Surgical instruments

• US 7,789,875 B2
• Filed: 11/22/2006
• Issued: 09/07/2010
• Est. Priority Date: 02/24/1998
• Status: Expired due to Fees

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Brock, David L., Lee, Woojin
• Primary Examiner(s): Philogene; Pedro
• Application Number:
  US11/562,960
• Publication Number:
  US 20070088340A1
• Time in Patent Office: 1,385 Days
• Field of Search: 606/1, 606/130, 600/102, 600/101, 600/117, 600/118, 600/424, 600/104, 901/2, 901/47, 709/208, 395/99, 395/89, 395/95, 395/97
• US Class Current: 606/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0483 Hand-held instruments for holding sutures A61B17/0469 takes precedence; other holders for needles or sutures A61B17/06061; surgical forceps A61B17/28; surgical pincettes A61B17/30
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00088 using thermistors
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00331 with preformed bends
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2034/744 Mouse
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0084 : for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/015 : By temperature mapping of body part
• CPC Class Codes: A61B 5/4893 : Nerves
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 3/04 : involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/104 : with cables, chains or ribbons

Abstract

A medical system comprises a rigid support configured for being affixed relative to a patient table, a carriage assembly configured for being removably mounted to the rigid support, a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, and a drive unit configured for being coupled to the surgical instrument to control the movement of the surgical instrument within at least one degree-of-freedom.

Claims

1. A medical system, comprising:

a rigid support configured for being affixed relative to a patient table;

a carriage assembly configured for being removably mounted to the rigid support;

a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient; and

a drive unit coupled to the surgical instrument through the carriage assembly to control the movement of the surgical instrument within at least one degree-of-freedom.

2. The medical system of claim 1, wherein the rigid support is a rigid post configured for being mounted to the patient table.

3. The medical system of claim 1, wherein the carriage assembly comprises at least one rail and a carriage slidably disposed on the at least one rail, the surgical instrument affixed to the carriage.

4. The medical system of claim 1, wherein the carriage assembly is pivotably affixed to the rigid support.

5. The medical system of claim 1, wherein the drive unit is coupled to the surgical instrument via external mechanical cabling.

6. The medical system of claim 1, wherein the drive unit has a motor array.

7. The medical system of claim 1, wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.

8. The medical system of claim 1, wherein the at least one degree-of-freedom is an actuation of the distal tool.

9. The medical system of claim 1, wherein the at least one degree-of-freedom is a linear sliding of the surgical instrument relative to the rigid support.

10. The medical system of claim 1, wherein the at least one degree-of-freedom is a pivoting of the surgical instrument about the rigid support.

11. The medical system of claim 1, further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.

12. The medical system of claim 11, wherein the remote controller has a user interface for receiving commands from a user.

13. The medical system of claim 12, wherein movements made at the user interface correspond to movements of the surgical instrument.

14. The medical system of claim 11, wherein the remote controller is coupled to the drive unit via external electrical cabling.

15. The medical system of claim 1, wherein the drive unit is located outside of a sterile field.

16. The medical system of claim 5, wherein the mechanical cabling is detachable from the drive unit.

17. The medical system of claim 1, wherein the drive unit is mechanically coupled to a side of the patient table, and the surgical instrument is positioned above the patient table.

18. The medical system of claim 17, wherein the drive unit is mechanically coupled to the patient table through a brace, the brace carries an attachment member, the drive unit is coupled to the attachment member, and a lower portion of the rigid support is secured to the attachment member by a clamp.

19. A medical system, comprising:

a rigid support configured for being affixed relative to a patient table;

a carriage assembly configured for being removably mounted to the rigid support;

a yoke configured for being mounted to the rigid support, wherein the carriage assembly further comprises a pivot piece configured for being pivotably secured to the yoke;

a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient; and

a drive unit configured for being coupled to the surgical instrument to control the movement of the surgical instrument within at least one degree-of-freedom.

20. The medical system of claim 19, further comprising a bracket configured for being mounted to the rigid support, and a pin configured for removably mounting the yoke to the rigid support.

21. The medical system of claim 19, wherein the drive unit is coupled to the surgical instrument through the carriage assembly.

22. The medical system of claim 19, wherein the carriage assembly comprises at least one rail and a carriage slidably disposed on the at least one rail, the surgical instrument affixed to the carriage.

23. The medical system of claim 19, wherein the carriage assembly is pivotably affixed to the rigid support.

24. The medical system of claim 19, wherein the rigid support is a rigid post configured for being mounted to the patient table.

25. The medical system of claim 19, wherein the drive unit is coupled to the surgical instrument via external mechanical cabling.

26. The medical system of claim 19, wherein the drive unit has a motor array.

27. The medical system of claim 19, wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.

28. The medical system of claim 19, wherein the at least one degree-of-freedom is an actuation of the distal tool.

29. The medical system of claim 19, wherein the at least one degree-of-freedom is a linear sliding of the surgical instrument relative to the rigid support.

30. The medical system of claim 19, wherein the at least one degree-of-freedom is a pivoting of the surgical instrument about the rigid support.

31. The medical system of claim 19, further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.

32. The medical system of claim 31, wherein the remote controller has a user interface for receiving commands from a user.

33. The medical system of claim 32, wherein movements made at the user interface correspond to movements of the surgical instrument.

34. The medical system of claim 31, wherein the remote controller is coupled to the drive unit via external electrical cabling.

35. A medical system, comprising:

a rigid support configured for being affixed relative to a patient table;

a carriage assembly configured for being removably mounted to the rigid support;

a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, wherein the surgical instrument comprises an adapter to which the drive unit is coupled and an instrument insert carrying the distal tool and removably disposed within the adapter; and

a drive unit configured for being coupled to the surgical instrument to control the movement of the surgical instrument within at least one degree-of-freedom.

36. The medical system of claim 35, wherein the drive unit is coupled to the surgical instrument through the carriage assembly.

37. The medical system of claim 35, wherein the carriage assembly comprises at least one rail and a carriage slidably disposed on the at least one rail, the surgical instrument affixed to the carriage.

38. The medical system of claim 35, wherein the carriage assembly is pivotably affixed to the rigid support.

39. The medical system of claim 35, wherein the rigid support is a rigid post configured for being mounted to the patient table.

40. The medical system of claim 35, wherein the drive unit is coupled to the surgical instrument via external mechanical cabling.

41. The medical system of claim 35, wherein the drive unit has a motor array.

42. The medical system of claim 35, wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.

43. The medical system of claim 35, wherein the at least one degree-of-freedom is an actuation of the distal tool.

44. The medical system of claim 35, wherein the at least one degree-of-freedom is a linear sliding of the surgical instrument relative to the rigid support.

45. The medical system of claim 35, wherein the at least one degree-of-freedom is a pivoting of the surgical instrument about the rigid support.

46. The medical system of claim 35, further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.

47. The medical system of claim 46, wherein the remote controller has a user interface for receiving commands from a user.

48. The medical system of claim 47, wherein movements made at the user interface correspond to movements of the surgical instrument.

49. The medical system of claim 46, wherein the remote controller is coupled to the drive unit via external electrical cabling.