Rotating needle driver and apparatuses and methods related thereto

• US 10,646,295 B2
• Filed: 02/17/2017
• Issued: 05/12/2020
• Est. Priority Date: 11/05/2008
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Johns Hopkins University
• Inventors: Stoianovici, Dan, Petrisor, Doru, Mazilu, Dumitru, Patriciu, Alexandru, Gruionu, Lucian
• Primary Examiner(s): Louis, Richard G
• Application Number:
  US15/435,423
• Publication Number:
  US 20170252115A1
• Time in Patent Office: 1,180 Days
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

Featured is a medical instrument driver, a robotic apparatus embodying such a medical instrument driver and methods related thereto for inserting a medical instrument into tissue of a mammal (e.g., human). Such medical instruments include medical needles, biopsy needles, trocars, cutters and introducers. Such a medical instrument driver according to the present invention is configured and arranged so that medical instrument is rotated as it is being moved longitudinally for insertion into the tissue such that the medical instrument is spiraling as it pierces and traverses the tissue to the target area.

Claims

1. A medical instrument driver operably coupled to a medical instrument for causing the medical instrument to be inserted into tissue, said medical instrument driver comprising:

a translation and rotational mechanism operably coupled to one portion of the medical instrument, the translation and rotational mechanism including;

pivoting structure being configured so as to cause the medical instrument to move along a long axis of the medical instrument responsive to rotational movement of an end of such structure, and

rotational structure configured so as to cause the medical instrument to rotate about the long axis as the medical instrument moves along the long axis; and

a distal support that is distal from the translation and rotational mechanism, which includes a through aperture in which a distal portion of the medical instrument is slidably disposed,

wherein the distal support and the translation and rotational mechanism are arranged so the medical instrument distal portion moves through the distal support through aperture such that an insertable end of the medical instruments exits the through aperture and is inserted into the tissue, and

wherein the rotational structure includes a drive motor and a plurality of gears arranged so as to operably couple the drive motor to the medical instrument, the plurality of gears including a first gear driven directly by the drive motor, a second gear having a circumference that surrounds the long axis of the medical instrument, and at least one intermediate gear configured to transfer rotation of the first gear to the second gear.

2. The medical instrument driver of claim 1, wherein the translation and rotational structures cooperate so that the medical instrument spirals into the tissue.

3. The medical instrument driver of claim 1, wherein the translation structure includes a plurality of rotary joints.

4. The medical instrument driver of claim 3, wherein the translation structure includes a crank member disposed between a first rotary joint and second rotary joint;

a rod member extending between the second rotary member and a fourth rotary joint, where the fourth rotary joint is operably coupled to the medical instrument and a slider joint that is slidably coupled to the rod member and is disposed between the second and fourth rotary joints.

5. The medical instrument driver of claim 4, further comprising a motor operably coupled to the first rotary joint such that rotation of the motor drives the crank member so that rotation of the motor also thereby causes an end point of the rod member to move essentially along a linear trajectory.

6. The medical instrument driver of claim 5, wherein the translation structure further includes a plurality of pulleys disposed at each of the first, second and fourth rotary joints and first and second belt members, where the first belt member is arranged so as to extend between the pulleys at the first and second rotary joints and the second belt member is arranged so as to extend between the pulleys at the second and fourth rotary joints.

7. The medical instrument driver of claim 1, further comprising a first adapter and a second adapter, wherein the first adapter is configured so as to operable couple a given medical instrument to the translational and rotational mechanism and wherein the second adapter is configured so as to operable couple the given medical instrument to the distal support.

8. The medical instrument driver of claim 1, wherein the medical instrument is one of a medical needle, a biopsy needle, a trocar, a cutter or an introducer.

18. The medical instrument driver of claim 1, wherein the at least one intermediate gear includes a first intermediate gear driven directly by the first gear and a second intermediate gear configured to transfer rotation of the first intermediate gear to the second gear.

19. The medical instrument driver of claim 1, wherein the second gear is connected to a medical instrument gripper configured to releasably retain a proximal portion of the medical instrument, and the first gear is not connected to the medical instrument gripper.

20. The medical instrument driver of claim 19, wherein the at least one intermediate gear is connected to the medical instrument gripper.

