U.S. patent application number 10/299588 was filed with the patent office on 2003-07-17 for robotically controlled medical instrument with a flexible section.
This patent application is currently assigned to endo Via Medical, Inc.. Invention is credited to Chamorro, Andres III, Lee, Woojin, Weitzner, Barry.
Application Number | 20030135204 10/299588 |
Document ID | / |
Family ID | 46281551 |
Filed Date | 2003-07-17 |
United States Patent
Application |
20030135204 |
Kind Code |
A1 |
Lee, Woojin ; et
al. |
July 17, 2003 |
Robotically controlled medical instrument with a flexible
section
Abstract
A robotically controlled medical instrument includes a bending
section with a unibody construction, a tool supported at a distal
end of the bending section and used to perform a medical procedure
on a subject such as a human patient, and an electronic controller
that controls the bending section to provide at least one
degree-of-freedom of movement.
Inventors: |
Lee, Woojin; (Hopkinton,
MA) ; Chamorro, Andres III; (Arlington, MA) ;
Weitzner, Barry; (Acton, MA) |
Correspondence
Address: |
HAMILTON, BROOK, SMITH & REYNOLDS, P.C.
530 VIRGINIA ROAD
P.O. BOX 9133
CONCORD
MA
01742-9133
US
|
Assignee: |
endo Via Medical, Inc.
Norwood
MA
02062
|
Family ID: |
46281551 |
Appl. No.: |
10/299588 |
Filed: |
November 18, 2002 |
Related U.S. Patent Documents
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10299588 |
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10014143 |
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Current U.S.
Class: |
606/1 ;
606/205 |
Current CPC
Class: |
A61B 90/36 20160201;
A61B 5/4893 20130101; A61B 2034/742 20160201; A61B 17/3462
20130101; A61B 34/70 20160201; A61B 2090/506 20160201; A61B
2017/00331 20130101; A61B 34/30 20160201; A61B 2017/003 20130101;
A61B 2034/2051 20160201; A61B 34/20 20160201; A61B 2017/00088
20130101; A61B 17/0469 20130101; A61B 2017/00026 20130101; A61B
34/77 20160201; A61B 2034/744 20160201; A61B 2034/306 20160201;
A61B 5/0084 20130101; A61B 2017/2936 20130101; A61B 5/015 20130101;
A61B 17/00234 20130101; A61B 2017/00477 20130101; A61B 17/29
20130101; A61B 34/71 20160201; A61B 2034/715 20160201; B25J 3/04
20130101; A61B 2017/2927 20130101; A61B 2034/305 20160201; B25J
9/104 20130101; A61B 2090/365 20160201; A61B 2017/00371 20130101;
A61B 2017/00323 20130101; A61B 17/0483 20130101; A61B 17/062
20130101; A61B 2090/571 20160201; A61B 90/361 20160201; A61B 34/10
20160201; A61B 34/35 20160201; A61B 34/37 20160201; A61B 2017/2939
20130101; A61B 2090/378 20160201; A61B 34/72 20160201; A61B
2034/2059 20160201; A61B 2034/301 20160201; A61B 17/3421 20130101;
A61B 2017/2902 20130101 |
Class at
Publication: |
606/1 ;
606/205 |
International
Class: |
A61B 017/00 |
Claims
What is claimed is:
1. A robotically controlled medical instrument comprising: a
bending section having a unibody construction, and being bendable
with at least one degree-of-freedom; a tool supported at a distal
end of the bending section for performing a medical procedure on a
subject; and an electronic controller that controls the bending
section to provide the at least one degree-of-freedom of
movement.
2. The medical instrument of claim 1 further comprising a first
pair of cables extending along the length of the bending section,
tension being applied to at least one of the first pair of cables
to operate the bending section with one degree-of-freedom.
3. The medical instrument of claim 2 further comprising a second
pair of cables extending along the length of the bending section,
tension being applied to at least one of the second pair of cables
to operate the bending section with a second degree-of-freedom.
4. The medical instrument of claim 3 wherein the amount of tension
being applied to the respective cables is controlled with the
controller coupled with an input device operated by a user.
5. The medical instrument of claim 2 wherein the tool is movable
with at least two additional degrees-of-freedom.
6. The medical instrument of claim 5 wherein the tool includes a
first jaw and a second jaw connected to the first jaw at a pivot
joint, the first jaw being movable with one of the two additional
degrees-of-freedom and the second jaw being movable with the other
of the two additional degrees-of-freedom.
7. The medical instrument of claim 6 comprising a second pair of
cables and a third pair of cables extending along the length of the
bending section and coupled to the first jaw and second jaws,
respectively, tension being applied to at least one of the second
pair of cables to operate the first jaw, and to at least one of the
third pair of cables to operate the second jaw.
8. The medical instrument of claim 7 wherein the second and third
pair of cables are positioned near the longitudinal axis of the
bending section.
9. The medical instrument of claim 8 wherein the second and third
pair of cables are contained in a sleeve positioned along the
longitudinal axis of the bending section, the second and third pair
of cables being able to slide along the sleeve.
10. The medical instrument of claim 7 wherein the amount of tension
being applied to the respective cables of the second and third pair
of cables is controlled with the controller coupled with an input
device operated by a user.
11. The medical instrument of claim 2 wherein the tool includes a
first jaw and a second jaw connected to the first jaw at a pivot
joint such that the first and second jaws open and close.
12. The medical instrument of claim 11 further comprising an
actuation element extending along the length of the bending section
and coupled to the first and second jaws to operate the first and
second jaws.
13. The medical instrument of claim 12 wherein the actuation
element is a single cable, the single cable being coupled to the
first and second jaws with a pair of linkages, the first and second
jaws being closed by pulling on the single cable and being opened
by pushing on the single cable.
14. The medical instrument of claim 13 wherein the single cable is
positioned near the longitudinal axis of the bending section.
15. The medical instrument of claim 14 wherein the single cable is
contained in a sleeve positioned along the longitudinal axis of the
bending section, the single cable being able to slide back and
forth along the sleeve.
16. The medical instrument of claim 15 further comprising a helical
spring positioned about the sleeve along the length of the bending
section to keep the sleeve and single cable near the longitudinal
axis of the bending section.
17. The medical instrument of claim 13 wherein the amount of
pushing and pulling on the single cable is controlled with the
controller coupled with an input device operated by a user.
18. The medical instrument of claim 1 wherein the bending section
has a bellows construction with alternating peaks and valleys
positioned between proximal and distal ends of the bending
section.
19. The medical instrument of claim 1 wherein the bending section
has a series of spaced ribs positioned along the length of the
bending section between proximal and distal ends of the bending
section.
20. The medial instrument of claim 19 wherein the bending section
includes a set of opposed ridges extending along the length of the
bending section, the individual ridges of the set of ridges being
positioned in a respective slot defined by adjacent ribs.
21. The medical instrument of claim 19 wherein the bending section
includes a first set of ridges extending along the length of the
bending section, the individual ridges of the first set of ridges
being positioned in every other slot defined between adjacent ribs,
and a second set of ridges, the individual ridges of the second set
of ridges being positioned in respective slots unoccupied by the
first set of ridges.
22. The medical instrument of claim 21 wherein the first set of
ridges is positioned at about 90 degrees from the second set of
ridges about the longitudinal axis of the bending section.
23. The medical instrument of claim 1 further comprising a second
bending section with a unibody construction, and being bendable
with at least one degree-of-freedom.
24. A robotically controlled medical instrument comprising: a
bending section being bendable with two degrees-of-freedom and
having a unibody construction with a series of spaced ribs, the
ribs being positioned along the length of the bending between
proximal and distal ends of the bending section, the bending
section including a first set of ridges extending along the length
of the bending section, the individual ridges of the first set of
ridges being positioned in every other slot defined between
adjacent ribs, and a second set of ridges, the individual ridges of
the second set of ridges being positioned in respective slots
unoccupied by the first set of ridges; a first pair of cables and a
second pair of cables extending along the length of the bending
section, tension being applied to at least one of the first pair of
cables to operate the bending section with one degree-of-freedom,
and to at least one of the second pair cables to operate the
bending section with a second degree-of-freedom; a tool supported
at the distal end of the bending section for performing a medical
procedure on a subject; and an electronic controller that controls
the bending section to provide the at least one degree-of-freedom
of movement.
25. The medical instrument of claim 24 wherein the tool includes a
first jaw and a second jaw connected to the first jaw at a pivot
joint such that the first and second jaws open and close.
26. The medical instrument of claim 25 further comprising an
actuation element extending along the length of the bending section
and coupled to the first and second jaws to operate the first and
second jaws.
27. The medical instrument of claim 26 wherein the actuation
element is a single cable, the single cable being coupled to the
first and second jaws with a pair of linkages, the first and second
jaws being closed by pulling on the single cable and being opened
by pushing on the single cable.
28. The medical instrument of claim 27 wherein the single cable is
contained in a sleeve positioned along the longitudinal axis of the
bending section, the single cable being able to slide back and
forth along the sleeve.
29. The medical instrument of claim 24 wherein the first set of
ridges is positioned at about 90 degrees from the second set of
ridges about the longitudinal axis of the bending section.
30. A method of remotely controlling a medical instrument
comprising: controlling the bending movements of a bending section
with a unibody construction having at least one degree-of-freedom
with an electronic controller; and performing a medical procedure
on a subject with a tool supported at a distal end of the bending
section.
31. The method of claim 30 wherein the controlling includes
applying a tension to at least one of a first pair of cables
extending along the length of the bending section to operate the
bending section with one degree-of-freedom.
32. The method of claim 31 wherein controlling includes applying a
tension to at least one of a second pair cables extending along the
length of the bending section to operate the bending section with a
second degree-of-freedom.
33. The method of claim 32 wherein the controlling includes
controlling with the controller coupled with an input device
operated by a user.
34. The method of claim 31 wherein the performing includes applying
a tension to at least one of a second pair of cables extending
along the length of bending section and coupled to a first jaw of
the tool, and applying a tension to at least one of third pair of
cables extending along the length of bending section and coupled to
a second jaw of the tool.
35. The method of claim 34 wherein the applying includes applying a
respective tension to the cables with the controller coupled with
an input device operated by a user.
36. The method of claim 31 wherein the performing includes pushing
and pulling an actuation element extending along the length of the
bending section and coupled to a first jaw and a second jaw
connected to the first jaw at a pivot joint, the pushing and
pulling causing the jaws to open and close, respectively.
37. The method of claim 36 wherein the pushing and pulling are
controlled by the controller coupled with an input device operated
by a user.
38. The method of claim 30 further comprising controlling a second
bending section with a unibody construction having at least one
degree-of-freedom.
39. A method of remotely controlling a medical instrument
comprising: controlling the bending movements of a bending section
with two degrees-of-freedom, the bending section having a unibody
construction with a series of spaced ribs, the ribs being
positioned along the length of the bending section between proximal
and distal ends of the bending section, the bending section
including a first set of ridges extending along the length of the
bending section, the individual ridges of the first set of ridges
being positioned in every other slot defined between adjacent ribs,
and a second set of ridges, the individual ridges of the second set
of ridges being positioned in respective slots unoccupied by the
first set of ridges; and performing a medical procedure on a
subject with a tool supported at a distal end of the bending
section.
