Introduction devices for highly articulated robotic probes and methods of production and use of such probes

• US 9,649,163 B2
• Filed: 11/10/2011
• Issued: 05/16/2017
• Est. Priority Date: 11/11/2010
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Oyola, Arnold E., Stand, Joseph A., Flaherty, J. Christopher, Darisse, Ian J., DiDomenico, Robert A., Straface, Samuel F.
• Primary Examiner(s): KASZTEJNA, MATTHEW JOHN
• Application Number:
  US13/884,407
• Publication Number:
  US 20140012288A1
• Time in Patent Office: 2,014 Days
• Field of Search: 600114, 600121-125, 600139-142
• CPC Class Codes: A61B 1/0011 Manufacturing of endoscope parts
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0053 using distributed actuators, e.g. artificial muscles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest.

Claims

1. An introduction assembly for an articulated probe, comprising:

a feeding mechanism having at least one actuator for directly controlling at least one of a shape or articulation of the articulated probe; and

an introduction device having a proximal end exclusively at and extending from the feeding mechanism, wherein the introduction device has a rigid unitary structure from the proximal end extending from the feeding mechanism to an output end, and is configured to receive the articulated probe and provide a supporting force to the articulated probe, wherein the articulated probe extends from the feeding mechanism to the output end of the introduction device, wherein the feeding mechanism controls a movement of the articulated probe relative to the introduction device, wherein the rigid unitary structure of the introduction device includes a lumen that is curved and smooth, wherein the articulated probe comprises a plurality of proximal links a plurality of distal links, and at least one distal outer link, wherein the at least one distal outer link has a width that is greater than a width of the lumen of the introduction device, wherein the feeding mechanism drives the plurality of proximal links and the plurality of distal links of the articulated probe through the curved smooth lumen of the rigid unitary structure of the introduction device, and wherein the width of the at least one distal outer link permits the at least one distal outer link to contact a distal end of the introduction device and further prevents the at least one distal outer link from retracting into the curved smooth lumen of the rigid unitary structure of the introduction device in response to the feeding mechanism driving the plurality of proximal links and the plurality of distal links of the articulated probe through the curved smooth lumen of the rigid unitary structure of the introduction device.

2. The introduction assembly of claim 1, wherein the introduction device is further configured to guide the articulated probe into a region of interest.

3. The introduction assembly of claim 2, wherein the region of interest is selected from the group consisting of:

the esophagus;

the gastrointestinal tract;

the pericardial space;

the peritoneal space; and

combinations thereof.

4. The introduction assembly of claim 1, wherein the introduction device is connected to the feeding mechanism.

5. The introduction assembly of claim 4, wherein the introduction device is configured to be disconnected from the feeding mechanism.

6. The introduction assembly of claim 1, wherein the introduction device further comprises:

a support member configured to support the articulated probe;

an entrance positioned at the proximal end of the support member configured to guide the articulated probe into proximity with the support member; and

an exit positioned at a distal end of the support member configured to guide the articulated probe from the support member into a region of interest.

7. The introduction assembly of claim 1, further comprising a tool shaft guide.

8. The introduction assembly of claim 7, wherein the tool shaft guide is configured to perform one or more of the following functions:

slidingly receive a shaft of a tool;

guide the shaft of a tool;

provide a supporting force for a tool; and

combinations thereof.

9. The introduction assembly of claim 7, further comprising a collar attaching the tool shaft guide to the introduction device.

10. The introduction assembly of claim 7, wherein the tool shaft guide is rotatably attached to the introduction device.

11. The introduction assembly of claim 10, wherein the tool shaft guide is rotatably attached to the introduction device with one degree of freedom.

12. The introduction assembly of claim 10, wherein the tool shaft guide is rotatably attached to the introduction device with multiple degrees of freedom.

13. The introduction assembly of claim 7, further comprising a second tool shaft guide.

14. The introduction assembly of claim 13, wherein the first tool shaft guide comprises a first geometry and the second tool shaft guide comprises a second geometry different than the first geometry.

15. The introduction assembly of claim 7, wherein the tool shaft guide comprises multiple coaxial tubes.

16. The introduction assembly of claim 15, wherein the tool shaft guide comprises a first tube comprising a first rigidity and a second tube comprising a second rigidity different than the first rigidity.

17. The introduction assembly of claim 16, wherein the first tube slidingly receives the second tube.

18. The introduction assembly of claim 17, wherein the first tube rigidity is greater than the second tube rigidity.

19. The introduction assembly of claim 7, wherein the tool shaft guide comprises a proximal end and a tapered opening positioned on the proximal end.

20. The introduction assembly of claim 7, wherein the tool shaft guide comprises a first portion and a second portion.

21. The introduction assembly of claim 20, wherein the tool shaft guide further comprises a joint connecting the first portion and the second portion.

22. The introduction assembly of claim 21, wherein the joint is selected from the group consisting of:

a spherical joint;

a hinged joint; and

combinations thereof.

23. The introduction assembly of claim 7, wherein the tool shaft guide comprises a bend portion constructed and arranged to allow an operator to modify the geometry of the tool shaft guide.

24. The introduction assembly of claim 23, wherein the bend portion comprises a plastically deformable material.

25. The introduction assembly of claim 1, wherein the plurality of proximal links and plurality of distal links are at least one of inner links or outer links.

26. The introduction assembly of claim 1, wherein at least one of the plurality of proximal links comprises a first diameter, and at least one of the plurality of distal links comprises a second diameter, wherein the first diameter is less than the second diameter.

27. The introduction assembly of claim 26, wherein the plurality of distal links are constructed and arranged to remain external to the introduction device.

28. The introduction assembly of claim 26, wherein the introduction device comprises a distal end, and wherein one or more of the plurality of proximal links are constructed and arranged to pass through the introduction device distal end.