Robotically controlled surgical instruments

• US 7,699,835 B2
• Filed: 11/17/2003
• Issued: 04/20/2010
• Est. Priority Date: 02/15/2001
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Lee, Woojin, Chamorro, Andres III, Meglan, Dwight, Ailinger, Robert
• Primary Examiner(s): Philogene; Pedro
• Application Number:
  US10/715,339
• Publication Number:
  US 20040193146A1
• Time in Patent Office: 2,346 Days
• Field of Search: 606/1, 606/130, 606/205, 606/206, 606/207, 606/208, 606/147, 606/148, 600/109, 600/118, 600/114, 600/37
• US Class Current: 606/1
• CPC Class Codes: A61B 17/062 Needle manipulators
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2931 with releasable head
• CPC Class Codes: A61B 2017/2934 arcuate shaped guiding means
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• 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

Abstract

A robotically controlled surgical instrument includes a first jaw and a second jaw used to grasp an item, and a drive mechanism that increases the force applied to the item grasped. The drive mechanism and the jaws can be provided with an accommodating mechanism that allows continued movement of the drive mechanism towards a locked position even after the jaws contact a larger item so that the drive mechanism can move to the locked position when grasping items of different sizes.

Claims

1. A robotically controlled medical instrument comprising:

a first jaw;

a second jaw;

a drive mechanism including a linkage having a first end connected by a pivot joint to the first jaw and a second end provided with a pin positioned in a slot of the second jaw, the linkage providing increasing leverage to increase the force applied to an item grasped between the first and second jaws as the pin moves along the slot; and

an electronic controller that controls the operation of the drive mechanism.

2. The medical instrument of claim 1 wherein the slot has a curved segment and a straight segment.

3. The medical instrument of claim 1 wherein the drive mechanism includes a rotation piece connected to the first and second jaws by a second pivot joint, and a second linkage having a first end connected to the first linkage by the pin and a second end provided with a second pin positioned in the slot, rotation of the rotation piece causing a consequent rotation of the first jaw with respect to the second jaw, the first and second pins moving along the slot as the rotation piece rotates.

4. The medical instrument of claim 3 wherein the rotation piece is connected to a first drive cable, and the second jaw is connected to a second drive cable, respective tension being applied to the first and second drive cables to operate one or both of the first and second jaws.

5. The medical instrument of claim 4 further comprising a shaft, the first and second jaws being supported at the distal end of the shaft, and the first and second drive cables extending through the shaft.

6. The medical instrument of claim 1 further comprising an accommodating mechanism that allows continued movement of the drive mechanism towards a locked position even after the first and second jaws contact a larger item so that the drive mechanism can move to the locked position when grasping items of different sizes.

7. The medical instrument of claim 6 wherein the accommodating mechanism is an extended end segment of the slot extending from the straight segment, the pin residing in the end segment when the first and second jaws grasp an item, the extent to which being dependent upon the size of the item being grasped.

8. The medical instrument of claim 6 wherein the accommodating mechanism is a compliance member.

9. The medical instrument of claim 8 wherein the compliance member is resilient member interposed between the linkage and the first jaw, the resilient member being compressed when the first and second jaws grasp an item, the extent of the compression of the resilient member being dependent on the size of the item being grasped.

10. The medical instrument of claim 8 wherein the compliance member is a hinge in one of the first and second jaws about which the respective jaw flexes, the amount of flexing being dependent upon the size of an item being grasped.

11. The medical instrument of claim 10 wherein the hinge is located below the furthest extent of a gap that extends into the respective jaw.

12. A robotically controlled medical instrument comprising:

a first jaw;

a second jaw;

a drive mechanism which increases the force applied to an item grasped between the first and second jaws, the drive mechanism and the first and second jaws being provided with an accommodating mechanism that allows continued movement of the drive mechanism towards a locked position even after the first and second jaws contact a larger item so that the drive mechanism can move to the locked position when grasping items of different sizes, wherein the drive mechanism includes a linkage having a first end connected by a pivot joint to the first jaw and a second end provided with a pin positioned in a slot of the second jaw, the slot having a curved segment, a straight segment extending from the curved segment, and an extended end segment extending from the straight segment, the accommodating mechanism being the end segment, the pin residing in the end segment when the first and second jaws grasp an item, the extent to which being dependent upon the size of the item being grasped; and

an electronic controller that controls the operation of the drive mechanism.

13. The medical instrument of claim 12 wherein the first jaw is coupled to a first drive cable, and the second jaw is coupled to a second drive cable, respective tension being applied to the first and second drive cables to operate the first and second jaws.