40. The method of claim 39 wherein the controlling includes
applying a tension to at least one of a first pair of cables
extending along the length of the bending section to operate the
bending section with one degree-of-freedom, and applying a tension
to at least one of a second pair cables extending along the length
of the bending section to operate the bending section with a second
degree-of-freedom.
41. The method of claim 39 wherein the performing includes pushing
and pulling an actuation element extending along the length of the
bending section and coupled to a first jaw and a second jaw
connected to the first jaw at a pivot joint, the pushing and
pulling causing the jaws to open and close, respectively.
42. The method of claim 39 wherein the first set of ridges is
positioned at about 90 degrees from the second set of ridges about
the longitudinal axis of the bending section.
43. A robotically controlled medical instrument comprising: a means
for supporting a tool; a means for bending the means for supporting
with at least one degree-of-freedom with an electronic controller;
and a means for operating the tool to perform a medical procedure
on a subject.
44. A robotically controlled medical instrument system comprising:
an elongated shaft having proximal and distal ends; a tool
supported from the distal end of said elongated shaft and useable
in performing a medical procedure on a subject; at least one
controllably bendable section of said shaft; and an electrical
controller for receiving a command from an input device, and for,
in turn, controlling said bendable section to provide at least one
degree-of-freedom at said bendable section.
45. The instrument system of claim 44 further including a
mechanically drivable mechanism at the proximal end of said
elongated shaft.
46. The instrument system of claim 2 wherein said mechanically
drivable mechanism has at least one coupling tendon extending via
said elongated shaft for operating said tool.
47. The instrument system of claim 44 including mechanical cabling
comprised of at least one cable for operating said tool and at
least another cable for controlling said bendable section.
48. The instrument system of claim 44 wherein said input device is
controlled by a medical practitioner that issues commands for also
controlling at least one degree-of-freedom of said tool.
49. The instrument system of claim 44 including a drive unit
intercoupled with said elongated shaft for controlling the bending
action at said bendable section and, via a mechanically drivable
portion, actuation of said distally placed tool.
50. The instrument system of claim 44 wherein the bendable section
preferably has a length in a range on the order of 3/4 inch to 4
inches.
51. The instrument system of claim 44 wherein the distance between
the too] pivot point and the distal end of the bendable section is
preferably equal to or less than the length of the bendable
section.
52. The instrument system of claim 44 further comprising an
actuation element extending with said instrument shaft and operable
to control actuation of said tool.
53. The instrument system of claim 52 wherein said actuation
element is positioned at at least one of a substantially center
axis and substantially center plane of said controllably bendable
section so as to de-couple motion at said controllable bendable
section from tool actuation.
54. A method of remotely controlling an instrument, comprising:
providing an instrument shaft of the instrument that has supported
at its distal end a tool that is usable in performing a medical
procedure or application; providing a controllably bendable section
along said instrument shaft; inserting the shaft into a patient's
body so as to dispose the tool at an internal operative site; and
controlling, from a remote location, an input device that effects
bending of the controllably bendable section to thereby effect
positioning of the tool at the operative site.
55. A method as set forth in claim 54 wherein the step of
controlling also includes controlling, from the input device, the
operation of said tool.
56. A method as set forth in claim 54 wherein said input device is
controlled by a medical practitioner that issues commands for also
controlling at least one degree-of-freedom of said tool.
57. A method as set forth in claim 54 wherein the step of inserting
includes inserting through an incision.
58. A method as set forth in claim 54 wherein the step of inserting
includes inserting through a natural body orifice.
59. A method as set forth in claim 54 wherein the step of inserting
includes inserting percutaneously.
60. A robotically controlled medical instrument comprising: an
elongated shaft having proximal and distal ends; a tool supported
from the distal end of said elongated shaft and useable in
performing a medical procedure on a subject; at least one
controllably bendable section of said shaft disposed proximally of
said tool; and an actuation element extending with said instrument
shaft and operable to control actuation of said tool; said
actuation element positioned at at least one of a substantially
center axis and substantially center plane of said controllably
bendable section so as to de-couple motion at said controllable
bendable section from tool actuation.
61. The medical instrument of claim 60 further comprising a first
pair of cables extending along a length of the bendable section,
tension being applied to at least one of the first pair of cables
to operate the bendable section with one degree-of-freedom.
62. The medical instrument of claim 61 further comprising a second
pair of cables extending along the length of the bendable section,
tension being applied to at least one of the second pair of cables
to operate the bendable section with a second
degree-of-freedom.
63. The medical instrument of claim 60 further including an
electrical controller coupled with an input device operated by a
user for remote control of at least said tool.
64. The medical instrument of claim 60 wherein the tool is movable
with at least two additional degrees-of-freedom.
65. The medical instrument of claim 64 wherein the tool includes a
first jaw and a second jaw connected to the first jaw at a pivot
joint, the first jaw being movable with one of the two additional
degrees-of-freedom and the second jaw being movable with the other
of the two additional degrees-of-freedom.
66. The medical instrument of claim 65 comprising a second pair of
cables and a third pair of cables extending along the length of the
bendable section and coupled to the first jaw and second jaws,
respectively, tension being applied to at least one of the second
pair of cables to operate the first jaw, and to at least one of the
third pair of cables to operate the second jaw.
67. The medical instrument of claim 66 wherein the second and third
pair of cables are positioned near the longitudinal axis of the
bendable section.
68. The medical instrument of claim 67 wherein the second and third
pair of cables are contained in a sleeve positioned along the
longitudinal axis of the bendable section, the second and third
pair of cables being able to slide along the sleeve.
69. The medical instrument of claim 66 wherein the amount of
tension being applied to the respective cables of the second and
third pair of cables is controlled with a controller coupled with
an input device operated by a user.
70. The medical instrument of claim 60 wherein the tool includes a
first jaw and a second jaw connected to the first jaw at a pivot
joint such that the first and second jaws open and close.
71. The medical instrument of claim 70 wherein the actuation
element extends along the length of the bendable section and
couples to the first and second jaws to operate the first and
second jaws.
72. The medical instrument of claim 71 wherein the actuation
element is a single cable, the single cable being coupled to the
first and second jaws with a pair of linkages, the first and second
jaws being closed by pulling on the single cable and being opened
by pushing on the single cable.
73. The medical instrument of claim 72 wherein the single cable is
positioned near the longitudinal axis of the bendable section.
74. The medical instrument of claim 73 wherein the single cable is
contained in a sleeve positioned along the longitudinal axis of the
bendable section, the single cable being able to slide back and
forth along the sleeve.
75. The medical instrument of claim 74 further comprising a helical
spring positioned about the sleeve along the length of the bendable
section to keep the sleeve and single cable near the longitudinal
axis of the bendable section.
76. The medical instrument of claim 72 wherein the amount of
pushing and pulling on the single cable is controlled with a
controller coupled with an input device operated by a user.
77. The medical instrument of claim 60 wherein the bendable section
has a bellows construction with alternating peaks and valleys
positioned between proximal and distal ends of the bendable
section.
78. The medical instrument of claim 60 wherein the bendable section
has a series of spaced ribs positioned along the length of the
bendable section between proximal and distal ends of the bendable
section.
79. The medial instrument of claim 78 wherein the bendable section
includes a set of opposed ridges extending along the length of the
bendable section, the individual ridges of the set of ridges being
positioned in a respective slot defined by adjacent ribs.
80. The medical instrument of claim 78 wherein the bendable section
includes a first set of ridges extending along the length of the
bendable section, the individual ridges of the first set of ridges
being positioned in every other slot defined between adjacent ribs,
and a second set of ridges, the individual ridges of the second set
of ridges being positioned in respective slots unoccupied by the
first set of ridges.
81. The medical instrument of claim 80 wherein the first set of
ridges is positioned at about 90 degrees from the second set of
ridges about the longitudinal axis of the bendable section.
82. The medical instrument of claim 60 further comprising a second
bendable section with a unibody construction, and being bendable
with at least one degree-of-freedom.
83. A method of operating a medical instrument comprising:
controlling the bending movements of a bending section with a
unibody construction having at least one degree-of-freedom; and
performing a medical procedure on a subject with a tool supported
at a distal end of the bending section; said step of controlling
including controlling the one degree-of-freedom, from a remote
location via an electrical controller with an input device that
effects bending of the controllably bendable section to thereby
effect positioning of the tool at the operative site.
84. The method of claim 83 wherein the controlling includes
applying a tension to at least one of a first pair of cables
extending along the length of the bending section to operate the
bending section with one degree-of-freedom.
85. The method of claim 84 wherein controlling includes applying a
tension to at least one of a second pair cables extending along the
length of the bending section to operate the bending section with a
second degree-of-freedom.
86. The method of claim 83 further including controlling actuation
of the tool by means of at least one actuation element.
87. The method of claim 86 wherein said actuation element is
positioned at at least one of a substantially center axis and
substantially center plane of said controllably bendable section so
as to de-couple motion at said controllable bendable section from
tool actuation.
88. The method of claim 83 further comprising controlling a second
bendable section with a unibody construction having at least one
degree-of-freedom.
89. A robotically controlled medical instrument comprising: a means
for supporting a tool; a means of bending the means for supporting
with at least one degree-of-freedom; a means for operating the tool
to perform a medical procedure on a subject; an actuation means
operable to control actuation of said tool; said actuation means
positioned at least one of a substantially center axis and
substantially center plane of said means for bending so as to
de-couple motion at said means for bending from tool actuation.
90. A robotically controlled medical instrument comprising: an
elongated shaft having proximal and distal ends; a tool supported
from the distal end of said elongated shaft and useable in
performing a medical procedure on a subject; the distal end of said
elongated shaft and the tool having respective removably engaging
portions that are readily engagable for positioning the tool at the
distal end of said elongated shaft in operative position relative
to said elongated shaft, and readily disengagable for removal of
said tool from the distal end of said elongated shaft.
91. The medical instrument of claim 90 further including a
mechanically drivable mechanism at the proximal end of said
elongated shaft.
92. The medical instrument of claim 91 wherein said mechanically
drivable mechanism, elongated shaft, and tool comprise a single
piece disposable unit.
93. The medical instrument of claim 91 wherein said mechanically
drivable mechanism has at least one coupling tendon extending via
said elongated shaft for operating said tool.
94. The medical instrument of claim 93 wherein said tool is
controlled remotely from an electrical controller.
95. The medical instrument of claim 94 wherein said electrical
controller couples from a user interface controlled by an operator
to remotely and telerobotically control said tool.
96. The medical instrument of claim 90 wherein said tool is
disposable.
97. The medical instrument of claim 90 wherein said tool is readily
disengagable to allow the substitution of a different tool at the
distal end of said elongated shaft.
98. The medical instrument of claim 90 wherein said elongated shaft
has a segment thereof that is controllably bendable.
99. The medical instrument of claim 90 wherein said engaging
portions include mating threaded portions.
100. The medical instrument of claim 90 including at least one
actuation element extending via said elongated shaft and for
control of said tool.
101. The medical instrument of claim 100 wherein said actuation
element and said tool have removably engaging sections that are
readily engagable to provide mechanical drive from the actuation
element to the tool, and readily disengagable for removal of said
tool from said actuation element.
