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

• US 9,757,856 B2
• Filed: 09/12/2012
• Issued: 09/12/2017
• Est. Priority Date: 09/13/2011
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Oyola, Arnold, Zubiate, Brett, Whipple, Dale, Stand, Joseph A., Didomenico, Robert, Kennefick, William H., Flaherty, J. Christopher
• Primary Examiner(s): Boes, Terence
• Application Number:
  US14/343,915
• Publication Number:
  US 20140371764A1
• Time in Patent Office: 1,826 Days
• 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 link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element, the first link having a shoulder about a lower portion of the first articulation surface, the shoulder of the first link extending in an outward direction away from the first articulating surface relative to the first longitudinal axis;

a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element, the second link having an abutting surface about the second articulation surface, the abutting surface of the second link extending in an outward direction away from the second articulating surface relative to the second longitudinal axis;

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 relative to the first longitudinal axis of the first link and to further allow the two degree-of-freedom articulation of the second link about two articulation axes different than the second longitudinal axis, and

wherein the shoulder of the first link communicates with the abutting surface of the second link external to the articulation joint to limit the articulation of the second link relative to the first link.

2. 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.

3. The articulating probe of claim 2 wherein the convex, first articulation surface comprises a semi-spherical surface.

4. The articulating probe of claim 2 wherein the concave, second articulation surface comprises a semi-spherical surface.

5. 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.

6. The articulating probe of claim 5 wherein the first articulation surface comprises a semi-spherical surface and wherein the pin is positioned to extend from an equatorial plane of the semi-spherical surface.

7. The articulating probe of claim 5 wherein at least one of first and second ends of the slot is open-ended.

8. The articulating probe of claim 5 wherein the slot at least partially covers an outer end of the pin over at least a portion of a range of the articulation of the second link relative to the first link.

9. The articulating probe of claim 5 wherein the pin has a circular cross-section.

10. 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 at least one of the corresponding first and second slots.

11. The articulating probe of claim 10 wherein, at an articulation angle of zero of the second link relative to the first link, both of the first and second pins are partially engaged with the first and second corresponding slots.

12. The articulating probe of claim 10 wherein the first and second pins are angularly spaced apart 180 degrees about the first longitudinal axis relative to the first articulation surface.

13. The articulating probe of claim 10 wherein the first and second slots are angularly spaced apart 180 degrees about the second longitudinal axis relative to the second articulation surface.

14. The articulating probe of claim 1 wherein the first motion-limiting element comprises a single pin and wherein the second motion-limiting element comprises a single slot and wherein over a range of articulation angles of the second link relative to the first link, the pin is at least partially engaged with the slot.

15. The articulating probe of claim 14 wherein the pin is positioned on the first articulation surface and wherein the slot is positioned on the second articulation surface.

16. The articulating probe of claim 14 wherein the slot is positioned on the first articulation surface and wherein the pin is positioned on the second articulation surface.

17. The articulating probe of claim 14 wherein the first articulation surface comprises a convex, semi-spherical surface and wherein the pin is positioned on the first articulation surface between an equator and a pole of the first articulation surface and wherein the slot is positioned on the second articulation surface.

18. The articulating probe of claim 14 wherein the first articulation surface comprises a convex, semi-spherical surface and wherein the slot is positioned on the semi-spherical first articulation surface between an equator and a pole of the first articulation surface and wherein the pin is positioned on the second articulation surface.

19. The articulating probe of claim 1 wherein the first motion-limiting element comprises a single slot and wherein the second motion-limiting element comprises a single pin and wherein over a range of articulation angles of the second link relative to the first link, the pin is at least partially engaged with the slot.

20. The articulating probe of claim 19 wherein the first articulation surface comprises a convex, semi-spherical surface and wherein the slot is positioned on the semi-spherical first articulation surface and extends from an equator of the first articulation surface in a direction toward a pole of the first articulation surface of the first link and wherein the pin is positioned below the second articulation surface of the second link.

21. The articulating probe of claim 19 wherein the pin is positioned on the second link at a position that aligns with an equator of the semi-spherical first articulation surface of the first link, when the second link is at an articulation angle of zero relative to the first link.

