Robotic system including a cable interface assembly

• US 9,913,695 B2
• Filed: 05/02/2014
• Issued: 03/13/2018
• Est. Priority Date: 05/02/2013
• Status: Expired due to Fees

• Current Assignee: Endobotics, LLC
• Original Assignee: Medrobotics Corp.
• Inventors: Johnston, Gabriel, Calef, Tom, Darisse, Ian, Zubiate, Brett, Flaherty, R. Maxwell, Flaherty, J. Christopher, Lewis, Reynaldo, Rienzie, Adam, Runyon, Justin S., Halloway, Jr., Anthony Ray, Malaquais, Corey Anthony
• Primary Examiner(s): Kelleher, William
• Assistant Examiner(s): Rushing, Jr., Bobby
• Application Number:
  US14/888,189
• Publication Number:
  US 20160067000A1
• Time in Patent Office: 1,411 Days
• Field of Search: 901 21, 600146, 600528
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A system and method for performing a medical procedure includes a first multi-linked mechanism comprising a plurality of first links, and a lumen therethrough; a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism, and where the first and second multi-linked mechanisms are configured to transition from a limp state to a rigid state; a set of proximal cables comprising at least a first proximal cable and a second proximal cable; a set of distal cables comprising at least a first distal cable and a second distal cable; a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first distal cable and the second distal cable. The force applied to the first distal cable and the second distal cable steers at least one of the first multi-linked mechanism or the second multi-linked mechanism.

Claims

1. A system for performing a medical procedure comprising:

a first multi-linked mechanism comprising a plurality of first links, a proximal end, a distal end and a lumen therethrough;

wherein the first multi-linked mechanism is constructed and arranged to transition from a limp state to a rigid state;

a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism and to transition from a limp state to a rigid state;

a set of proximal cables comprising at least a first proximal cable and a second proximal cable;

a set of distal cables comprising at least a first distal cable and a second distal cable;

a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; and

a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first distal cable and the second distal cable;

wherein the force applied to the first distal cable and the second distal cable steers at least one of the first multi-linked mechanism or the second multi-linked mechanism;

wherein the cable interface assembly comprises at least one gimbal, wherein the at least one gimbal comprises an input surface that attaches to the set of proximal cables and an opposing output surface that attaches to the set of distal cables.

2. The system of claim 1, wherein the system comprises a first portion and a second portion and wherein at least the first portion is constructed and arranged to be used in multiple medical procedures.

3. The system of claim 2, wherein the first portion comprises at least one of:

an input portion of the cable interface assembly;

the set of proximal cables;

a user interface of the system;

the cable control assembly;

a pulley of the system;

a linear drive of the system;

or the second multi-linked mechanism.

4. The system of claim 2, wherein the system further comprises a second portion constructed and arranged to be used in fewer medical procedures than the first portion.

5. The system of claim 4, wherein the second portion comprises at least one of:

an output portion of the cable interface assembly;

the set of distal cables;

a pulley of the system;

or the first multi-linked mechanism.

6. The system of claim 1, wherein the cable interface assembly comprises a first portion and a second portion, wherein the first portion is constructed and arranged to be used in more medical procedures than the first portion.

7. The system of claim 6, wherein the first portion comprises an input constructed and arranged to attach to the set of proximal cables and the second portion comprises an output constructed and arranged to attach to the set of distal cables.

8. The system of claim 6, wherein the second portion is constructed and arranged to be used in a single medical procedure.

9. The system of claim 1, wherein the cable interface assembly comprises an input constructed and arranged to attach to the set of proximal cables and an output constructed and arranged to attach to the set of distal cables.

10. The system of claim 1, wherein the cable interface assembly is constructed and arranged to transmit a first force to the first distal cable and a second force to the second distal cable simultaneously.

11. The system of claim 1, wherein the cable interface assembly is constructed and arranged to transmit a first force to the first distal cable and a second force to the second distal cable sequentially.

12. The system of claim 1, wherein the cable interface assembly is constructed and arranged to provide a mechanical advantage between the proximal cables and the distal cables.

13. The system of claim 1 wherein the at least one gimbal comprises at least two gimbals.

14. The system of claim 13 wherein the at least two gimbals comprises a first gimbal that rotates about a first axis and a second gimbal that rotates about a second axis oriented relatively 90°

to the first axis.

15. The system of claim 1, wherein the cable interface assembly is constructed and arranged to amplify translation between the first proximal cable and the first distal cable.

16. The system of claim 1, wherein the cable interface assembly is constructed and arranged to amplify force applied between the first proximal cable and the first distal cable.

17. The system of claim 1, further comprising a second cable interface assembly constructed and arranged to receive a force from at least one cable and transmit a force to at least one cable.

18. The system of claim 1, wherein the distal cables are constructed and arranged to steer the first multi-linked mechanism.

19. The system of claim 1, wherein the distal cables are constructed and arranged to steer the second multi-linked mechanism.

20. The system of claim 1, wherein the set of proximal cables are operably attached to the cable interface assembly in a first pattern and the set of distal cables are operably attached to the cable interface assembly in a second pattern.

21. The system of claim 1, wherein the set of proximal cables comprise a first quantity and the set of distal cables comprise a second quantity similar to the first quantity.

22. The system of claim 1, further comprising at least one linear drive.

23. The system of claim 22 wherein the at least one linear drive is attached to the first multi-linked mechanism and the cable interface assembly.

24. The system of claim 23 further comprising a second cable interface assembly and a second linear drive attached to the second multi-linked mechanism and the second cable interface assembly.

25. The system of claim 22 wherein the at least one linear drive is attached to the second multi-linked mechanism and the cable interface assembly.

26. The system of claim 1, further comprising a linear compensator constructed and arranged to allow motion between the cable interface assembly and at least one of the first multi-linked mechanism and the second multi-linked mechanism.

27. The system of claim 1, further comprising a sensor constructed and arranged to measure a parameter of the cable interface assembly.

28. The system of claim 27 wherein the sensor is constructed and arranged to quantify a parameter of the cable interface assembly selected from the group consisting of:

an amplification of proximal to distal cable translation;

an amplification of proximal to distal cable tension;

angular rotation of a component of the cable interface assembly such as a rotating gimbal or a rotating pulley;

a linear displacement of a component of the cable interface assembly;

a linear displacement of a proximal cable;

a linear displacement of a distal cable;

tension in a proximal cable;

tension in a distal cable; and

combinations thereof.

29. The system of claim 1, wherein the first multi-linked mechanism further comprises at least one sideport.

30. The system of claim 1, wherein the first multi-linked mechanism further comprises at least two channels each constructed and arranged to slidingly receive one of the first or second distal cables.

31. The system of claim 1, wherein the set of distal cables further comprises a third distal cable, wherein the first multi-linked mechanism comprises at least three channels each constructed and arranged to slidingly receive one of the first, second, or third distal cables.

32. The system of claim 1, further comprising at least one working channel between the first multi-linked mechanism and the second multi-linked mechanism.

33. The system of claim 1, further comprising a tool with a flexible distal portion.