102. The medical instrument of claim 100 wherein said actuation
element includes a tendon that is sufficiently rigid to enable
linear translation relative to said tool for actuation and
deactuation of said tool.
103. A robotically controlled medical instrument comprising: an
elongated support shaft having proximal and distal ends; and a tool
supported from the distal end of said elongated support shaft and
controllable in performing a medical procedure on a subject; said
tool being removably coupled with the distal end of said elongated
support shaft.
104. The medical instrument of claim 103 wherein said disposable
tool is readily attachable to and detachable from said elongated
support shaft.
105. The medical instrument of claim 103 further including a
mechanically drivable mechanism disposed at the proximal end of the
elongated support shaft and having extending therefrom at least one
control tendon coupling to said tool for operation thereof.
106. The medical instrument of claim 103 wherein said tool is
actuated remotely via a computer from a user interface device.
107. A flexible surgical instrument comprising a controllably
flexible elongated section having a distal end for positioning at
an anatomical site of interest of a subject, and at least one cable
attached at or near the distal end of the section, the cable
extending from its point of attachment exteriorly of the section
through an aperture in the section at a position spaced a selected
distance along the length of the section away from the distal end,
a proximal end of the cable extending from the aperture through the
shaft and being tensionable to controllably bend the flexible
section.
Description
BACKGROUND
[0001] Various types of instruments are used to perform surgical
procedures on living subjects such as human patients. Typically, in
the past, the surgeon held the instrument and inserted it into the
patient to an internal surgical site. The surgeon then manually
manipulated the instrument to perform the operation at the site.
These instruments have been used to perform a number of surgical
procedures including holding a needle to suture a region of the
surgical site, cutting tissue, and grasping tissue and blood
vessels.
[0002] Recently, some have proposed using telerobotic surgical
systems to perform certain surgical procedures. With these systems,
the surgeon sits at a master station remotely located from the
patient and surgical instrument, and controls the movements of the
surgical instrument with an input device. In some systems, the
surgeon manipulates the input device with one or both hands, and
the instrument replicates the hand and finger movements of the
surgeon. Because these replicated movements can be quite complex,
the surgical instrument is controlled to move with multiple
degrees-of-freedom.
SUMMARY
[0003] The present invention implements an instrument and methods
of using the instrument for performing telerobotic surgical
procedures on a patient. The instrument includes a bending section
that is bendable with at least one degree-of-freedom.
[0004] An instrument may have a bending section with a unibody
construction that is bendable with at least one degree-of-freedom.
A tool can be supported at the distal end of the bending section
and can be used to perform a medical procedure on a subject such as
a human patient. With a unibody construction, bending is by flexure
of the unibody rather than by movement of parts relative to each
other. The instrument can have two or more bending sections with
unibody constructions. The two or more bending sections can be
spaced apart or positioned adjacent to each other.
[0005] In one embodiment, the bending section has a unibody bellows
construction with alternating peaks and valleys positioned between
proximal and distal ends of the bending section.
[0006] The unibody construction may have a series of spaced ribs
positioned along the length of the bending section between the
proximal and distal ends of the bending section. In certain
embodiments, the bending section includes a set of opposed ridges
that extend along the length of the bending section. The individual
ridges are positioned in a respective slot defined by adjacent
ribs. In other embodiments, the bending section includes a first
set and a second set of ridges extending along the length of the
bending section. The individual ridges of the first set of ridges
are positioned in every other slot defined between adjacent ribs,
and the individual ridges of the second set of ridges are
positioned in respective slots unoccupied by the first set of
ridges. The first set of ridges can be positioned at about 90
degrees from the second set of ridges about the longitudinal axis
of the bending section. Having the two sets of ridges positioned in
the described manner makes the bending section torsionally stiff.
However, the bending section remains flexible and bendable with two
degrees-of-freedom.
[0007] Some embodiments of the surgical instrument can include one
or more of the following features. The instrument can include a
first pair of cables and, optionally, a second pair of cables
extending along the length of the bending section. To operate the
instrument, tension is applied to at least one of the first pair of
cables to bend the bending section with one degree-of-freedom, and
to at least one of the second pair of cables to bend the bending
section with a second degree-of-freedom.
[0008] In some embodiments, the tool is able to move with two
additional degrees-of-freedom. The tool can include a first jaw and
a second jaw, connected to the first jaw at a pivot joint, so that
the first jaw moves with one of the two additional
degrees-of-freedom and the second jaw moves with the other of the
two additional degrees-of-freedom.
[0009] In certain embodiments, the instrument includes two
additional pairs of cables extending along the length of the
bending section and coupled to the first jaw and second jaws,
respectively. During the surgical procedure, tension is applied to
at least one of the first pair of additional cables to operate the
first jaw, and to at least one of the second pair of additional
cables to operate the second jaw. The additional pairs of cables
can be positioned near the longitudinal axis of the bending
section, and can be contained in a sleeve positioned along the
longitudinal axis of the bending section so that the additional
pairs of cables are able to slide along the sleeve relative to the
bending section.
[0010] In some embodiments, the tool includes a first jaw and a
second jaw, connected to the first jaw at a pivot joint such that
the first and second jaws open and close, and an actuation element
extending along the length of the bending section and coupled to
the first and second jaws to operate the first and second jaws. The
actuation element can be a single cable coupled to the first and
second jaws with a pair of linkages. The cable is pulled to close
the jaws and pushed to open the jaws. The single cable can be
positioned near the longitudinal axis of the bending section, and
can be contained in a sleeve positioned along the longitudinal axis
of the bending section so that the single cable is able to slide
back and forth along the sleeve.
[0011] The operation of the instrument may be controlled with a
controller coupled with an input device operated by a user such as
the surgeon. In particular, the surgeon can instruct the controller
to direct a driver to manipulate the bending section and the tool
in a desired manner.
[0012] In some embodiments, a robotically controlled medical
instrument system includes an elongated shaft having proximal and
distal ends, a tool supported from the distal end of the elongated
shaft and useable in performing a medical procedure on a subject,
at least one controllably bendable section of the shaft, and an
electrical controller for receiving a command from an input device,
and for, in turn, controlling the bendable section to provide at
least one degree-of-freedom at the bendable section.
[0013] The system may include an actuation element extending with
the instrument shaft and operable to control actuation of said
tool. The actuation element may be positioned at least one of a
substantially center axis and substantially center plane of the
controllably bendable section so as to de-couple motion at the
controllable bendable section from tool actuation.
[0014] The distal end of the elongated shaft and the tool may have
respective removably engaging portions that are readily engagable
for positioning the tool at the distal end of the elongated shaft
in operative position relative to the elongated shaft, and readily
disengagable for removal of the tool from the distal end of the
elongated shaft. The tool may be removably coupled with the distal
end of the elongated support shaft.
[0015] In another embodiment, a flexible surgical instrument
includes a controllably flexible elongated section having a distal
end for positioning at an anatomical site of interest of a subject,
and at least one cable attached at or near the distal end of the
section. The cable extends from its point of attachment exteriorly
of the section through an aperture in the section at a position
spaced a selected distance along the length of the section away
from the distal end. A proximal end of the cable extends from the
aperture through the shaft and is tensionable to controllably bend
the flexible section.
[0016] Some embodiments may have one or more of the following
advantages. A bending section with a unibody construction is
typically made with fewer parts than bending sections made with
multiple linkages joined together, for example, with pins. Hence,
the unibody construction is less expensive and easier to fabricate.
Furthermore, with a unibody construction, there are less parts to
retain together during a medical procedure, which reduces the
potential of breakage of the bending section, and therefore
minimizes parts of the bending section and medical instrument
falling apart within the subject's body.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The foregoing and other objects, features and advantages of
the invention will be apparent from the following more particular
description of preferred embodiments of the invention, as
illustrated in the accompanying drawings in which like reference
characters refer to the same parts throughout the different views.
The drawings are not necessarily to scale, emphasis instead being
placed upon illustrating the principles of the invention.
[0018] FIG. 1 is a perspective view illustrating a telerobotic
system with which the concepts of the present invention may be
practiced;
[0019] FIG. 2 is a schematic diagram illustrating the
degrees-of-freedom associated with the slave station of FIG. 1;
[0020] FIG. 3 is a plan view of the instrument insert of the
present invention including the stem section and tool;
[0021] FIG. 4 is a cross-sectional view as taken along line 4-4 of
FIG. 3 and illustrating further details of the stem section;
[0022] FIG. 5 is a perspective view of another embodiment of the
tool of the present invention employing a flexible wrist section
adjacent the tool;
[0023] FIG. 6 is an exploded perspective view of the embodiment of
FIG. 5;
[0024] FIG. 7 is a cross-sectional view of the embodiment of FIG. 5
and as taken along line 7-7 of FIG. 6;
[0025] FIG. 8 is a longitudinal cross-sectional view of the
embodiment illustrated in FIGS. 5-7 and showing further details at
the wrist flexure;
[0026] FIG. 9 is a longitudinal cross-sectional view similar to
that shown in FIG. 8 but for still another embodiment of the
present invention using a single actuation element;
[0027] FIG. 10 is an enlarged fragmentary view of further details
of the actuation element at the center of the wrist section;
[0028] FIG. 11 is a cross-sectional view through the actuation
element of FIG. 10 as taken along line 11-11;
[0029] FIG. 12 is a cross-sectional view through still another
embodiment of the actuation element;
[0030] FIG. 13 is still a further cross-sectional view of a further
embodiment of the actuation element;
[0031] FIG. 14 is a perspective view of yet another embodiment of
the present invention employing a slotted flexible wrist section
and a detachable and preferably disposable tool;
[0032] FIG. 15 is a cross-sectional view through the embodiment of
FIG. 14 as taken along line 15-15 of FIG. 14;
[0033] FIG. 15A is a fragmentary cross-sectional view of an
alternate embodiment of the flexible section;
[0034] FIG. 16 is an exploded perspective view of the embodiment of
FIG. 14 showing the detached tool in cross-section;
[0035] FIG. 17 is a further perspective view of the embodiment of
FIG. 14;
[0036] FIGS. 18-20 illustrate sequential cross-sectional views
showing the mating of the tool with the distal end of the
instrument;
[0037] FIG. 21 is a schematic diagram illustrating principles of
the present invention in a catheter or flexible instrument using
multiple controllable bendable sections along the instrument;
[0038] FIG. 22 is a schematic diagram of an embodiment of an
instrument with both elbow and wrist pivot joints, as well as a
disposable tool;
[0039] FIG. 23 is a schematic diagram of an embodiment of an
instrument with just a wrist pivot joint, as well as a disposable
tool;
[0040] FIG. 24 is a diagram showing further details of a wrist
joint useable with a disposable tool;
[0041] FIG. 25 is a partially cut-away schematic view of another
joint construction;
[0042] FIG. 26 is a perspective view of a another embodiment of a
tool;
[0043] FIG. 27 is an exploded perspective view of the tool of FIG.