14. The medical instrument of claim 13 wherein the amount of tension being applied to the respective cables is controlled with the electronic controller coupled with a user interface operated by a user.

15. The medical instrument of claim 12 wherein the accommodating mechanism is a compliance member.

16. The medical instrument of claim 15 wherein the drive mechanism increases leverage through the linkage connected to the first jaw by the pivot joint, the compliance member being a resilient member interposed between the linkage and the first jaw, and being compressed when the first and second jaws grasp an item, the extent of the compression of the resilient member being dependent on the size of the item being grasped.

17. The medical instrument of claim 15 wherein the compliance member is a hinge in one of the first and second jaws about which the respective jaw flexes, the amount of flexing being dependent upon the size of an item being grasped.

18. The medical instrument of claim 17 wherein the hinge is located below the furthest extent of a gap that extends into the respective jaw.

19. A robotically controlled medical instrument comprising:

an instrument shaft having proximal and distal ends;

a tool supported from the distal end of said instrument shaft and useable in performing a medical procedure on a subject, said tool constructed and arranged so to be capable of receiving different size items and including a pair of work members, a drive mechanism which increases the force applied to an item grasped between the pair of work members, and an accommodating mechanism interacting with said drive mechanism and the pair of work members and that allows the pair of work members to be closed beyond a maximum grasping position so that the pair of work members can grasp items of various sizes;

a rotation piece coupling with one of said pair of work members and a pair of linkages one engaged with the rotating piece, and the other engaged with one of said pair of work members, said pair of linkages also pivotally supported relative to each other;

a robotic controller coupled to said instrument shaft for remotely effecting control of said tool.

20. The medical instrument of claim 19 including at least one drive cable extending via said instrument shaft for operating the rotating piece, and the other for operating the other work member.

21. The medical instrument of claim 19 wherein the accommodating mechanism comprises a compliance member.

22. The medical instrument of claim 21 wherein the drive mechanism increases leverage through a linkage connected to a first work member by a pivot joint, the compliance member being a resilient member interposed between the linkage and the first work member, and being compressed when the first work member and a second work member grasp an item, the extent of the compression of the resilient member being dependent on the size of the item being grasped.

23. The medical instrument of claim 21 wherein the compliance member is a hinge in one of the pair of work members about which the respective work member flexes, the amount of flexing being dependent upon the size of an item being grasped.

24. The medical instrument of claim 19 wherein the force applied by the first and second work members beyond the maximum grasping position is proportional to the size of the item being grasped.

25. A robotically controlled medical instrument comprising:

an instrument shaft having proximal and distal ends;

a tool supported from the distal end of said instrument shaft and useable in performing a medical procedure on a subject;

said tool constructed and arranged so to be capable of receiving different size items and including a pair of work members, a drive mechanism which increases the force applied to an item grasped between the pair of work members, and an accommodating mechanism interacting with said drive mechanism and pair of work members and that allows the pair of work members to be closed beyond a maximum grasping position so that the pair of work members can grasp items of various sizes, wherein the drive mechanism includes a linkage having a first end connected by a pivot joint to a first work member and a second end provided with a pin positioned in a slot of a second work member, the slot having a curved segment, a straight segment extending from the curved segment, and an extended end segment extending from the straight segment, the accommodating mechanism being the end segment, the pin residing in the end segment when the first and second work members grasp an item, the extent to which being dependent upon the size of the item being grasped; and

a robotic controller coupled to said instrument shaft for remotely effecting control of said tool.

26. A method of grasping an item with a robotically controlled surgical tool comprising:

positioning the item between a first jaw and a second jaw of the tool, wherein the tool includes a drive mechanism, and wherein the drive mechanism includes a linkage having a first end connected by a pivot joint to the first jaw and a second end provided with a pin positioned in a slot of the second jaw, the slot having a curved segment, a straight segment extending from the curved segment, and an extended end segment extending from the straight segment that provides an accommodating mechanism, the pin residing in the end segment when the first and second jaws grasp an item, the extent to which being dependent upon the size of the item being grasped;

moving the first and second jaws to an initial contact position for grasping the item; and

increasing leverage to the first and second jaws beyond the initial contact position to increase the force applied to the item grasped between the first and second jaws with the magnitude of applied force being proportional to the size of the item being grasped.

27. The method of claim 26 wherein the applied force is directly proportional to the diameter of the item being grasped.

28. The method of claim 26 wherein the proportional force is applied with the use of a resilient member associated with the first and second jaws.

29. The method of claim 26 wherein the proportional force is applied with the use of at least one of the first and second jaws having a closable gap.