Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof

• US 9,821,477 B2
• Filed: 06/13/2016
• Issued: 11/21/2017
• Est. Priority Date: 12/21/2011
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Anderson, Robert, Johnston, Gabriel, Darisse, Ian J., Stand, Joseph A., Bettencourt, Luis, Frangolis, Todd, Oyola, Arnold E., Flaherty, J. Christopher
• Primary Examiner(s): Boes, Terence
• Application Number:
  US15/180,503
• Publication Number:
  US 20170015007A1
• Time in Patent Office: 526 Days
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: Y10S 901/21 Flaccid drive element
• CPC Class Codes: Y10T 74/20323 including flaccid drive element

Abstract

An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

Claims

1. An apparatus for driving an articulating probe, the apparatus comprising:

a base structure including a plurality of rotatably driven wheels;

at least one elongate probe constructed and arranged to articulate in at least one degree of motion and to transition from a flexible state to a rigid state;

a force transfer mechanism including a plurality of rotatable bobbins coupled to a corresponding plurality of cables in turn coupled to the at least one elongate probe, the force transfer mechanism constructed and arranged to apply a force to the at least one elongate probe, said force selected from the group consisting of;

a force that causes the at least one elongate probe to articulate in the at least one predetermined degree of motion; and

a force that causes the at least one elongate probe to transition from the flexible state to the rigid state; and

a coupling mechanism that removably secures the force transfer mechanism to the base structure to cause the plurality of rotatable bobbins of the force transfer mechanism to interface with the rotatably driven wheels of the base structure so that rotation of the rotatably driven wheels of the base structure causes rotation of the rotatable bobbins, the rotation of the bobbins causing tensioning or de-tensioning of the corresponding cables to apply the force to the at least one elongate probe.

2. The apparatus of claim 1

wherein the at least one elongate probe comprises a first probe arm and a second probe arm, the second probe arm slidable longitudinally within the first probe arm, and

wherein the apparatus further comprises a locking mechanism to selectively rotate the rotatable wheels of the base in turn causing tensioning or de-tensioning of the corresponding cables, to transition each of the first or second probe arms between the flexible state and the rigid state.

3. The apparatus of claim 2 further comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the at least one elongate probe during the selective rotating of the rotatable wheels by the locking mechanism.

4. The apparatus of claim 3 wherein the one or more stabilizing elements comprises a force distribution plate, and wherein the bobbins of the force transfer mechanism are rotatably coupled to the force distribution plate.

5. The apparatus of claim 4 wherein the force transfer mechanism comprises a plastic housing and wherein the force distribution plate comprises a metal plate attached to the plastic housing.

6. The apparatus of claim 2 wherein the force transfer mechanism comprises

a first cart that advances and retracts the first probe arm;

a second cart that advances and retracts the second probe arm, and

first and second gears that interface with corresponding rotary drives of the base that induce advancement and retraction of the first and second probe arms in response to rotation of the corresponding rotary drives of the base in first and second directions of rotation,

wherein the coupling mechanism further causes the first and second gears of the force transfer mechanism to interface with the corresponding rotary drives of the base structure.

7. The apparatus of claim 2 wherein the first probe arm and the second probe arm extend in the longitudinal direction, wherein a link of the first probe arm has an opening having an inner width greater than an outer width of a link of the second probe arm, and wherein the link of the second probe arm extends through, and is movable in a longitudinal direction relative to, the opening of the link of the first probe arm.

8. The apparatus of claim 7 wherein the second probe arm comprises an inner link mechanism of the articulating probe and wherein the first probe arm comprises an outer link mechanism of the articulating probe.

9. The apparatus of claim 7 wherein the at least one elongate probe comprises a steerable distal end and wherein the at least one predetermined degree of motion comprises three degrees of motion about which the steerable distal end can be steered.

10. The apparatus of claim 1 further comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the at least one elongated probe during tensioning or de-tensioning of the corresponding cables.

11. The apparatus of claim 10 wherein at least one of the stabilizing elements is constructed and arranged to resist twisting, flexing, compression, stretching and/or lengthening of the base structure.

12. The apparatus of claim 10 further comprising a housing at least partially covering the force transfer mechanism, wherein at least one of the stabilizing elements comprises a reinforced housing rib connected to the housing.

13. The apparatus of claim 10 wherein the one or more stabilizing elements comprises one or more vertically oriented posts extending between a ground-connecting interface and a chassis of the base structure.

14. The apparatus of claim 10, wherein the one or more stabilizing elements are positioned at the base structure.

15. The apparatus of claim 10, wherein the one or more stabilizing elements are positioned at the force transfer mechanism.

16. The apparatus of claim 10, wherein the one or more stabilizing elements are positioned at the base structure and the force transfer mechanism.

17. The apparatus of claim 1, wherein the cables include a proximal end at least partially wound about the bobbin and a distal end coupled to a distal end of the at least one elongate probe.

18. The apparatus of claim 17, wherein the cables include further include a body portion between the proximal end and the distal end that extends longitudinally through the at least one elongate probe.

19. The apparatus of claim 1 wherein the at least one elongate probe is constructed and arranged to receive a tool.

20. The apparatus of claim 1 wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 1 pound.

21. The apparatus of claim 1, wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 10 pounds.

22. The apparatus of claim 1, wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 20 pounds.

23. The apparatus of claim 1, wherein the force that causes the at least one elongate probe to transition from the flexible state to the rigid state comprises a force of at least 30 pounds.