26 illustrating separate components thereof;
[0044] FIG. 27A is an exploded fragmentary view of one form of
resilient member used in the embodiment of FIG. 27;
[0045] FIG. 27B is an exploded fragmentary view of another form of
resilient member used in the embodiment of FIG. 27;
[0046] FIG. 28 is a side elevation view of the tool depicted in
FIGS. 26 and 27;
[0047] FIG. 29 is an enlarged partial top plan view as seen along
line 29-29 of FIG. 28 and illustrating further details of the
tool;
[0048] FIG. 30 is a cross-sectional view as taken along line 30-30
of FIG. 29 showing the tool of the present invention with the jaws
in a partially open position;
[0049] FIG. 31 is a cross-sectional view like that illustrated in
FIG. 30 but with the jaws in a fully closed position;
[0050] FIG. 32 is a somewhat schematic cross-sectional view of the
first embodiment of the tool with the resilient pad partially
compressed in grasping a small diameter item such as a thread or
suture;
[0051] FIG. 33 is a somewhat schematic cross-sectional view of the
first embodiment of the tool with the resilient pad essentially
fully compressed in grasping a larger diameter item such as a
needle;
[0052] FIG. 34 is a perspective view of a second embodiment of the
invention employing a flexure gap in one of the jaws;
[0053] FIG. 35 is an exploded perspective view of the tool of this
second embodiment of the invention;
[0054] FIG. 36 is a plan view of the tool of FIGS. 34 and 35;
[0055] FIG. 37 is a cross-sectional view taken along line 37-37 of
FIG. 36 with the jaws having a slight gap at their closed
position;
[0056] FIG. 38 is a cross-sectional view like that illustrated in
FIG. 37 but with the jaws grasping a needle or the like, and with
the flexure gap in a substantially closed position;
[0057] FIG. 39 is a cross-sectional view similar to that depicted
in FIGS. 37 and 38, and of yet another embodiment of the invention
illustrating the tool in a partially open position;
[0058] FIG. 40 is a cross-sectional view the same as that depicted
in the embodiment of FIG. 39 but with the jaws in a more closed
position;
[0059] FIG. 41 is a perspective view of an embodiment of a flexible
or bendable shaft segment just proximal to the tool;
[0060] FIG. 42 is a cross-sectional view of the embodiment of FIG.
41 as taken along line 17-17 of FIG. 16, and with the jaws in a
substantially open position;
[0061] FIG. 43 is an enlarged partial cross-sectional view similar
to that shown in FIG. 42 but with the jaws in a closed
position;
[0062] FIG. 44 is an exploded perspective view showing the
components including the flexible or bendable segment of FIG.
41;
[0063] FIG. 45 is a side elevation view of the flexible or bendable
section itself;
[0064] FIG. 46 is a cross-sectional view through the flexible or
bendable section as taken along line 46-46 of FIG. 45;
[0065] FIG. 47 is a cross-sectional view through the flexible or
bendable section as taken along line 47-47 of FIG. 45;
[0066] FIG. 48A is a perspective view of an alternate embodiment of
the tool and flexible section;
[0067] FIG. 48B is an exploded perspective view of the tool and
flexible section illustrated in FIG. 48A;
[0068] FIG. 48C is a fragmentary perspective view showing a portion
of the flexible section shown in FIG. 48B; and
[0069] FIG. 48D is a plan view of the flexible section illustrated
in FIGS. 48A-48C.
[0070] FIG. 49 illustrates a flexible instrument being used in a
stomach of a subject in accordance with the invention.
[0071] FIG. 50A is a schematic of a flexible instrument with a
pull-type cable to operate the end of the instrument in accordance
with the invention.
[0072] FIG. 50B is cross-sectional view of a bendable section of
the flexible instrument of FIG. 50A in accordance with the
invention.
DETAILED DESCRIPTION OF THE INVENTION
[0073] A description of preferred embodiments of the invention
follows.
[0074] The surgical robotic system of the present invention, as
illustrated in the accompanying drawings, although preferably used
to perform minimally invasive surgery, can also be used to perform
other procedures as well, such as open or endoscopic surgical
procedures. FIG. 1 illustrates a surgical instrument system 10 that
includes a master station M at which a surgeon 2 manipulates an
input device, and a slave station S including a surgical instrument
illustrated generally at 14. In FIG. 1 the input device is
illustrated at 3 being manipulated by the hand or hands of the
surgeon. The surgeon is illustrated as seated in a comfortable
chair 4, and the forearms of the surgeon are typically resting upon
armrests 5.
[0075] FIG. 1 illustrates a master assembly 7 associated with the
master station M and a slave assembly 8, also referred to as a
drive unit, associated with the slave station S. Assemblies 7 and 8
are interconnected by cabling 6 with a controller 9, which
typically has associated with it one or more displays and a
keyboard.
[0076] As shown in FIG. 1, the drive unit 8 is located remotely
from the operative site and is preferably positioned a distance
away from the sterile field. The drive unit 8 is controlled by a
computer system that is part of the controller 9. The master
station M may also be referred to as a user interface vis--vis the
controller 9. The computer translates the commands issued at the
user interface into an electronically driven motion in the drive
unit 8, and the surgical instrument, which is tethered to the drive
unit through the cabling connections, produces the desired
replicated motion. That is, the controller 9 couples the master
station M and the slave station S and is operated in accordance
with a computer algorithm, to be described in further detail below.
The controller 9 receives a command from the input device 3 and
controls the movement of the surgical instrument 14 so as to
replicate the input manipulation. FIG. 1 also shows a patient P,
upon whom the surgical procedure is performed, lying on an
operating table T.
[0077] In the embodiment illustrated in FIG. 1, the surgical
instrument 14 includes two separate instruments one on either side
of an endoscope 13. The endoscope 13 includes a camera to remotely
view the operation site. The camera may be mounted on the distal
end of the instrument insert, or may be positioned away from the
site to provide an additional perspective on the surgical
operation. In certain situations, it may be desirable to provide
the endoscope through an opening other than the one used by the
surgical instrument 14. In this regard, in FIG. 1 three separate
incisions are shown in the patient P, two side incisions for
accommodating the surgical instruments and a central incision that
accommodates the viewing endoscope. A drape covering the patient is
also shown with a single opening.
[0078] The surgical instrument 14 also includes a surgical adaptor
or guide 15 and an instrument insert or member 16. The surgical
adaptor 15 is basically a passive mechanical device, driven by the
attached cable array. Although the surgical adaptor 15 can be
easily seen in FIG. 1, the instrument member 16 (FIG. 3) is not
clearly illustrated as it extends through the adaptor 15. The
instrument insert 16 carries at its distal end a tool 18, described
in greater detail below.
[0079] Although reference is made herein to a "surgical
instrument," it is contemplated that the principles of this
invention also apply to other medical instruments, not necessarily
for surgery, and including, but not limited to, such other
implements as catheters, as well as diagnostic and therapeutic
instruments and implements.
[0080] In FIG. 1 there is illustrated cabling 12 coupling the
instrument 14 to the drive unit 8. The cabling 12 is preferably
detachable from the drive unit 8. Furthermore, the surgical adaptor
15 may be of relatively simple construction. It may thus be
designed for particular surgical applications such as abdominal,
cardiac, spinal, arthroscopic, sinus, neural, etc. As indicated
previously, the instrument insert 16 couples to the adaptor 15, and
essentially provides a means for exchanging the instrument tools.
The tools may include, for example, forceps, scissors, needle
drivers, electrocautery etc.
[0081] During use, a surgeon can manipulate the input device 3 at a
surgeon's interface 11, to effect a desired motion of the tool 18
within the patient. The movement of the handle or hand assembly at
input device 3 is interpreted by the controller 9 to control the
movement of the tool 18.
[0082] The surgical instrument 14 is preferably mounted on a rigid
post 19 that is affixed to but removable from the surgical table T.
This mounting arrangement permits the instrument to remain fixed
relative to the patient even if the table is repositioned. In
accordance with the present invention the concepts can be practiced
even with a single surgical instrument, although, in FIG. 1 there
are illustrated two such instruments.
[0083] The surgical instruments 14 are connected to the respective
drive units 8 with cablings that include two mechanical
cable-in-conduit bundles 21 and 22. These cable bundles 21 and 22
may terminate at two connection modules, which removably attach to
the drive unit 8. For further details of the connection modules 23
and 24 can be found in the earlier co-pending application No.
PCT/US00/12553, the entire contents of which are incorporated
herein by reference. Although two cable bundles are described here,
it is to be understood that more or fewer cable bundles can be
used. Furthermore, although the drive unit 8 is preferably located
outside the sterile field, it may be draped with a sterile barrier
so that it can be operated within the sterile field.
[0084] In the preferred technique to set up the system, the tool 18
of the surgical instrument 14 is inserted into the patient through
an incision or opening, and the instrument 14 is then mounted to
the rigid post 19 using a mounting bracket 25. The cable bundles 21
and 22 are then extended away from the operative area to the drive
unit 8, and the connection modules of the cable bundles are engaged
into the drive unit 8. Instrument inserts 16 (FIG. 3) may then be
passed through the surgical adaptor 15, and coupled laterally with
the surgical adaptor 15 through an adaptor coupler, as described
below in further detail.
[0085] As just mentioned, the instrument 14 is controlled by the
input device 3, which is manipulated by the surgeon. Movement of
the hand assembly produces proportional movement of the instrument
14 through the coordinating action of the controller 9. It is
typical for the movement of a single hand control to control
movement of a single instrument. However, FIG. 1 shows a second
input device that is used to control an additional instrument.
Accordingly, in FIG. 1 two input devices associated with the two
instruments are illustrated.
[0086] The surgeon's interface 11 is in electrical communication
with the controller 9 primarily by way of the cabling 6 through the
master assembly 7. Cabling 6 also couples the controller 9 to the
actuation or drive unit 8. While the cabling 6 transmits electrical
signals, the actuation or drive unit 8 is in mechanical
communication with the instrument 14. The mechanical communication
with the instrument allows the electromechanical components to be
removed from the operative region, and preferably from the sterile
field. The surgical instrument 14 provides a number of independent
motions, or degrees-of-freedom, to the tool 18. These
degrees-of-freedom are provided by both the surgical adaptor 15 and
the instrument insert 16.
[0087] Shown in FIG. 2 is a schematic representation of the joint
movements associated with the slave station S. The first joint
movement J1 represents a pivoting motion of the instrument about
the pivot pin 225 at axis 225A. Also illustrated is the movement
relating to joint J2 which is a transitional movement of the
carriage 226 on the rails 224 to move the carriage as well as the
instrument 14, supported therefrom, in the direction indicated by
the arrow 227 in FIG. 2 towards and away from the operative site,
OS. The cabling in the bundle 21 controls both the J1 and J21
movements. It is further noted that the distal end of the guide
tube 17 extends to the operation site OS. The operation site may be
defined as the general area in close proximity to where movement of
the tool occurs, usually in the viewing area of the endoscope and
away from the incision.
[0088] FIG. 2 also depicts the rotary motion of both the adaptor
tube 17 and the instrument stem. These are illustrated in FIG. 2 as
respective motions or joints J3 (adaptor tube rotation) and J4
(instrument stem rotation). Motion J5 indicates a wrist pivot or,
alternatively, a wrist flexure. Finally, motions J6 and J7
represent the end jaw motions of the tool 18.