9. An apparatus for causing a medical instrument to be inserted into tissue, said apparatus comprising:

a robotic device having an arm that is movable in one or more dimensions;

a medical instrument driver operably coupled to the medical instrument and operably coupled to the robotic arm, wherein the robotic arm is movable so as to position the medical instrument driver with respect to a target area, wherein said medical instrument driver includes;

a translation and rotational mechanism operably coupled to one portion of the medical instrument and one portion of the robotic arm, the translation and rotational mechanism including;

pivoting structure being configured so as to cause the medical instrument to move along a long axis of the medical instrument responsive to rotational movement of an end of such structure, and

rotational structure configured so as to cause the medical instrument to rotate about the long axis as the medical instrument moves along the long axis; and

a distal support operably coupled to another portion of the robotic arm and which is distal from the translation and rotational mechanism, said distal support including a through aperture in which a distal portion of the medical instrument is slidably disposed,

wherein the distal support and the translation and rotational mechanism are arranged so the medical instrument distal portion moves through and exits the distal support through aperture such that an insertable end of the medical instruments is inserted into the tissue, and

wherein the rotational structure includes a drive motor and a plurality of gears arranged so as to operably couple the drive motor to the medical instrument, the plurality of gears including a first gear driven directly by the drive motor, a second gear having a circumference that surrounds the long axis of the medical instrument, and at least one intermediate gear configured to transfer rotation of the first gear to the second gear.

10. The apparatus of claim 9, wherein the translation and rotational structures cooperate so that the medical instrument spirals into the tissue.

11. The apparatus of claim 9, wherein the translation structure includes a crank member disposed between a first rotary joint and second rotary joint;

a rod member extending between the second rotary member and a fourth rotary joint, where the fourth rotary joint is operably coupled to the medical instrument and a slider joint that is slidably coupled to the rod member and disposed between the second and fourth rotary joints.

12. The apparatus of claim 11, further comprising a motor operably coupled to the first rotary joint such that rotation of the motor drives the crank member, where such rotation of the motor also thereby causes an end point of the rod member to move essentially along a linear trajectory.

13. The apparatus of claim 12, wherein the translation structure further includes a plurality of pulleys disposed at each of the first, second and fourth rotary joints and first and second belt members, where the first belt member is arranged so as to extend between the pulleys at the first and second rotary joints and the second belt member is arranged so as to extend between the pulleys at the second and fourth rotary joints.

14. The apparatus of claim 9, further comprising a first adapter and a second adapter, wherein the first adapter is configured so as to operable couple a given medical instrument to the translational and rotational mechanism and wherein the second adapter is configured so as to operable couple the given medical instrument to the distal support.

15. The apparatus of claim 9, wherein the medical instrument is one of a medical needle, a biopsy needle, a trocar, a cutter or an introducer.

16. A method for inserting a medical instrument into tissue, said method comprising the steps of:

providing a medical instrument driver including a translation and rotational mechanism having a pivoting structure configured so as to cause a medical instrument to move along a long axis of the medical instrument, a rotational structure configured so as to cause the medical instrument to rotate about the long axis as the medical instrument moves along the long axis, and a distal support which is distal from the translation and rotational mechanism, said distal support including a through aperture in which a distal portion of the medical instrument is slidably disposed;

operably coupling one portion of the medical instrument to the translation and rotational mechanism and slidably coupling another portion of the medical instrument to the distal support;

positioning the distal support so an insertable end of the medical instrument is oriented towards a target area; and

operating the translation and rotational mechanism so as to cause the medical instrument distal portion to move through the distal support through aperture such that the insertable end is inserted into the tissue,

wherein the operating of the translation and rotational mechanism comprises actuating a drive motor to cause rotation of a plurality of gears arranged so as to operably couple the drive motor to the medical instrument, the plurality of gears including a first gear driven directly by the drive motor, a second gear having a circumference that surrounds the long axis of the medical instrument, and at least one intermediate gear configured to transfer rotation of the first gear to the second gear.

17. The method of claim 16, wherein the medical instrument is one of a medical needle, a biopsy needle, a trocar, a cutter or an introducer.