Flexible instrument

• US 7,931,586 B2
• Filed: 01/31/2008
• Issued: 04/26/2011
• 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: Rogers, Gary, Brock, David L., Weitzner, Barry, Lee, Woojin
• Primary Examiner(s): Philogene; Pedro
• Application Number:
  US12/023,865
• Publication Number:
  US 20080119871A1
• Time in Patent Office: 1,181 Days
• Field of Search: 606/130, 606/1, 606/34, 600/114, 600/120, 600/143, 600/146, 600/151, 600/101, 600/109, 600/106, 600/104, 600/117, 600/118, 700/250, 700/258, 700/302, 901/23, 901/30, 604/510, 604/272
• US Class Current: 600/114
• 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 17/0487 Suture clamps, clips or locks, e.g. for replacing suture knots; Instruments for applying or removing suture clamps, clips or locks suture anchors A61B17/0401; wound clamps or clips A61B17/08; ligaturing clamps or clips A61B17/122
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• 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 2017/00243 cardiac
• 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 2017/00876 magnetic
• CPC Class Codes: A61B 2017/00986 Malecots, e.g. slotted tubes, of which the distal end is pulled to deflect side struts
• CPC Class Codes: A61B 2017/0409 Instruments for applying suture anchors for applying suture clamps, clips or locks A61B2017/0488
• CPC Class Codes: A61B 2017/0414 having a suture-receiving opening, e.g. lateral opening lateral eyelet for attaching suture to needle A61B2017/06019
• CPC Class Codes: A61B 2017/0437 the barbs being resilient or spring-like
• CPC Class Codes: A61B 2017/0464 : for soft tissue
• CPC Class Codes: A61B 2017/0645 : being elastically deformed for insertion
• CPC Class Codes: A61B 2017/0648 : threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2017/22069 : Immobilising; Stabilising
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• 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: A61F 2/2445 : Annuloplasty rings in direct contact with the valve annulus
• CPC Class Codes: A61F 2/2466 : Delivery devices therefor
• 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 instrument assembly and robotic medical system are provided. The instrument assembly comprises coaxially disposed shafts, and a mechanically drivable interface to which the proximal ends of the shafts are mounted. The drivable interface has first and second actuating elements configured for independently axially rotating the shafts relative to each other, and a third actuating element configured for deflecting the distal end of one of the shafts. The robotic medical system comprises the instrument assembly, a user interface configured for generating at least one command, and a drive unit coupled to the drivable interface. The robotic medical system further comprises an electrical controller configured, in response to the at least one command, for directing the drive unit to drive the first and second actuating elements to independently axially rotate the shafts relative to each other, and to drive the third actuating element to deflect one of the shafts.

Claims

1. A medical instrument assembly, comprising:

an inner elongated shaft having a proximal end and a distal end;

an outer elongated shaft having a proximal end and a distal end, the inner shaft coaxially disposed within the outer shaft; and

a mechanically drivable interface to which the proximal ends of the outer and inner shafts are mounted, the drivable interface having first and second actuating elements configured for independently axially rotating the inner and outer shafts relative to each other, and a third actuating element configured for deflecting the distal end of one of the inner and outer shafts.

2. The medical instrument assembly of claim 1, wherein the inner shaft is flexible.

3. The medical instrument assembly of claim 2, wherein the outer shaft has first and second rigid sections and a flexible section located between the first and second rigid sections.

4. The medical instrument assembly of claim 1, wherein the distal end of the one of the inner and outer shafts is the distal end of the outer shaft.

5. The medical instrument assembly of claim 1, further comprising a cable extending along the one of the inner and outer shafts, wherein the third actuating element comprises a pulley that pulls the cable to effect the deflection of the distal end of the one of the inner and outer shafts.

6. The medical instrument assembly of claim 1, further comprising an end effector carried by the distal end of the inner shaft for performing a medical procedure on patient, wherein the drivable interface has a fourth actuating element configured for actuating the end effector.

7. The medical instrument assembly of claim 6, further comprising a cable extending within the inner shaft, wherein the fourth actuating element comprises a pulley that pulls the cable to effect the actuation of the end effector.

8. The medical instrument assembly of claim 1, further comprising a receiver to which the drivable interface is configured for being removably mated, the receiver configured for operably coupling a drive unit to the first, second, and third actuating elements.

9. The medical instrument assembly of claim 8, wherein the receiver has first, second, and third complementary actuating elements that respectively mechanically interface with the first, second, and third actuating elements of the drivable interface.

10. The medical instrument assembly of claim 9, wherein the first and second actuating element are pulleys, the first and second complementary actuating elements are complementary pulleys that respectively mechanically interface with the first and second pulleys, the third actuating element is a gear, and the third complementary actuating element is a complementary gear that mechanically interfaces with the gear.

11. The medical instrument assembly of claim 8, further comprising cabling extending from the receiver and configured for coupling the drive unit to the first, second, and third actuating elements.

12. The medical instrument assembly of claim 1, further comprising a carriage on which the drivable interface is mounted.

13. A robotic medical system, comprising:

a medical instrument assembly including an inner catheter, an outer catheter in which the inner catheter is coaxially disposed, and a mechanically drivable interface having first, second, and third actuating elements;

a user interface configured for generating at least one command;

a drive unit coupled to the drivable interface of the medical instrument assembly; and

an electrical controller configured, in response to the at least one command, for directing the drive unit to drive the first and second actuating elements to independently axially rotate the inner and outer catheters relative to each other, and to drive the third actuating element to deflect one of the inner and outer catheters.

14. The robotic medical system of claim 13, wherein the inner catheter is flexible.

15. The robotic medical system of claim 14, wherein the outer catheter has first and second rigid sections and a flexible section located between the first and second rigid sections.

16. The robotic medical system of claim 13, wherein the one of the inner and outer catheters is the outer catheter.

17. The robotic medical system of claim 13, wherein the medical instrument assembly further includes an end effector carried by inner catheter for performing a medical procedure on patient, wherein the drivable interface has a fourth actuating element, and the electrical controller is configured, in response to the at least one command, for directing the drive unit to drive the fourth actuating element to actuate the end effector.

18. The robotic medical system of claim 13, wherein the medical instrument assembly further includes a receiver removably mated to the drivable interface, the receiver configured for operably coupling the drive unit to the first, second, and third actuating elements.

19. The robotic medical system of claim 18, wherein the receiver has first, second, and third complementary actuating elements that respectively mechanically interface with the first, second, and third actuating elements of the drivable interface.

20. The robotic medical system of claim 13, wherein the medical instrument assembly further includes a carriage on which the drivable interface is slidably mounted.

21. The robotic medical system of claim 13, wherein the user interface is located remotely from the drive unit.

22. The robotic medical system of claim 13, wherein the drive unit has a motor array.

23. The robotic medical system of claim 13, wherein the drive unit is coupled to the drivable interface via external cabling.

24. The robotic medical system of claim 13, wherein the electrical controller is configured for directing the drive unit to drive the first, second, and third actuating elements to effect movements of the inner and outer catheters corresponding to movements at the user interface.

25. The robotic medical system of claim 13, wherein the electrical controller is coupled to the drive unit via external cabling.