[0089] The combination of joints J4-J7 allows the instrument insert
16 to be actuated with four degrees-of-freedom. When coupled to the
surgical adaptor 15, the insert 16 and adaptor 15 provide the
surgical instrument 14 with seven degrees-of-freedom. Although four
degrees-of-freedom are described here for the instrument insert 16,
it is to be understood that greater or fewer numbers of
degrees-of-freedom are possible with different instrument inserts.
For example an energized insert with only one gripper may be useful
for electro-surgery applications, while an insert with an
additional linear motion may provide stapling capability.
[0090] With regard to the incision point, FIG. 2 shows the incision
point along the dashed line 485, and a cannula 487 that in some
surgical procedures is used in combination with a trocar to pierce
the skin at the incision. The guide tube 17 is inserted through the
flexible cannula 487 so that the tool is at the operative site OS.
The cannula typically has a port at which a gas such as carbon
dioxide enters for insufflating the patient. The cannula also is
usually provided with a switch or button that can be actuated to
desufflate. The cannula is used primarily for guiding the
instrument, but may include a valve mechanism for preventing escape
of gas from the body.
[0091] FIG. 3 is a plan view showing an instrument insert including
the tool 18, and elongated sections including a rigid section 302
and a flexible section 303, with the tool 18 mounted at the end of
the flexible stem section 303. The coupler 300 includes one or more
wheels that laterally engage wheels of the coupler associated with
the surgical adaptor. The coupler 300 also includes an axial wheel
306 that also engages a wheel on the adaptor. The axial engagement
wheel 306 is fixed to the rigid stem 302, and is used to rotate the
tool axially at the distal end of the flexible stem section
303.
[0092] FIG. 3 illustrates the base coupler 300 of the instrument
insert 16 with wheels 330, 332, and 334 that have half-moon
construction for engagement with mating like wheels of the adaptor.
These wheels are meant to mate with the corresponding wheels of the
adaptor. Also illustrated in FIG. 3 are capstans or idler pulleys
340, 342, and 344 associated with wheels 330, 332, and 334,
respectively.
[0093] Each wheel of the coupler has two cables that are affixed to
the wheel and wrapped about opposite sides at its base. The lower
cable rides over one of the idler pulleys or capstans, which routes
the cables toward the center of the instrument stem 302. The cables
are kept near the center of the instrument stem, since the closer
the cables are to the central axis of the stem, the less
disturbance the cables experience as the stem section moves
(rotates). The cables may then be routed individually through
plastic tubes that may be affixed, respectively, to the proximal
end of the rigid stem 302 and the distal end of the flexible stem
section 303. Alternatively, the cables may each be enclosed in
separate plastic tubes or sheathes only in the flexible section of
the instrument stem (see, e.g., bundle 284 in FIG. 4). The tubes
assist in maintaining constant length pathways for the cables as
they move longitudinally within the instrument stem.
[0094] As for the coupler 300, there are six cables that connect to
each of the wheels. Two cables connect to each wheel and one of
these cables extends about the associated idler pulley or capstan.
These are illustrated in FIG. 3 as idler pulleys 340, 342 and 344.
Thus, six separate cables extend through the rigid stem 302 and
down through the flexible stem section 303 to the area of the
tool.
[0095] Associated with the wheels 330, 332, and 334 are six cables
that extend through the sections 302 and 303, as illustrated in
FIG. 4. One set of these cables controls the pivoting, such as the
pivoting movement about pin 620. The other cables control the
operation at the gripping jaws. For example, one pair of cables may
control the movement of the lower jaw 652, while another cable pair
may control the operation of the upper jaw 650.
[0096] In FIG. 4 there is shown the rigid section 302 and the
flexible section 303 of the instrument insert 16. A series of six
cables, illustrated at arrow 280 in FIG. 4 extend through these
sections and may be considered as separated into three sets for
controlling the tool 18, to provide the motions indicated in FIG. 2
as J5-J7. To de-couple wrist control from jaw control, the cabling
is supported near to the center axis of the rigid and flexible
sections. Note that "de-coupling" simply means that any one
controlled action associated with the tool, when performed, does
not interfere with other controlled actions that may not be
selected at the time that the one controlled action is taking
place. This may be controlled to some extent by using a retainer
block 282 within these sections between the sections 302 and 303,
as depicted in FIG. 4. On the rigid section side of the block 282
the cables may be unsupported as shown or they could be held within
a plastic sleeve either individually and/or as a group. Because the
cables are maintained in tension and the rigid section is not meant
to bend or flex, the cables can be held in position by being
supported, as a group, at the center of block 282.
[0097] From the other side of block 282 the cables extend through
in a bundle 284. Also, each individual cable is preferably held
within a cable sleeve, such as illustrated in FIGS. 6 and 8, to be
described later in further detail. Also, as shown in FIG. 8 the
cables contained in the sleeves 292 are twisted, for example, 180
degrees over say 8 inches. As also shown in FIG. 4, spacers 286 may
be spaced along the flexible section 303 to hold the bundle 284 at
the center of the section 303. The individual cable sleeves also
define a substantially fixed length pathway for each cable so that
even though the instrument may move or rotate, the cable lengths
should stay the same within the flexible stem section. The sleeves
may be held in fixed position at their ends such as at block 282 at
one end and at the tool 18 at the other end. The outer flexible
tube 288 may be a pliable plastic preferably having a fluted or
bellows-like configuration, as illustrated.
[0098] The limited twisting of the cable bundle prevents the
formation of kinks or loops in individual cables that might occur
if the cables were straight and parallel through the flexible
section. This twisting also provides the de-coupling between
motions, so that actuation of one of the degrees-of-freedom (J5-J7)
does not cause a responding action at another degree-of-freedom
(J5-J7). The twisting essentially occurs between the block 282 and
the location where the bundle enters the wrist joint (for example,
the entry to base 600). The 180 degree twisting of the bundle
ensures that the cable sheathes are neither stretched nor
compressed, even as the bendable section is bent or rotated.
[0099] The construction of one form of tool is illustrated in FIGS.
3 and 4. The tool 18 includes the base 600, link 601, upper grip or
jaw 650 and lower grip or jaw 652. The base 600 is affixed to the
flexible stem section 303. As illustrated in the drawings, this
flexible section may be constructed of a ribbed plastic. This
flexible section allows the instrument to readily bend through the
curved actuator tube 17.
[0100] The link 601 is rotatably connected to the base 600 about an
axis 620A represented by pivot pin 620. The upper and lower jaws
650 and 652 are rotatably connected to the link about axis 605,
where axis 605 is essentially perpendicular to the wrist axis at
pin 620. Another pivot pin defines axis 605.
[0101] Six cables actuate the separate members 600-603 of the tool.
The cabling may travel through the instrument insert stem (section
303) and through a hole in the base 600, wrapping around a curved
surface on link 601, and then attaches on link 601. Tension on one
set of cables rotates the link 601, and tension on other cables
operates the upper and lower grips 650 and 652, about axis pin 605.
The cabling is provided in pairs to provide an opposing action
operation, including opposite routing paths, on the opposite sides
of the instrument insert.
[0102] The set of cables that control the jaws travels through the
stem 302, 303 and though holes in the base 600. These cables then
pass between two fixed posts 621 that constrain the cables so that
they pass substantially through an axis 620A, which defines the
rotational motion of the link 601. This construction allows free
rotation of the link 601 with essentially no length changes in the
cables that actuate the jaws. In other words, these cables, which
actuate the grips 650 and 652, are effectively decoupled from the
motion of link 601. These cables pass over rounded sections and
terminate on grips (or jaws) 650 and 652, respectively. Tension on
one pair of cables rotate grips 650 and 652 counter-clockwise about
axis 605. Another set of cables provides the clockwise motion to
grips or jaws 650 and 652, respectively. The ends of the cables can
be secured at the jaws 650 and 652 with the use of an adhesive such
as epoxy glue, or the cables could be crimped or pinned to the
jaw.
[0103] The instrument 16 slides through the guide tube 17 of
adaptor 15, and laterally engages the adaptor coupler 230 pivotally
mounted to the base piece 234. The base piece 234 is rotationally
mounted to the guide tube 17, and is affixed to the linear slider
or carriage 226. The carriage 226, in turn, is pivotally mounted at
the pivot 225 about the axis 225A.
[0104] The embodiment of the invention illustrated in FIGS. 2-4
employs a fixed wrist pivot. An alternate construction is shown in
FIGS. 5-8 in which there is provided, in place of a wrist pivot, a
controllable flexing or bending section. In FIGS. 5-8, similar
reference characters are used for many of the parts as they
correspond to elements found in FIGS. 2-4. The construction in FIG.
5 may be employed with a stem section such as illustrated in FIGS.
3 and 4 with a curved guide tube.
[0105] In the embodiment illustrated in FIGS. 5-8, the tool 18
includes an upper grip or jaw 650 and a lower grip or jaw 652,
supported from a link 601. Each of the jaws 650, 652 as well as the
link 601, may be constructed of metal, or alternatively, the link
601 may be constructed of a hard plastic. The link 601 is engaged
with the end of the flexible stem section 303. In this regard
reference may also be made to FIG. 4 that shows the ribbed or
fluted plastic construction of the flexible stem section 303.
Alternatively, the section 303 may be smooth, at least at its
distal end, as shown at 304 in FIG. 5. In still another embodiment
both sections 302 and 303 can be rigid depending upon the
particular application.
[0106] FIG. 5 shows only the end of the stem section 303 (at 304),
terminating in bending or flexing section 660. Section 660 may be
integrally formed with the rest of section 303. This section 660 is
controllably bendable or flexible usually from a remote location
such as in accordance with the telerobotic system 10 of FIG. 1. The
stem section 303 is preferably constructed so as to be flexible and
may have either fluted or smooth outer surfaces. Also, at the
flexible section 660, flexibility and bending is enhanced by a
bellows configuration 662 having saw-tooth shape of peaks and
valleys as shown in FIG. 8. The distal end of the bending section
660 terminates with an opening 666 for receiving the end 668 of the
link 601. The bellows configuration may be made of a single piece
of material. Alternatively, the bellows configuration 662 may be
made of segments connected together, for example, by welds. In any
case, the bellows configuration 662 is a unibody construction.
[0107] In the embodiment shown in FIGS. 5-8, the bending or flexing
section 660 is constructed to have orthogonal bending movements to
provide both pitch and yaw movement of the tool. This is
accomplished by using four cables separated at 90.degree.
intervals. These four cables include the cables 606, 607, 616, and
617. The operation of cables 606 and 607 provides flexing in one
degree-of-freedom while an added degree-of-freedom (orthogonal to
the just mentioned one degree-of-freedom) is provided by operation
of cables 616 and 617. As illustrated in FIG. 8, these cables
extend through the bellows about half way between each peak and
valley and thus run in parallel but close to the outer periphery of
the flexible section 660. Each of the cables 606, 607, 616, and 617
terminate in a respective ball end 606A, 607A, 616A, and 617A,
tensioned against an end wall 615. These same cables also are
supported by and extend through retainer block 621. Within section
304 these cables also run near the outer wall as shown to the left
in FIG. 8 where cables 616 and 617 are illustrated.
