Methods and apparatus to shape flexible entry guides for minimally invasive surgery

• US 9,962,066 B2
• Filed: 06/30/2008
• Issued: 05/08/2018
• Est. Priority Date: 12/30/2005
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Rogers, Theodore W., Larkin, David Q.
• Primary Examiner(s): Henderson, Ryan
• Application Number:
  US12/165,633
• Publication Number:
  US 20080287963A1
• Time in Patent Office: 3,599 Days
• Field of Search: 600104, 600106, 600107, 600139-152, 600114-116, 606 1, 606205-209, 604 9501- 9505
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00128 mechanical, e.g. for tubes or pipes
• CPC Class Codes: A61B 1/00133 Drive units for endoscopic tools inserted through or with the endoscope
• CPC Class Codes: A61B 1/00135 Oversleeves mounted on the endoscope prior to insertion
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/005 Flexible endoscopes
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/0058 using shape-memory elements
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 1/01 Guiding arrangements therefore
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/3445 : used as instrument channel for multiple instruments
• CPC Class Codes: A61B 2017/3447 : Linked multiple cannulas
• CPC Class Codes: A61B 2017/347 : Locking means, e.g. for locking instrument in cannula
• CPC Class Codes: A61B 2034/2061 : using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 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 34/72 : Micromanipulators

Abstract

In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.

Claims

1. A method for a surgical procedure, the method comprising:

inserting a first steering device into a first lumen at a first end of a flexible entry guide tube, wherein the first steering device includes a surgical end effector to perform the surgical procedure and includes a cable extending therein to enable independent steering of a first steerable tip portion thereof;

securing, with a locking device, the first steerable tip portion of the first steering device in attachment to a second end of the flexible entry guide tube at a desired position within the second end of the flexible entry guide tube, the locking device being disposed on the first steerable tip portion to lock the first steerable tip portion relative to the second end of the flexible entry guide;

inserting the flexible entry guide tube into a body cavity through an opening;

steering the second end of the flexible entry guide tube towards a first surgical site within the body cavity using the first steering device;

locking a shape of the flexible entry guide tube in place within the body cavity with the second end located near the surgical site, wherein locking includes actuating a locking cable; and

with the shape locked by the actuated locking cable, extending the surgical end effector distally away from the second end of the flexible entry guide tube to perform the surgical procedure.

2. The method of claim 1, further comprising:

inserting a second steering device into a second lumen at the first end of the flexible entry guide tube;

positioning the second steering device at a second desired location with the second lumen, wherein the first and second steering devices are spaced at different distances relative to the second end of the flexible entry guide;

locking the second steering device to a lumen wall of the second lumen at the second desired location within the second lumen;

actuating the second steering device to impart a desired shape to the second steering device, the desired shape of the second steering device imparting a corresponding shape to a coincident portion of the flexible entry guide tube; and

steering the second end of the flexible entry guide tube towards the surgical site using the first and second steering devices.

3. The method of claim 1, wherein locking the first steerable tip portion of the first steering device in attachment to the second end of the flexible entry guide tube at the desired comprises snap-fitting a locking member into a corresponding recess in the first lumen of the flexible entry guide tube.

4. The method of claim 1, wherein locking the shape of the flexible entry guide tube includes

axially compressing the flexible entry guide tube along its length to increase friction between articulating elements to lock the shape of the flexible entry guide tube.

5. The method of claim 1, further comprising:

actuating control cables coupled to the first steerable tip portion to impart a desired shape to the first steering device to impart a corresponding desired shape to a portion of the flexible entry guide;

locking the first steerable tip portion of the first steering device to retain the desired shape of the first steering device;

unlocking the flexible entry guide tube;

unsecuring the first steerable tip portion from attachment to the second end of the flexible entry guide tube; and

repositioning the flexible entry guide tube relative to the first steerable tip portion while the first steerable tip portion of the first steering device is locked to retain the desired shape.

6. The method of claim 1, further comprising:

unlocking the shape of the flexible entry guide tube after completing the surgical procedure in a first surgical site; and

repeating the inserting of the first steering device, the steering of the second end to a second surgical site within the body cavity, and the locking of the shape of the flexible entry guide tube to perform another surgical procedure at the second surgical site within the body cavity.

7. The method of claim 1, further comprising:

applying a torque at a proximal end of the first steering device that is keyed to a distal portion of the first lumen of the flexible entry guide tube, such that the second end of the flexible entry guide tube rotates about a longitudinal axis thereof.