22. The articulating probe of claim 19 wherein the second link further comprises a third motion-limiting element comprising a single slot that is spaced apart 120 degrees in position relative to the pin, the third motion limiting element comprising a second motion limiting assembly that is constructed and arranged to resist rotation of a third link having a mating pin about a third longitudinal axis relative to the second link about the second longitudinal axis.

23. The articulating probe of claim 1 wherein the first articulation surface comprises convex and concave regions and wherein the second articulation surface comprises concave and convex regions that correspond to the convex and concave regions of the first articulation surface.

24. The articulating probe of claim 23 wherein:

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

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

25. The articulating probe of claim 23 wherein an outermost surface of the first and second links is circular in cross section about the respective first and second longitudinal axes.

26. The articulating probe of claim 23 wherein the first and second links comprise outer links of the articulating probe, and wherein the articulating probe further comprising a plurality of inner links that pass through openings in the outer links.

27. 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.

28. The articulating probe of claim 1 wherein the first and second links comprise outer links of the articulating probe, and wherein the articulating probe further comprising a plurality of inner links that pass through openings in the outer links.

29. The articulating probe of claim 1 wherein the motion limiting assembly limits rotation of the second link to about 1 degree of rotation about its longitudinal axis.

30. 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.

31. The articulating probe of claim 30 further comprising at least one steering cable corresponding to the first and second links 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.

32. The articulating probe of claim 31 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.

33. The articulating probe of claim 32 wherein the multiple steering cable openings and the multiple steering cables comprise at least one of:

two steering cable openings and two steering cables;

three steering cable openings and three steering cables;

or

four steering cable openings and four steering cables.

34. 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.

35. The articulating probe of claim 34 wherein the at least one projecting member comprises a pin and the at least one receiving region comprises a slot.

36. The articulating probe of claim 34 wherein the at least one projecting member comprises multiple projecting members and the at least one receiving member comprises multiple receiving regions.

37. The articulating probe of claim 36 wherein the multiple projecting members are distributed evenly about the first link at equal angular intervals.

38. 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.

39. The articulating probe of claim 1

wherein the first link and second link comprise a first mechanism;

and

wherein the articulating probe further comprises 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; and

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 the first mechanism has an opening having an inner width greater than a greatest outer width of a link of the second mechanism, and

wherein the link of the second mechanism extends through the opening of the link of the first mechanism and an entire length of the link of the second mechanism is movable in a longitudinal direction through the opening of the link of the first mechanism.

40. The articulating probe of claim 39

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.

41. The articulating probe of claim 1 wherein the shoulder of the first link is of an outer width that is greater than a greatest width of the first articulation surface.

42. The articulating probe of claim 1 wherein the abutting surface of the second link is of an outer width that is greater than a greatest inner width of the second articulation surface.

48. The articulating probe of claim 5, wherein the pin is integral with the first link.

49. The articulating probe of claim 5, wherein the slot extends along an interior surface of the tab in a direction of the second longitudinal axis of the second link.

50. The articulating probe of claim 5, wherein the slot includes parallel walls that extend along the interior surface in the second longitudinal axis of the second link, the pin articulating between the parallel walls in one of the two degrees of freedom.

43. An articulating probe, comprising:

a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element, the first link having a shoulder about a lower portion of the first articulation surface, the shoulder of the first link extending in an outward direction away from the first articulating surface relative to the first longitudinal axis the first link further comprising a recess in the shoulder;

a second link comprising a second longitudinal axis, a second articulation surface, and a second motion-limiting element, the second link having an abutting surface about the second articulation surface, the abutting surface of the second link extending in an outward direction away from the second articulating surface relative to the second longitudinal axis, the second link further comprising a tab extending from a surface of the second link proximal the abutting surface, the tab constructed and arranged to communicate with the recess in the shoulder of the first link;

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 relative to the first longitudinal axis of the first link, and

wherein the shoulder of the first link communicates with the abutting surface of the second link external to the articulation joint to limit the articulation of the second link relative to the first link.

44. The articulating probe of claim 43 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.

45. The articulating probe of claim 44, wherein the pin is integral with the first link.

46. The articulating probe of claim 44, wherein the slot extends along an interior surface of the tab in a direction of the second longitudinal axis of the second link.

47. The articulating probe of claim 46, wherein the slot includes parallel walls that extend along the interior surface in the second longitudinal axis of the second link, the pin articulating between the parallel walls in one of the two degrees of freedom.