[0108] As for the operation of the tool, the cables 608, 609, 610,
and 611 extend through the flexible stem section 303 and also
through the retainer block 621, flexing section 660, and the wall
615. These cables extend to the respective jaws (650, 652) to
control the operation thereof in a manner similar to that described
previously in connection with FIGS. 2-4.
[0109] As is apparent from FIGS. 6-8, within the bellows 662, the
tool actuation cables extend through the center of the bellows and
are supported and retained between block 621 and wall 615 by the
center sheath 290. The center sheath 290 may be constructed of a
soft plastic material, and has an inner diameter sufficient to
receive the bundle of cables, and an outer diameter that fits with
little clearance against the inner diameter of the bellows 662. The
sheath 290 extends between the block 621 and the wall 615 and is
dimensioned to hold the cables, as a bundle, at the center axis of
the bellows section. Keeping the bundle near the center axis
provides proper de-coupling between the various
degrees-of-freedom.
[0110] Also, within the bellows 662 each of the cables is contained
in its own cable sleeve 292. These sleeves are sufficiently stiff
to maintain constant cable lengths within the flexible or bendable
section. In FIG. 8 these sleeves are shown extending between
retainer block 621 and wall 615. As shown in the right most portion
of FIG. 8, the cables are shown extending from the sleeve when the
cables reach the end tool. FIG. 8 also illustrates the
aforementioned twisting of the cables that assists in providing the
decoupling action between the tool operation and the controlled
flexing or bending. The cables are twisted about 180 degrees
between the block 621 and wall 615. The bellows section itself, may
have a length of about one to three inches. Also, more than one
bellows section may be used to provide controlled bending at more
than one location. In that case separate control cabling is used
for each section (see, e.g., FIG. 21 described later).
[0111] As with the earlier described embodiment, the limited
twisting of the cable bundle prevents the formation of kinks or
loops in individual cables that might occur if the cables were left
straight and parallel to one another. This twisting also de-couples
certain degrees of motions, so that actuation of one of the
degrees-of-freedom does not cause a responding action at another
degree-of-freedom. The twisting occurs between the block 621 and
the location where the bundle enters the wrist joint, i.e. the
entry to base 601. By twisting the cables through 180 degrees, the
placement of all the cables is displaced from one end of the bundle
to the other by 180 degrees. The individual cable sleeves also
define a substantially fixed length pathway for each cable so that
even though the instrument may move or rotate the cable lengths
stay the same within the section 660.
[0112] The cross-sectional view of FIG. 8 gives details of the
cabling in bending section 660. The sheath 290 extends essentially
between block 621 and wall 615 and houses the twisted
cables/sleeves. The individual sleeves 292 can be considered as
terminating at respective ends in blocks 621 and 631. Each of the
sleeves may be glued or secured in any other appropriate manner in
its supporting end block. This prevents the sleeves from moving
axially as the cables are activated. The sleeves are preferably
constructed of a plastic that is flexible and yet has sufficient
rigidity so they do not kink when the cables are activated. The
sleeves also define fixed length pathways that do not compress or
elongate as the cables are operated.
[0113] The 180 degrees twist in the cables/sleeves occurs
essentially between blocks 621 and 631. This "twisting" of the
center cables/sleeves allows the section 660 to be controllably
bent, while preventing or minimizing any transfer of motion to the
tool operating cables. Similarly, this arrangement also prevents
cross-coupling from the tool operation to the bending control, so
that the tool operation alone does not cause any undesired bending
of the section 660.
[0114] Referring now to FIGS. 9-13 there is shown another
embodiment that includes bellows which can be bent of flexed in a
controllable manner, for example, through a user interface like
that shown in FIG. 1. Similar reference characters are used in FIG.
9 as those used in describing the embodiment of FIG. 5. Unlike the
embodiment shown in FIG. 5, the embodiment of FIG. 9 provides a
single cable (or rod) actuation that simplifies the instrument
construction, particularly at the tool end of the instrument. The
single actuation is possible because the flexible section has two
degrees-of-freedom to provide both pitch and yaw.
[0115] In the embodiment illustrated in FIGS. 9-13, the tool 18
includes an upper grip or jaw 650 and a lower grip or jaw 652,
supported from a housing 670. Each of the jaws 650, 652, as well as
the housing 670, may be constructed of metal, or alternatively, the
housing 670 may be constructed of a hard plastic. The housing 670
is engaged to the flexible stem section 303 with the bellows 662.
The flexible stem section 303 can be a ribbed or fluted plastic
construction like that shown in FIG. 4, or alternatively, the
section 303 may be smooth as shown at 304 in FIG. 9.
[0116] In FIG. 9 the jaws are operated from a single push/pull
cable 672 that extends through the instrument stem and through the
bellows 662 of the flexible or bendable section 660. The cable is
centered in the various sections as depicted in FIG. 9 so that when
the bendable section is activated, no movement is transferred to
the tool actuation cable. In essence, the bellows section 662
expands on one side and compresses on the other side, leaving the
center portion unchanged in length, and thus not effecting the
cable action. The jaws themselves are supported by a link bar
arrangement shown at 675 that is appropriately secured at the
distal end of the cable 672. In the position shown in FIG. 9 the
jaws are open, but by pulling on the cable away from the jaws the
proximal end the link bar 675 pivots and closes the jaws 650,
652.
[0117] FIG. 9 shows only the end portion of the stem section 303,
i.e., the portion at 304, terminating in bending or flexing section
660. This section 660 is bent or flexed in a controllable manner
usually from a remote location as depicted FIG. 1. The stem section
303 is preferably constructed to be flexible and may have either
fluted or smooth outer surfaces. Also, at the bending or flexing
section 660, flexibility and bending is enhanced by means of
constructing this section with a bellows configuration 66 having
peaks and valleys in a saw-tooth shape arrangement as illustrated
in the cross-sectional view of FIG. 9. The distal end of the
bending section 660 has an opening for receiving the end of the
housing 670. A wall 615 is positioned at the distal end of the
bellows 662.
[0118] In the embodiment shown in FIG. 9, the bending or flexing
section 660 can be bent to provide both pitch and yaw degrees of
motion to the tool. This is accomplished by using four cables 606,
607, 616, and 617 that are separated at 90.degree. intervals. The
operation of cables 606 and 607 provides flexing in one
degree-of-freedom while another degree-of-freedom is provided by
the operation of cables 616 and 617. As illustrated in FIG. 9,
these cables extend through the bellows about half way between each
peak and valley of the respective bellows, and thus are parallel
and near the outer periphery of the flexible section 660. Each of
the cables 606, 607, 616, and 617 terminates in a respective ball
end 606A, 607A, 616A, and 617A, tensioned against the end wall 615.
These cables also are supported by and extend through retainer
block 621. Within section 304 these cables also run near the inner
surface of the outer wall of the section 304, as shown to the left
in FIG. 9 where cables 616 and 617 are illustrated.
[0119] As mentioned previously, the single actuation cable 672
provides all the action that is required to operate the tool, which
simplifies the construction of the instrument and makes it easier
to keep the single cable centered in the instrument. To accomplish
this, there is provided a supporting sleeve 680 that receives the
cable 672 with a snug fit. The sleeve 680 (FIG. 10) is preferably
constructed of a polyethylene plastic such as PEEK which has the
flexibility to flex with bending at the section 660, but at the
same time is sufficiently rigid to properly retain and hold the
supported cable 672 to enable the cable to readily slide within the
supporting sleeve 680 when performing its function. Sleeve 680
defines a fixed length for the cable and does not allow any
expansion or compression of the cable or sleeve. The sleeve 680 may
extend from the wall 615 back through the retainer block 621 and
into the flexible section of the instrument, as shown in FIG. 9.
Alternatively, the sleeve 680 may extend only through the section
660 and terminate at block 621.
[0120] In addition to the sleeve 680, there is provided, about the
sleeve 680, a helical spring 682 having an outer diameter to allow
it to fit snugly within the inner diameter of the bellows 662. Note
that there is a relatively close fit between the cable 672, sleeve
680, and helical spring 682 within the bellows 662. Opposite ends
of the helical spring 682 are located between the block 621 and
wall 615. FIG. 10 shows the spring shape and the relationship of
the helical spring to the sleeve 680 and the actuation cable 672.
In FIG. 10, the coils of the spring are shown spaced apart, but
they can be more closely spaced then shown or completely
closed.
[0121] The spring 682 may be free-floating about the sleeve 680,
and is preferably not engaged in any passage in the end supports,
such as the passage in block 621. The sleeve 680, on the other hand
receives the cable 672 and is fixed in position relative to block
621 and wall 615. Passages are provided in block 621 and wall 615,
and a glue or other securing arrangement is preferably used to hold
the sleeve fixed at the block 621 and wall 615. The spring 682 is
also used as a filler or spacer between the sleeve 680 and the
bellows 662 inner surface. The spring provides a fixed position
spacer since it is typically a metal, and thus will maintain the
centering of the sleeve/cable, and yet is also flexible enough to
bend when the section 660 is bent in a controlled manner. The
sleeve itself is preferably made of plastic such as PEEK which has
sufficient strength to receive and guide the cable, yet is flexible
enough so that it will not kink or distort, and thus keeps the
cable in a proper state for activation, and defines a fixed length
for the cable.
[0122] By maintaining the sleeve 680 fixed in position at the block
621 and wall 615, the cable length at the center axis of section
660 does not change when the section 660 is bent. That is, the
bellows shortens on one side and expands on the other side while
keeping the center axis length unchanged. In this way when bending
occurs at section 660 there is no transfer of motion to the cable
672 which could undesirably move the jaws. Hence, the bending
motion is de-coupled from the tool operation motion, and vice
versa.
[0123] FIG. 11 is a cross-sectional view taken along line 11-11 of
FIG. 10 showing the centered cable 672, plastic sleeve 680, and the
helical spring 682. FIG. 12 is a similar cross-sectional view but
for an alternate embodiment using only the center cable 672 and the
sleeve 680. In FIG. 12 the sleeve 680 is larger in outer diameter
in comparison to the sleeve shown in FIG. 11 so that there is a
proper and close fit between the sleeve and the inside of the
bellows.
[0124] FIG. 13 is a cross-sectional view through another embodiment
of the cable support. This embodiment also has the center cable 672
contained within the sleeve 680, but in place of the spring 682
there is instead used a spacer 681 made of, for example, plastic,
to keep the sleeve and cable centered in the bellows. The spacer
681 may be constructed of a softer plastic than the sleeve 680, or
may be made of a plastic foam material.
[0125] One of the benefits of the embodiment of FIG. 9 is that only
a single cable is necessary to activate the tool. Recall that the
pitch and yaw of the tool is controlled at the flexible wrist
section 660 shown in FIG. 9. This arrangement lends itself to
making the tool disposable or at the very least detachable from the
instrument body so that it can be replaced with a substitute tool.
A detachable embodiment of the present invention is illustrated in
FIG. 14 and the companion views are shown in FIGS. 15-20. Besides
being detachable this arrangement also makes it possible to provide
at least a resposable and preferably a disposable instrument tip or
tool.
