System for robotic-assisted endolumenal surgery and related methods

• US 9,763,741 B2
• Filed: 10/24/2014
• Issued: 09/19/2017
• Est. Priority Date: 10/24/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Alvarez, Jeffery B., Kintz, Gregory J., Mintz, David S., Romo, Enrique, Zhang, Jian, Burion, Steve, Wong, Serena, Bogusky, Joseph Daniel, Bender, Katherine A., Yu, Alan
• Primary Examiner(s): NEAL, TIMOTHY JAY
• Application Number:
  US14/523,760
• Publication Number:
  US 20150119637A1
• Time in Patent Office: 1,061 Days
• Field of Search: 600102
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00071 Insertion part of the endoscope body A61B1/0055 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2034/742 Joysticks
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 25/0009 Making of catheters or other medical or surgical tubes
• CPC Class Codes: A61M 25/0012 : with embedded structures, e.g. coils, braids, meshes, strands or radiopaque coils
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: Y10T 29/49815 : Disassembling

Abstract

An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Claims

1. A system for performing robotically-assisted surgical procedures comprising:

a first robotic arm;

a first instrument device manipulator including a plurality of actuators;

a first mechanism changer interface including;

a first portion coupled to the first instrument device manipulator;

a second portion coupled to the first robotic arm, the second portion configured to removably couple to the first portion; and

an electrical interface, the first instrument device manipulator being configured to manipulate a removably attached instrument coupled to the first instrument device manipulator by operating the plurality of actuators using control signals received from the first robotic arm via the electrical interface.

2. The system of claim 1, wherein the first mechanism changer interface further includes a plurality of pneumatic interfaces, and is configured to provide pneumatic pressure to the first instrument device manipulator via the plurality of pneumatic interfaces.

3. The system of claim 1, wherein the first instrument device manipulator is further configured to manipulate another removably attached instrument different than the removably attached instrument.

4. The system of claim 1, wherein the first mechanism changer interface is configured to interface with a plurality of instrument device manipulators including at least a first type of instrument device manipulator and a second type of instrument device manipulator.

5. The system of claim 1, wherein the first instrument device manipulator includes a sensor to capture sensor data, and wherein the first mechanism changer interface is further configured to convey sensor data received from the first instrument device manipulator to the first robotic arm.

6. The system of claim 5, wherein the system is configured to determine whether the first portion is radially aligned with the second portion by processing the sensor data.

7. The system of claim 1, wherein the first portion includes a plurality of spherical indentations, and wherein the second portion includes a grooved receptacle configured to physically contact the plurality of spherical indentations when the first portion is coupled to the second portion.

8. The system of claim 7, wherein the plurality of spherical indentations is configured to extend in response to the first mechanism changer interface providing pneumatic pressure to the first instrument device manipulator.

9. The system of claim 1, wherein the first instrument device manipulator stores calibration information, and wherein the first mechanism changer interface is configured to receive the calibration information from the electrical interface.

10. The system of claim 1, wherein the removably attached instrument is a laparoscopic type instrument.

11. The system of claim 1, wherein the removably attached instrument includes a leader tubular component and a sheath tubular component coupled to the leader tubular component.

12. The system of claim 11, wherein the removably attached instrument further comprises a plurality of pull wires each manipulated by at least one of the plurality of actuators.

13. The system of claim 12, further comprising:

a second robotic arm coupled to a second instrument device manipulator via a second mechanism changer interface;

wherein the second instrument device manipulator is coupled to and configured to manipulate the removably attached instrument.

14. The system of claim 13, wherein the leader tubular component includes a first pull wire of the plurality of pull wires, wherein the sheath tubular component includes a second pull wire of the plurality of pull wires, wherein the first instrument device manipulator manipulates the first pull wire, and wherein the second instrument device manipulator manipulates the second pull wire.

15. A system comprising:

a first instrument device manipulator including a first plurality of actuators;

a first mechanism changer interface including;

a first portion coupled to a first robotic arm;

a second portion coupled to the first instrument device manipulator, the second portion configured to removably couple to the first portion;

a first electrical interface, the first instrument device manipulator being configured to manipulate a removably attached instrument coupled to the first instrument device manipulator by operating the first plurality of actuators using first control signals received from the first electrical interface;

a second instrument device manipulator including a second plurality of actuators;

a second mechanism changer interface including;

a third portion coupled to a second robotic arm;

a fourth portion coupled to the second instrument device manipulator, the fourth portion configured to removably couple to the third portion; and

a second electrical interface, the second instrument device manipulator being configured to manipulate the removably attached instrument coupled to the second instrument device manipulator by operating the second plurality of actuators using second control signals received from the second electrical interface.

16. The system of claim 15, wherein the first mechanism changer interface further includes a plurality of pneumatic interfaces, and is configured to provide pneumatic pressure to the first instrument device manipulator via the plurality of pneumatic interfaces.

17. The system of claim 15, further comprising:

a third mechanism changer interface configured to be coupled a third robotic arm; and

a third instrument device manipulator coupled to the third mechanism changer interface, the third instrument device manipulator including a third plurality of actuators, and being configured to manipulate another removably attached instrument coupled to the third instrument device manipulator by operating the third plurality of actuators.

18. The system of claim 17, wherein the removably attached instrument is different than the other removably attached instrument.

19. The system of claim 15, wherein the removably attached instrument further comprises:

a leader tubular component;

a sheath tubular component coupled to the leader tubular component; and

a plurality of pull wires each manipulated by at least one of the first or second plurality of actuators to move the leader tubular component or the sheath tubular component.

20. The system of claim 19, wherein the leader tubular component includes a first pull wire of the plurality of pull wires, wherein the sheath tubular component includes a second pull wire of the plurality of pull wires, wherein the first instrument device manipulator manipulates the first pull wire, and wherein the second instrument device manipulator manipulates the second pull wire.