SURGICAL SYSTEM AND RELATED METHODS

• US 20150173837A1
• Filed: 12/19/2014
• Published: 06/25/2015
• Est. Priority Date: 12/20/2013
• Status: Active Grant

• Current Assignee: Corbin E. Barnett
• Original Assignee: Corbin E. Barnett
• Inventors: Barnett, Corbin E.
• Granted Patent: US 9,848,954 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/00491 Surgical glue applicators surgical adhesives A61L24/00; two-component delivery syringes A61M5/19
• CPC Class Codes: A61B 17/3478 Endoscopic needles, e.g. for infusion biopsy needles A61B10/0233; catheters with injection needles A61M25/0067
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0065 the implement being an adhesive
• CPC Class Codes: A61B 2017/00867 shape memory effect for prostheses A61F2210/0014
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A surgical system can include a surgical probe having a deflectable tip, and a plurality of guide arms that are movable so as to cause the tip to deflect. Thus, the surgical probe can be steered toward a target anatomical location. The surgical system can further include a control system that includes a free floating user interface, and a motion sensor that detects motion of the user interface. The control system is configured to cause the probe tip to deflect in response to the detected motion of the user interface.

Claims

1. A surgical system comprising:

a surgical probe configured to carry a surgical device, the surgical probe having a probe body and a probe tip that extends from the probe body in a distal direction, wherein the surgical probe is elongate along a central axis, and the surgical probe includes an outer annulus and a plurality of guide arms that are attached to the probe tip and disposed about the central axis; and

a control system that includes a free floating user interface, a motion sensor that detects motion of the user interface and generates motion signals in response to the detected motion, a processor that receives the motion signals from the motion sensor, and a plurality of actuators each in communication with the processor and coupled to at least one of the guide arms,

wherein the processor, in response to the motion signals, applies deflection signals to at least one of the actuators that causes the at least one of the actuators to urge at least a portion of at least one of the guide arms to move in a proximal direction opposite the distal direction, which in turn applies a biasing force to the probe tip to deflect in a respective direction in which the at least one of the guide arms is spaced from the central axis.

2. The surgical system as recited in claim 1, wherein the probe tip is more flexible than the probe body.

3. The surgical system as recited in claim 1, wherein the actuators are configured to apply a mechanical force to at least one of the guide arms so as to cause the at least one of the guide arms to move in the proximal direction.

4. The surgical system as recited in claim 3, wherein the actuators comprise servos having servo arms that are coupled to at least one of the guide arms, wherein the servo arms are movable in response to the deflection signals so as to cause one of the guide arms to move in the proximal direction.

5. The surgical system as recited in claim 4, wherein at least one of the servo arms is coupled to a pair of opposed ones of the guide arms, such that rotation of the at least one of the servo arms causes one of the pair of guide arms to move in the proximal direction, and the other of the pair of guide arms to move in the distal direction.

6. The surgical system as recited in claim 1, wherein at least a portion of each of the guide arms comprises a shape memory material, and the actuators comprise current flow regulators that are configured to, in response to the deflection signals, apply electrical current to the shape memory material, which causes the shape memory material to contract along its length, thereby applying the biasing force to the probe tip.

7. The surgical system as recited in claim 6, wherein the guide arms each includes an electrical wire coupled to a respective one of the actuators, and shape memory material that extends from the electrical wire to the probe tip.

8. The surgical system as recited in claim 1, wherein control system comprise a refresh input that causes a current position and orientation of the user interface to be a new neutral position of the user interface, such that the processor generates the deflection signals that correspond to motion of the user interface with respect to the new neutral position.

9. The surgical system as recited in claim 8, wherein the refresh input comprises a refresh switch carried by the user interface.

10. The surgical system as recited in claim 9, further comprising a deflection activation input that is configured to be actuated so as to cause the processor to detect motion of the user interface.

11. The surgical system as recited in claim 10, wherein the deflection activation input is a trigger switch of the user interface, and the trigger switch further defines the refresh input.

12. The surgical system as recited in claim 1, wherein the processor and motion sensor are carried by the user interface.

13. The surgical system as recited in claim 12, wherein the motion sensor comprises an accelerometer.

14. The surgical system as recited in claim 1, wherein the control system further comprises a base unit that is separate from the user interface, and the actuators are carried in the base unit, and the processor sends the deflection signals wirelessly to the actuator.

15. The surgical system as recited in claim 14, wherein the motion sensor is external to the user interface and sends the motion signals wirelessly to the processor.

16. The surgical system as recited in claim 15, wherein the processor is carried by the user interface.

17. The surgical system as recited in claim 15, wherein the processor is carried by the base unit.

18. A control system for a surgical probe, the control system comprising:

a free floating user interface;

a motion sensor that detects motion of the user interface and generates motion signals in response to the detected motion,

a processor that receives the motion signals from the motion sensor, and in response generates deflection signals that correspond to the received motion signals; and

a plurality of actuators each in communication with the processor, wherein the actuators are configured to be coupled to the surgical probe,

wherein the actuators are configured to receive the deflection signals and, in turn, cause a tip of the surgical probe to deflect.

19. The control system as recited in claim 18, wherein the actuators comprise servos having servo arms that move in response to the deflection signals.

20. The control system as recited in claim 18, wherein the actuators comprise current flow regulators that are configured to, in response to the deflection signals, apply a pulsed electrical current to the surgical probe.

21. The control system as recited in claim 18, wherein control system comprise a refresh input that causes a current position and orientation of the user interface to be a new neutral position of the user interface, such that the processor generates the deflection signals that correspond to motion of the user interface with respect to the new neutral position.

22. The control system as recited in claim 21, wherein the refresh input comprises a refresh switch carried by the user interface.

23. The control system as recited in claim 22, further comprising a deflection activation input that is configured to be actuated so as to cause the processor to detect motion of the user interface.

24. The control system as recited in claim 23, wherein the deflection activation input is a trigger switch of the user interface, and the trigger switch further defines the refresh input.

25. The control system as recited in claim 18, wherein the processor and motion sensor are carried by the user interface.

26. The control system as recited in claim 25, wherein the motion sensor comprises an accelerometer.

27. The control system as recited in claim 18, wherein the control system further comprises a base unit that is separate from the user interface, and the actuators are carried in the base unit, and the processor sends the deflection signals wirelessly to the actuator.

28. The control system as recited in claim 27, wherein the motion sensor is external to the user interface and sends the motion signals wirelessly to the processor.

29. The control system as recited in claim 18, wherein the processor is carried by the user interface.

30. The surgical system as recited in claim 28, wherein the processor is carried by the base unit.