[0126] In FIG. 14 a disposable tip is illustrated in conjunction
with a flexible shaft or tube having a remotely controllable
bending or flexing section 700. The medical instrument may include
an elongated shaft, such as shaft section 710 shown in FIGS. 14 and
15, having proximal and distal ends, and a tool, such as graspers
702 and 704, supported from the distal end of the elongated shaft
and useable in performing a medical procedure on a subject. The
distal end of the elongated shaft and the tool have respective
removably engaging portions that are readily engagable for
positioning the tool at the distal end of the elongated shaft, and
readily disengagable for removal of the tool from the distal end of
the elongated shaft. The tool may be detachable to facilitae
substituting another tool, or the tool may be constructed to be
readily disposable. The removably engaging portions may be
snap-fitted together, or, as illustrated here, may be provided by a
screw interlock between the distal end of the instrument shaft and
the base or housing of the tool. Also, other forms of detachable
engaging portions are considered as falling within the scope of the
present invention.
[0127] As shown in FIG. 14, the detachable or disposable tool is
used with a flexible controllably bendable section. In another
version the disposable tool can be used with a wrist pivot or even
a pair of successive wrist pivots that are orthogonal to one
another for providing pitch and yaw movement at the tool. The
disposable tool in this version is also preferably actuated by a
single actuation element, cable or the like.
[0128] In FIGS. 14 and 15, in a manner similar to that shown in
FIG. 9, the tool is actuated by a single tendon or cable 736 that
extends through the flexible section 700. To provide the pitch and
yaw action at the tool, the bending or flexing section 700 is
constructed to have orthogonal bending movements by pulling on four
cables 706, 707, 716, and 717 separated at about 90.degree.
intervals, and by using a center support 726 with ribs 712
extending from the center support 726 and defining slots 714
between adjacent ribs, as depicted in FIG. 15. The ribs 712 extend
from a center support 726 that has extending therethrough a passage
for receiving the cable 736 positioned within a sheath 730. The
ribs 712 also provide a guide structure to the four cables 706,
707, 716, and 717. The bending section 700 is a unibody
construction that extends from the end of tube section 710, which
itself may be flexible, and it may be smooth as shown, or may be
fluted as illustrated in FIG. 4.
[0129] This version enables the bending section to be bent in
orthogonal directions by the use of the four cables 706, 707, 716,
and 717. The operation of cables 706 and 707 provides flexing in
one degree-of-freedom while another orthogonal degree-of-freedom is
provided by the operation of cables 716 and 717. Each of the cables
706, 707, 716, and 717 has at their terminating ends respective
balls 706A, 707A, 716A, and 717A that may be held in corresponding
recesses in a distal end wall 719 of the flexible section 700. Note
that in place of the slotted bending section 700, a bellows
arrangement such as shown in FIGS. 5 or 9 can be used.
[0130] The structure shown in FIGS. 14-17 preferably includes a
plastic stiffener sheath or sleeve 730 that surrounds the cable
736, and that fits closely within the passage of the center support
wall 726. The sleeve 730 is preferably constructed of a
polyethylene plastic such as PEEK which has enough flexibility to
flex with the bending section section 700, but at the same time is
sufficiently rigid to properly retain, center and hold the
supported cable to allow the cable 736 to readily slide within the
supporting sleeve 730 in performing its function. The sleeve 730
may extend from the distal end of the flex section 700, back
through the passage in the wall 726, and into the shaft section 710
of the instrument, as shown in FIG. 15.
[0131] Referring to FIG. 15A there is shown an alternate embodiment
for the bending section 700 in which the sleeve 730 is eliminated.
In this case, the passage in the wall 726 is dimensioned to
directly and snugly receive the cable 736 with a close tolerance
fit but having sufficient clearance to allow the cable to readily
slide in the instrument.
[0132] The grippers 702 and 704 are supported for opening and
closing by the use of a pivot pin 735 that extends along axis 735A
in a housing 740. Referring to FIG. 16 there is shown in partial
cross-section the housing 740, pin 735, and grippers 702 and 704.
The pin 735 may be supported at its ends on opposite sides of
housing 740. The tool also includes a pivot linkage 742 that
intercouples the grippers with the actuation cable 736 such that as
the linkage is moved in the axial direction by the cable 736 to
open or close the jaws (or grippers). In FIG. 15 the linkage and
tool are shown in solid outline in the closed position, which
corresponds to a "pulling" of the cable in a direction away from
the tool. FIG. 15 also shows, in dotted outline, the linkage and
grippers in an open position, which corresponds to a "pushing" of
the cable in a direction toward the tool. The grippers themselves
are prevented from any axial movement by the support at pin 735, so
when the linkage is operated from the cable 736 the resulting
action is either opening or closing of the grippers, depending upon
the direction of longitudinal translation of the actuating cable
736.
[0133] For the tool shown in FIGS. 14-17 to be detachable there is
provided removably engaging portions, which in the illustrated
embodiment are formed by mating threaded portions. Further, these
mating portions are provided both with respect to the actuation
element (cable) as well as the stationary components of the tool
and tube. Thus, the tool housing has a threaded portion 746 with
female threads, and the distal end of the flexible section 700, as
shown in FIG. 16, has a threaded portion 748 with male threads. The
end of the actuation cable 736, as shown in FIGS. 16 and 17, is
terminated at block 750, passing through a center passage in the
threaded portion 748. The block 750, interacting with arms 751,
allows longitudinal sliding of the cable 736, but prevents rotation
thereof so that the tool can be screwed onto the shaft without
rotating the actuation cable. The block 750 supports a male
threaded shaft 753 that is adapted to mate with the tool. The
threaded portion at 753 may have twice the threads per length as
the threaded portion 748. Also, the block 750 interacts with the
arms as the tool is fully engaged to compensate for differences in
thread pitch between the engaging members
[0134] As previously indicated, the tool grippers are operated with
the linkage 742. FIG. 17 shows the end of this linkage supporting a
female threaded piece 760. To engage the tool with the instrument
shaft, the female piece 760 is threaded onto the male threaded
shaft 753 in the direction indicated by the rotational direction
arrow 770.
[0135] Referring to FIGS. 18-20, there is shown the sequence of
steps to attach the instrument tip to the shaft of the instrument.
These views are somewhat schematic and are for the purpose of
merely illustrating the steps taken in attaching the tool to the
instrument shaft.
[0136] In FIG. 18 the tool is first illustrated with its housing
740 about to engage at threaded female piece 760 with the
corresponding threaded male shaft 753. It is noted that the threads
of pieces 760 and shaft 753 are finer that the threaded portions
748 and 746. Also, the threaded piece 760 and shaft 753 are
designed such that only about four turns are necessary to fully
seat these members together. On the other hand the sections 746 and
748 have courser threads so that it takes, say, only about two
turns to engage the two sections together. When the tool is fully
engaged there is a detent arrangement provided between the
interlocking members to lock them in their final position. This is
shown in the drawings by interlocking tab 780 of housing 740, and
recess 782 associated with the flexible section 700.
[0137] FIG. 19 illustrates the positions of the various components
after two turns have occurred between threaded shaft 753 and
threaded piece 760, and the other outer mating threaded sections
are to engage. Next the threaded portions 746 and 748 engage and
after two more turns of the tool, the tool is fully engaged with
the shaft, as illustrated in FIG. 20. In that position the detents
are also engaged so that the tool is, in essence, locked to the
instrument shaft and ready for use. It is also noted in FIG. 20
that because of the difference in thread pitch between the fine and
course threads, the block 750 is free to move inward away from the
tool.
[0138] Referring now to FIG. 21, there is shown an embodiment
having a detachable and disposable tool, and particularly adapted
for application to a flexible instrument including a catheter.
Features of the earlier described embodiments may be used with the
embodiment of FIG. 21. Again, although not necessary, in a
preferred embodiment the tool is operated remotely in a telerobotic
manner from a user device such as shown in FIG. 1. The use of
multiple controllably bendable segments as shown in FIG. 21 is
particularly advantageous in a flexible instrument to assist in
guidance thereof such as, for example, in vessels or arteries.
[0139] FIG. 21 shows primarily the distal end of a flexible
instrument with the more proximal portions of the instrument being
supported and driven in a manner similar to that illustrated in
FIGS. 1 and 2. Rather than having only one bending or flexing
section as described above, the flexible instrument 800 has two
bending sections 810 and 815 spaced along the instrument shaft that
are remotely actuable. In other configurations, these sections 810
and 815 can be formed directly in series, and more than two
controllable segments can be used.
[0140] A tool 820 is positioned at the distal end of the
instrument, and is preferably constructed to be disposable and may
be substantially the same as the tool illustrated in FIGS. 14-17
including the interengaging portions for detachability of both the
tool body and the tool actuation element. As shown in FIG. 21, a
cable 825 is used as the actuation element. Also illustrated in
FIG. 21 are instrument transition segments 830 and 835, which may
be similarly constructed as the flexible section 303 shown in FIG.
4. Alternatively, one or both of these sections 830, 835 may be
rigid.
[0141] In each of the instrument sections shown in FIG. 21 the
actuation elements (cables) that are not used to operate a
particular section run preferably through the center of the
respective section to provide the proper de-coupling between the
various degrees of movement. Thus, the center cable bundle 840
through the section 810 includes the cables to operate section 815
and the tool 820.
[0142] If the two controllable sections 810 and 815 are controlled
with both pitch and yaw movements, then four cables are used to
actuate each section. Thus, the actuation of each section is
similar to the actuation of the embodiments shown earlier in FIGS.
5 and 9. The aforementioned "twisting" concept is also preferably
used in each of these sections 810, 815 where multiple cables are
running through them, particularly in section 810 where five cables
extend along the center of the section (four for actuation of the
section 815 and one for tool actuation) similar to that shown in
FIG. 8.
[0143] Thus, nine cables extend through section 830, five in the
center bundle 840 and four extending through and about the
periphery of section 810 to provide the controlled bending of
section 810. FIG. 21 shows two of these cables terminating at 812
and used to operate and move the section 810 with one degree of
freedom. Two other cables (displaced about 90 degrees) also
terminate at the same general area and are used to operate the
bending section 810 with the other degree-of-freedom.
[0144] Next, in section 835 four cables at 836 branch outwardly and
terminate at the end of section 815 at 837 to control the flexing
of section 815. In section 815 there is thus only the single tool
actuation cable 825 contained in a sheath extending through the
center of the section. Although FIG. 21 shows only two of the
cables 836 for controlling one of the degrees-of-freedom of
movement of the section 815, there are two other cables (displaced
about 90 degrees) that also terminate at the same location for the
other degree-of-freedom of control of section 815. Again, reference
to FIG. 8 can be made for the operation of the bending movement of
the sections with the use of the cables.
[0145] The instrument shown in FIG. 21 may be used for any number
of different surgical procedures. Flexible instruments of this
general type are shown in co-pending applications that have been
incorporated herein by reference in their entirety. Although FIG.
21 shows four cables that are used to actuate a respective bending
section, more or fewer cables can be used in each section. For
example, if only one degree-of-freedom is desired in section 810
then only two actuating cables are employed to control bending in
only one plane. The instrument may also be controlled for rotation
to provide another degree-of-freedom.
