Mechanized multi-instrument surgical system

• US 9,603,672 B2
• Filed: 07/11/2013
• Issued: 03/28/2017
• 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): Shi, Katherine M
• Assistant Examiner(s): MENDOZA, MICHAEL G
• Application Number:
  US13/939,229
• Publication Number:
  US 20150088159A1
• Time in Patent Office: 1,356 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 motorized surgical system, comprising:

at least one support having a distal portion positionable within a sterile field in proximity to a patient positioned on a surgical table;

an instrument driver carried by the distal portion of said at least one support, the instrument driver comprising a steerable finger having a steerable distal end positionable in a body cavity, the distal end configured to removably receive a surgical instrument, the steerable finger including a lumen proportioned to receive a distal portion of a surgical instrument;

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

a user input device carried by the distal portion of said at least one support, the user input device configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user;

at least one steering motor operably coupled to the instrument driver, the steering motor operable in response to the movement signals to cause tensioning of the actuation element so as to deflect the steerable distal end of the finger in response to the movement signals;

at least one roll driver carried by the distal portion of said at least one support, the roll driver positioned to rotationally couple with a shaft of a surgical instrument that is positioned through the lumen,

a roll input device carried by the support, the roll input device configured to generate roll signals in response to manual manipulation of the roll input device; and

a roll motor, the roll motor operably coupled to the roll driver, the roll motor operable to move the roll driver in response to the roll movement signals to cause axial rolling of at least a portion of the shaft of a surgical instrument that is rotationally coupled with the roll driver.

2. The system of claim 1, wherein:

the system includes a base mountable on the distal portion of the support, the steering motor is housed within the base and includes a first drive member exposed on the motor housing, and the roll motor includes a second drive member exposed on the motor housing;

the actuation element of the instrument driver is disposed on at least one pulley, and the instrument driver includes a first driven member rotatable to rotate said at least one pulley;

the roll driver includes a tubular member having a lumen proportioned to receive a distal shaft portion of a surgical instrument, and a second driven member rotatable to rotate said tubular member; and

the instrument driver and roll driver are removably positionable on the base to rotationally couple the first drive member with the first driven member and to rotationally couple the second drive member with the second driven member.

3. The system of claim 2, wherein:

the roll driver includes a roll driver housing, the tubular member disposed within the roll driver housing and the second driven member exposed at the exterior of the roll driver housing; and

the instrument driver includes an instrument driver housing, said at least one pulley disposed within the instrument driver housing and the first driven member exposed at the exterior of the instrument driver housing.

4. The system of claim 3, wherein the roll driver housing comprises the instrument driver housing.

5. The system of claim 3, wherein the roll driver housing and the instrument driver housing are separate housings.

6. A motorized surgical system, comprising:

at least one support having a distal portion positionable within a sterile field in proximity to a patient positioned on a surgical table;

an instrument driver carried by the distal portion of said at least one support, the instrument driver comprising a steerable finger having a steerable distal end positionable in a body cavity, the distal end configured to removably receive a surgical instrument, the steerable finger including a lumen proportioned to receive a distal portion of a surgical instrument;

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

a user input device carried by the distal portion of said at least one support, the user input device configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user;

at least one steering motor operably coupled to the instrument driver, the steering motor is operable in response to the movement signals to cause tensioning of the actuation element so as to deflect the steerable distal end of the finger in response to the movement signals;

wherein the steering motor comprises a motor housing and includes a drive member exposed on the motor housing;

the instrument driver further includes

an instrument driver housing;

at least two actuation elements each having a distal portion anchored to the finger,

a first pulley within the instrument driver housing and coupled to a proximal portion of one of the actuation elements, the first pulley including a first gear;

a second pulley within the instrument driver housing and coupled to a proximal portion of one of the actuation elements, the second pulley including a second gear;

a third gear engaged with the first and second gears; and

a driven member exposed on the instrument driver housing;

wherein the motor housing and the instrument driver housing are positionable to rotationally couple the driven member and the drive member such that activation of the motor rotates the third gear and the pulleys.

7. The system of claim 6, further including a sensor positioned to generate a signal in response to positioning of the instrument driver housing in contact with the motor housing.

8. The system of claim 6, further including a sensor positioned to generate a signal in response to rotational coupling of the drive and driven members.

9. The system of claim 6, wherein one of the drive and driven members is a male member and the other is a female member.

10. The system of claim 9, wherein at least one of the drive and driven members is a depressible member moveable relative to its corresponding housing between an extended position and a partially depressed position, and wherein said depressible member includes a spring positioned such that contacting the drive and driven members causes the depressible member to move against the spring into the depressed position, and to return to the depressible member to the extended position under action of the spring to cause the drive and driven members to mate.

11. The system of claim 10, further including a sensor positioned to generate a signal in response to movement of the depressible member from the depressed position to the extended position.

12. The system of claim 6, wherein the instrument driver and the user input device are on a common support.

13. The system of claim 6, wherein said at least one support includes:

a first support positionable within a sterile field in proximity to a patient, the instrument driver carried on said first support; and

a second support positionable within the sterile field in proximity to the patient, the user input device carried on said second support.

14. The system of claim 13, wherein the at least one steering motor is carried on the first support.