Methods and apparatus for constructing endoscopic device with helical lumen design

• US 9,844,412 B2
• Filed: 11/14/2014
• Issued: 12/19/2017
• 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: Bogusky, Joseph Daniel, Romo, Enrique
• Primary Examiner(s): Walters, Ryan J
• Application Number:
  US14/542,387
• Publication Number:
  US 20150164595A1
• Time in Patent Office: 1,131 Days
• 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 method for constructing a medical device, comprising:

providing a first elongated body;

providing a plurality of second elongated bodies

laying the plurality of second elongated bodies at a pitch in a helical pattern around the first elongated body;

braiding a layer of braid wire around the first elongated body and the plurality of second elongated bodies to generate a braided composite; and

removing the plurality of second elongated bodies from the braided composite in order to generate a helical lumen within the braided composite.

2. The method of claim 1, further comprising:

removing the first elongated body from the braided composite in order to generate a central lumen in the braided composite.

3. The method of claim 2, wherein the central lumen is configured to convey tools and sensors to the distal end of the braided composite.

4. The method of claim 1, further comprising:

sheathing the braided composite with an outer jacket.

5. The method of claim 1, further comprising:

casting an outer jacket around the braided composite.

6. The method of claim 1, wherein the pitch of the helical pattern is predetermined.

7. The method of claim 1, wherein the pitch of the helical pattern varies along the length of the first elongated body.

8. The method of claim 7, wherein the pitch of the helical pattern is parallel to the first elongated body along a section of braided composite that is configured to be actuated.

9. The method of claim 1, further comprising:

inserting a pull wire within the helical lumen.

10. The method of claim 9, further comprising:

attaching the pull wire near the distal end of the braided composite, such that tension along the pull wire results in a compressive force along the braided composite.

11. The method of claim 10, wherein the helical lumen is configured to radially distribute the compressive force along the braided composite arising from tension in the pull wire.

12. The method of claim 1, further comprising:

attaching a digital camera at the distal end of the braided composite.

13. The method of claim 1, further comprising:

attaching light sources configured to be used with the digital camera at the distal end of the braided composite.

14. The method of claim 1, further comprising:

inserting the first elongated body and the second elongated body into a braiding machine;

wherein the braiding machine comprises a feed tube and a nose cone.

15. The method of claim 14, further comprising:

advancing the plurality of second elongated bodies through respective side holes in the nose cone.

16. The method of claim 15, further comprising:

advancing the first elongated body through the feed tube and a central hole in the nose cone.

17. The method of claim 16, further comprising:

rotating the first elongated body;

wherein the rotating occurs as the plurality of second elongated bodies are laid around the first elongated body.

18. The method of claim 16, further comprising:

rotating the nose cone;

wherein the rotating occurs as the plurality of second elongated bodies are laid around the first elongated body.

19. The method of claim 18, wherein the nose cone is concentrically aligned with the feed tube.

20. The method of claim 19, wherein the nose cone is fixedly coupled to the feed tube, such that the feed tube rotates if the nose cone rotates.

21. The method of claim 20, wherein the plurality of second elongated bodies are constructed from at least one of braiding and thermoset polymer.

22. The method of claim 21, wherein the plurality of second elongated bodies are each coated with a lubricious coating.