative to the first link, the at least one rib is at least partially engaged with the at least one recess.

14. The articulating probe of claim 1 wherein the first articulation surface comprises a convex surface and wherein the second articulation surface comprises a concave surface.

15. The articulating probe of claim 14 wherein the convex, first articulation surface comprises a semi-spherical surface.

16. The articulating probe of claim 14 wherein the concave, second articulation surface comprises a semi-spherical surface.

17. The articulating probe of claim 1

wherein the first articulation surface comprises a convex, semi-ellipsoidal surface;

wherein the second articulation surface comprises a concave, semi-ellipsoidal surface;

wherein the convex, semi-ellipsoidal, first articulation surface of the first link comprises the first motion limiting element; and

wherein the concave, semi-ellipsoidal, second articulation surface of the second link comprises the second motion limiting element.

18. The articulating probe of claim 1

wherein the first articulation surface comprises convex and concave regions;

wherein the second articulation surface comprises concave and convex regions that correspond to the convex and concave regions of the first articulation surface;

wherein the first articulation surface of the first link comprises the first motion limiting element; and

wherein the second articulation surface of the second link comprises the second motion limiting element.

19. The articulating probe of claim 1

wherein the first motion limiting element comprises a first magnet;

wherein the second motion limiting element comprises a second magnet, and

wherein the first and second magnets are positioned on the first and second links respectively so as to magnetically engage each other.

20. The articulating probe of claim 19

wherein the first magnet comprises multiple first magnets and wherein the second magnet comprises multiple second magnets and

wherein the multiple first and second magnets are positioned about the longitudinal axes of the respective first and second links at regular angular intervals.

21. The articulating probe of claim 19

wherein the first magnet is positioned on the first articulation surface and the second magnet is positioned on the second articulation surface;

and

wherein the first and second magnets are aligned relative to each other so as to magnetically engage each other.

22. The articulating probe of claim 1 further comprising:

at least one steering cable opening through the first link and the second link extending in a direction that is parallel to the respective first and second longitudinal axes; and

at least one steering cable corresponding to links in the first mechanism that is selectively tensioned to retain the first and second articulation surfaces of the first and second links in physical contact and selectively released to allow for selective motion of the second link relative to the first link.

23. The articulating probe of claim 22 wherein the at least one steering cable opening comprises multiple steering cable openings and wherein the at least one steering cable comprises multiple steering cables.

24. The articulating probe of claim 1 wherein:

the first link further comprises a first articulation axis and a second articulation axis, the first and second articulation axes normal to each other and normal to the first longitudinal axis of the first link;

the second link further comprises a first articulation axis and a second articulation axis, the first and second articulation axes normal to each other and normal to the second longitudinal axis of the second link; and

the two-degree-of-freedom articulation of the second link relative to the first link comprises angular movement of the second link about the first and second articulation axes of the first link.