8. A method for a surgical procedure, the method comprising:

inserting a distal end of a flexible entry guide through an opening of a body, the flexible entry guide including one or more lumens to receive tools;

operating controls at a console to remotely and telerobotically control one or more actuators;

positioning a tool within one of the lumens, at least one cable extending within the one of the lumens to enable independent steering of a steerable tip portion of the tool, the tool having a surgical end effector affixed at a distal end of the tool;

securing the steerable tip portion of the tool in attachment to the distal end of the flexible entry guide at a desired position within the distal end of the flexible entry guide, a locking device being disposed on the steerable tip portion to lock the steerable tip portion relative to the distal end of the flexible entry guide;

steering the flexible entry guide towards a surgical site in response to the remote control of the one or more actuators, wherein a shape of the flexible entry guide is influenced by the steerable portion of the tool;

actuating a locking cable to rigidize a shape of the flexible entry guide in place within the body; and

with the shape rigidized by the actuated locking cable, extending the steerable portion of the tool having the surgical end effector beyond the distal end of the flexible entry guide to perform the surgical procedure with the end effector.

9. The method of claim 8, further comprising

sensing a shape of all or a portion of the tool;

and

controlling the shape of the tool in response to their respective sensed shape.

10. The method of claim 9, wherein steerable portions of a plurality of tools are controlled to have substantially the same shape.

11. The method of claim 10, further comprising pushing the flexible entry guide over the steerable portions of the plurality of tools to guide the flexible entry guide along a path in a body.

12. The method of claim 8, further comprising:

stiffening a first portion of the entry guide with a first removable stiffening element.

13. The method of claim 12, further comprising:

stiffening a second portion of the entry guide with a second removable stiffening element.

14. A method for a surgical procedure, the method comprising:

inserting a plurality of instruments into a respective plurality of lumens in a flexible entry guide, wherein at least two instruments of the plurality of instruments are spaced at different distances from a distal tip of the flexible entry guide;

pushing and/or pulling on shafts of the plurality of instruments, the plurality of instruments having portions releasably attached to a respective plurality of lumen walls, to steer the flexible entry guide to a surgical site of a body while steerable tip portions of the plurality of instruments are positioned within the plurality of lumens in the flexible entry guide;

steering, by control cables, a first steerable instrument of the plurality of instruments while the first steerable instrument is positioned within a corresponding lumen of the plurality of lumens to obtain a desired shape of a first steerable tip portion of the first steerable instrument and to impart the desired shape to a portion of the flexible entry guide;

rigidizing the flexible entry guide, by actuating a locking cable, to maintain its shape and position in the body near the surgical site to perform the surgical procedure; and

with the shape of the flexible entry guide rigidized by the actuated locking cable, extending at least one of the plurality of instruments from a distal end of the flexible entry guide.

15. The method of claim 14, further comprising removing the plurality of instruments from the respective plurality of lumens in the flexible entry guide.

16. The method of claim 15, further comprising de-rigidizing the flexible entry guide to relax its shape and withdrawal it from the body.

17. The method of claim 15, wherein all of the plurality of instruments are steerable instruments that can be individually controlled to obtain desired shapes of a steerable portion of each of the instruments, and

the method further includes inserting a plurality of surgical tools into the lumens of the flexible entry guide.

18. The method of claim 14, further comprising

re-attaching the portions of the plurality of instruments to the lumen walls in the respective plurality of lumens of the flexible entry guide;

de-rigidizing the flexible entry guide to relax its shape; and

pushing and/or pulling the plurality of instruments having portions coupled to the lumen walls to steer and shape the flexible entry guide as it is withdrawn from the body.

19. The method of claim 14, wherein

a first portion of the first steerable instrument of the plurality of instruments is coupled to a first lumen wall at a first depth in a first lumen of the entry guide;

and

a second portion of a second instrument of the plurality of instruments is coupled to a second lumen wall at a second depth in a second lumen of the entry guide, wherein the second depth differs from the first depth.

20. The method of claim 14, wherein

a first portion of the first steerable instrument of the plurality of instruments is coupled to a first lumen wall at a first depth in a first lumen of the entry guide;

and

a second portion of a second instrument of the plurality of instruments is coupled to the first lumen wall at a second depth in the first lumen of the entry guide, wherein the second depth differs from the first depth.

21. The method of claim 14, further comprising:

prior to pushing and/or pulling the plurality of instruments, rigidizing the plurality of instruments within the respective plurality of lumens in the flexible entry guide.

22. The method of claim 14, further comprising:

insufflating a cavity in the body with a gas to expand the cavity and ease steering of the flexible entry guide.

23. The method of claim 14, wherein the portions of the plurality of instruments are coupled to the lumen walls so that end-effectors of each instrument are within the lumens of the entry guide.

24. The method of claim 14, wherein the portions releasably attached to the respective plurality of lumen walls are releasably attached by a locking mechanism.