Two-part endoscope surgical device

• US 10,426,321 B2
• Filed: 03/31/2016
• Issued: 10/01/2019
• Est. Priority Date: 04/23/2009
• Status: Active Grant

• Current Assignee: Great Belief International Limited
• Original Assignee: Transenterix Europe, Sarl (Asensus Surgical, Inc.)
• Inventors: Sholev, Mordehai
• Primary Examiner(s): Newton, Alexandra L
• Assistant Examiner(s): Frankert, Genja M
• Application Number:
  US15/086,194
• Publication Number:
  US 20160242631A1
• Time in Patent Office: 1,279 Days
• CPC Class Codes: A61B 1/00128 mechanical, e.g. for tubes or pipes
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders

Abstract

The present invention provides a two-part robotic device for positioning of a hand tool, comprising:

• • a. a fixed base unit constantly fix to its position;
  • b. a detachable body unit reversibly coupled to said fixed base unit, coupled to said current medical instrument;
    wherein said fixed base unit is adapted to provide independent movement to said hand tool, said independent movement selected from the group consisting of rotation and translation, and further wherein said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said hand tool for a second hand tool, said second hand tool is placed in substantially the same location as the location of said hand tool prior to said exchange.

Claims

1. A two-part robotic device for positioning of a medical instrument, comprising:

a rigidly mountable fixed base unit attachable to a fixed point in space; and

a detachable body unit reversibly coupleable to said fixed base unit, said detachable body unit reversibly coupleable to said medical instrument, wherein said detachable body unit is a positioning device configured to provide to said medical instrument at least 7 degrees of freedom (DOF) comprising at least 6 rotation movements (1007, 1009, 1010, 1011, 1012, 1013), at least 1 translation movement (1008) and any combination thereof

wherein said fixed base unit is configured to provide an independent movement to said medical instrument, said independent movement selected from a group consisting of rotation and translation, and said detachable body unit is removable and replaceable from said fixed base unit;

an exchange of a first medical instrument for a second medical instrument being effected by removal of at least a portion of said detachable body unit with said first medical instrument coupled to said at least a portion of said detachable body unit, by replacement of said first medical instrument by said second medical instrument, and by reattachment of said at least a portion of said detachable body unit to said fixed based unit;

wherein said detachable body unit comprises k consecutive body unit arm sections, where k is a positive integer, and at least one body unit joint, each of said at least one body unit joint configured to couple one of said k consecutive body unit arm sections to an adjacent body unit object, said adjacent body unit object a member of a group consisting of;

an adjacent one of said k consecutive body unit arm sections, said fixed base unit, and a holder for said medical instrument;

at least one of said k consecutive body unit arm sections being removable and replaceable,

each of said k consecutive body unit arm sections comprises n coaxial body unit input shafts, n being a positive integer, each of said n coaxial body unit input shafts being configured to be rotated around a body unit joint input axis of rotation by m body unit sources of torque, m, and k being positive integers,

each said adjacent body unit object comprises n coaxial body unit output shafts, said n coaxial body unit output shafts being configured to be rotated around a body unit joint output axis of rotation;

wherein at least one of said at least one body unit joint comprises at least one body unit lock;

said at least one body unit lock is configured to lock said at least one of said at least one body unit joint in a predetermined direction;

further wherein said fixed base unit contains within the same all motors for maneuvering said detachable body unit

each of said at least one body unit joint being a constant velocity coupler comprising;

n coaxial body unit input transmissions, each of said n coaxial body unit input transmissions being coupleable to one of said n coaxial body unit input shafts, said n coaxial body unit input transmissions define a first body unit joint plane perpendicular to said body unit joint input axis of rotation;

n coaxial body unit transmissions rotatably connected to said n coaxial body unit input transmissions, said n coaxial body unit transmissions rotating in a second body unit joint plane, said second body unit joint plane perpendicular to said first body unit joint plane; and

n coaxial body unit output transmissions rotatably connected to said n coaxial body unit transmissions, said n coaxial body unit output transmissions rotating in a third body unit joint plane;

said third body unit joint plane being perpendicular to said second body unit joint plane;

each of said n coaxial body unit output shafts being coupleable to one of said n coaxial body unit output transmissions;

(i) turning a given one of said n coaxial body unit input shafts at a constant velocity will provide a constant velocity at a corresponding one of said n coaxial body unit output shafts; and

(ii) an angle between said body unit joint input axis of rotation and said body unit joint output axis of rotation is variable in said second body unit joint plane in an angular range of 0 to 360 degrees

wherein, in a locked state, either said at least one body unit joint and said adjacent body unit object rotate as a unit about a main longitudinal axis of said one of said k consecutive body unit arm sections or said at least one body unit joint and said one of said k consecutive body unit arm sections is rotatable as a unit about a main longitudinal axis of said adjacent body unit object; and

, in an unlocked state, an angle between said one of said k consecutive body unit arm sections and said adjacent body unit object is changeable.

2. The two-part robotic device according to claim 1, wherein said medical instrument comprise:

an endoscope, a laparoscope, forceps, and any combination thereof.

3. The two-part robotic device according to claim 1, wherein each of said n coaxial body unit input transmissions, each of said n coaxial body unit transmissions, and each of said n coaxial body unit output transmissions comprises:

a gearwheel, a wheel, a crown gear, a bevel gear, a spur gear, and any combination thereof.

4. The two-part robotic device according to claim 1, wherein at least one of said at least one body unit joint is configured to rotate said medical instrument about two mutually perpendicular axes in an x-y plane.

5. The two-part robotic device according to claim 1, wherein said fixed base unit comprises h consecutive base unit arm sections and at least one base unit joint, h being a positive integer, such that at least one of said h consecutive base unit arm sections is removable and replaceable.

6. The two-part robotic device according to claim 1, wherein said at least one body unit joint additionally comprises:

a body unit joint axial support member (601) configured to provide axial support to said n coaxial body unit output shafts in said third body unit joint plane; and

,

a body unit joint circular track (618) centered on an axis of rotation of said n coaxial body unit transmissions, said body unit joint axial support member being configured to fit into said body unit joint circular track and slide within said body unit joint circular track.

7. The two-part robotic device according to claim 1, additionally comprising a body unit joint radial support member (604) configured to provide radial support to said n coaxial body unit output shafts, said body unit joint radial support member being configured to rotate in said second body unit joint plane.

8. The two-part robotic device according to claim 1, wherein a gear ratio between each of said q coaxial base unit input shafts and an associated one of said q coaxial base unit output shafts is between 10 and 0.1.

9. The two-part robotic device according to claim 1, additionally comprising n coaxial body unit auxiliary shafts in rotating communication with said n coaxial body unit transmissions, said n coaxial body unit auxiliary shafts rotating in said second body unit joint plane, and each of said n coaxial body unit auxiliary shafts configured to be either being driven by one of said n coaxial body unit input shafts or driving one of said n coaxial body unit input shafts.

10. The two-part robotic device according to claim 1, wherein said fixed point in space is selected from a group consisting of a floor, a ceiling, and a surgical table.