[0146] In the embodiment of the invention shown in FIGS. 14-17, the
tool is readily disposable. By providing a bendable section that
can control both pitch and yaw movement of the tool, the tool
itself becomes actuable with a single cable or rod. Now, FIGS. 22
and 23 disclose in a schematic manner this same disposability
feature as applies to an instrument, whether flexible or rigid,
that employs a wrist pivot or wrist and elbow pivot.
[0147] FIG. 22 is a schematic diagram of the instrument
illustrating both elbow and wrist pivot joints, as well as the
disposable tool. FIG. 23 shows just a wrist pivot joint with a
disposable tool. More specific details of portions of the diagrams
can be found in earlier embodiments described herein.
[0148] In FIGS. 22 and 23 like reference characters are used to
identify like parts. In FIG. 22 there is provided an instrument 900
that includes both an elbow joint 905 and a wrist joint 910. These
joints allow for orthogonal motions of the various segments about
respective axes 905A and 910A. Both of these joints are driven by
cabling in a manner as described earlier, such as in the pivot
arrangement shown in FIGS. 3 and 4. This cabling preferably runs
through the center of the instrument as previously described. The
instrument 900 also includes an end tool 920 driven from a cable or
rod 925. This tool construction and its actuation element may be
the same as described in FIGS. 14-17, and would include separate
interengagable/disengagable portions as previously described.
[0149] In FIG. 23 there is shown an instrument 930 that includes
only a single wrist joint 910, along with the tool 920 actuated by
means of the actuation element 925. Again tool 920 is preferably
readily detachable in the manner shown in FIGS. 14-17 and is thus
readily disposable. To provide another degree-of-freedom the
instrument may be controllably rotated as indicated by the arrow
927 in FIG. 23.
[0150] FIG. 24 illustrates a wrist or other joint that may be used
for the joints shown FIGS. 22 and 23. FIG. 24 shows a ball joint
950 with intercoupling sections 951 and 952. An actuation cable 954
is also illustrated extending through sections 951 and 952 as well
as through the middle of the joint 950. The joint 950 may be of a
conventional type using mating outer pieces at 956 that enable the
sections 951 and 952 to have relative rotation therebetween. At
least within the joint itself, there is provided a sheath 958 that
encloses the cable 954, and that is preferably fixed in position at
the top and bottom of the joint. The sheath is flexible and yet
sufficiently durable so as to define a fixed length for the cable
to extend through, even as the joint is actuated to rotate or
pivot.
[0151] Appropriate cabling may be provided for control of the joint
950. This type of joint is particularly advantageous in that the
center of the joint is open and does not interfere at all with the
passing of the actuation cable 954 and sheath 958 through the joint
950. Again, by maintaining the cable at the center of the joint, as
illustrated, even as the joint is actuated there is no adverse
effect on the actuation cable. In other words as the joint rotates
it does not change the length of the cable 954, and thus these
separate actions are de-coupled from each other.
[0152] Referring now to FIG. 25, a further description of a wrist
or other joint is illustrated that may be used for the joints shown
in FIGS. 22 and 23. FIG. 25 shows a ball joint 960 intercoupling
sections 961 and 962. An actuation cable 964 is also illustrated
extending through sections 961 and 962 as well as through the
middle of the joint 960. Here again, the joint 960 may be a
conventional joint using mating outer pieces at 966 that enable the
sections 961 and 962 to have relative rotation therebetween. Within
the joint itself, there may be provided a sheath that encloses the
cable 964 and that may be preferably fixed in position at the top
and bottom of the joint.
[0153] Appropriate cabling may be provided for control of the joint
960. In this particular joint rather than being completely open as
in FIG. 24 there is provided a funnel like surface illustrated at
970 that directs the cable to an output orifice 972 where the cable
is coupled into the section 962. This funnel surface 970 holds the
cable such that as the sections experience relative rotation while
the length of the cable within the joint is maintained at a fairly
fixed length.
[0154] Other embodiments of the tool 18 are within the scope of the
invention, such as that illustrated in FIGS. 26-33. A set of jaws
is illustrated in the figures, but it is understood that other
types of tool constructions may also be used with the concepts of
the present invention. Also, the instrument shaft may be a rigid
shaft, a flexible shaft, or combinations thereof.
[0155] The tool 18 includes four basic members including the base
1020, link 1021, upper grip or jaw 1022 and lower grip or jaw 1023.
The base 1020 is affixed to the instrument shaft 1010. The
instrument shaft 1010 may be rigid or flexible depending upon the
particular use. If the shaft 1010 is flexible it may be
constructed, for example, of a ribbed plastic material. A flexible
shaft or section thereof would, in particular, be used in
conjunction with a curved guide tube so that the instrument readily
bends through the curved adaptor guide tube.
[0156] In the embodiment of FIGS. 26-33, link 1021 is rotatably
connected to the base 1020 about wrist pivot axis 1025 with a wrist
pivot pin at 1026. The upper and lower jaws 1022 and 1023 are
rotatably connected to the link 1021 about axis 1028 with a pivot
pin 1030, where axis 1028 is essentially perpendicular to axis
1025. The jaws may also be referred to as grippers or graspers.
[0157] Six cables 1036-1041 actuate the wrist, namely the link
1021, as well as the end effector or tool 18. Cable 1036 extends
through the instrument shaft and through a hole in the base 1020,
wraps around curved surface 1032 on link 1021, and then attaches on
link 1021 at 1034. Tension on cable 1036 rotates the link 1021, as
well as the upper and lower jaws 1022 and 1023, about axis 1025.
Cable 1037 provides the opposing action to cable 1036, and goes
through the same routing pathway, but on the opposite side of the
instrument shaft. Cable 1037 is also attached to link 1021
generally at 1034.
[0158] Cables 1038 and 1040 also travel through the instrument
shaft 1030 and though holes in the base 1020. The cables 1038 and
1040 then pass between two fixed posts 1035. These posts constrain
the cables to pass substantially through the axis 1025 about which
the link 1021 rotates. This construction allows the link 1021 to
rotate freely with minimal length changes in cables 1038-1041. In
other words, the cables 1038-1041, which actuate the jaws 1022 and
1023, are essentially decoupled from the motion of link 1021.
Cables 1038 and 1040 pass over rounded sections and terminate on
jaws 1022 and 1023, respectively. The application of tension on
cables 1038 and 1040 rotate jaws 1022 and 1023 counter-clockwise
about axis 1028.
[0159] Finally, as shown in FIG. 27, the cables 1039 and 1041 pass
through the same routing pathway as cables 1038 and 1040, but on
the opposite side of the instrument. These cables 1039 and 1041
provide the clockwise motion to grips or jaws 1022 and 1023,
respectively. The ends of cables 1038-1041 maybe secured at 1033 of
the jaws 1022 and 1023.
[0160] In addition to the jaws 1022 and 1023, the tool 18 includes
a rotation piece 1045, a linkage 1046 and slotted linkage 1048. The
rotation piece 1045 has a centrally disposed hole 1045A that is
adapted to receive the pivot pin 1030. The pivot pin 1030 also
passes through holes 1023A in one jaw member and holes 1022A in the
other jaw member. The pin 1030 is secured in respective holes in
the arms 1029 of the link 1021 in a well-known manner to rotatably
support the jaw members from the link 1021. The rotation piece 1045
also carries an actuation pin 1050 extending in the same direction
as the pivot pin 1030, and parallel thereto. The actuation pin 1050
extends into curved J-shaped slots 1052 in respective jaw flanges
1054 of jaw 1023.
[0161] The actuation pin 1050 is also received by the linkage 1048
through the end hole 1048A, and the linkage is supported between
the spaced flanges 1054 of the jaw 1023. At the slotted end of the
linkage 1048 there is a set of holes 1048B that receive the pin
1056. The linkage 1048 also pivotally attaches with the linkage
1046 by virtue of the pin 1056 passing through the holes 1046B and
1048B. The pin 1056 is also positioned in the slots 1052 of the
flanges 1054, and thus moves along the slots to different
positions, two of which are illustrated in FIGS. 30 and 31. When
the jaws are fully closed, the pin 1056 is at the very top of the
slot 1052 as illustrated in FIG. 31. FIG. 30 shows the pin 1056 in
a lower position which occurs when the jaws are partially opened.
The pin 1050 likewise is in different positions in the slot 52
depending upon the position of the jaws.
[0162] The linkage 1046 is also supported at its other end at hole
1046A by the pin 1058. The pin 1058 also passes through a set of
holes 1022B in the base of the jaw 1022. The linkage 1046 fits in a
slot at the base of the jaw 1022, and the pin 1058 passes through
both the base of the jaw 1022 as well as the linkage 1046. The pin
1058 also preferably has a compliant member such as a set of
resilient members disposed about at least a portion thereof, as
illustrated in FIGS. 30 and 31, at 1060, in an uncompressed
position. FIG. 31 shows the resilient cups 1060 uncompressed, while
FIG. 32 shows the resilient cups partially compressed when the jaws
are grasping a small diameter member such as a suture S. FIG. 33
shows the cups 1060 essentially fully compressed, when the jaws are
grasping a larger diameter member such as a needle N. The cups 1060
may fit about the pin 1058, and be disposed in the base of the jaw
1022. The holes 1022B that receive the cups 1060 are of somewhat
elongated shape, such as illustrated in FIGS. 27A, 27B, 30, and
31.
[0163] With further reference to FIGS. 32 and 33, the jaws 1022 and
1023 apply a smaller but sufficient force to hold a smaller
diameter item, such as the suture S than when holding a larger item
such as a needle N. This force is primarily a function of the
resiliency of the cups 1060. Thus, the larger the diameter of the
item being held, the larger the corresponding holding force. The
tool is constructed so that when the jaws are holding an item the
size of a needle N the cups 1060 are essentially fully compressed,
and a maximum grasping force is applied to the needle N. This is
particularly desirable for important surgery techniques for the
securing and controlling of the needle. When the jaws 1022 and 1023
first make contact with an item positioned between them, the pin
1056 is in a contact position A' (FIG. 33) for a larger item such
as the needle N, or further up the slot 1052 at a position A (FIG.
32) for a smaller item such as the suture S. When a sufficient
force is applied to the item with the jaws, the pin 1056 moves to a
locked position B (FIGS. 32 and 33), regardless of the size of the
item being grasped.
[0164] Other embodiments of the resilient members are shown in the
fragmentary exploded views of FIGS. 27A and 27B. The embodiment of
FIG. 27A uses a pair of cups 1060A, while the embodiment of FIG.
27B uses only a single cup. In FIGS. 27A and 27B the same reference
characters are used as in FIG. 27 to identify like components. In
the embodiment of FIG. 27A the cups 1060A are positioned within
respective holes 1022B. They may be positioned with the use of an
adhesive. The cups 1060A are thus be located at opposite ends of
the pin 1058. When the jaws are in the closed position, these cups
1060A are compressed as the pin 1058 rides downwardly in the
somewhat elongated hole or slot 1022B. In the embodiment of FIG.
27B the single cup 1060B is of somewhat larger shape than the cups
1060A and is located between the spaced walls of the base 1022C.
The link 1046 is positioned between these walls, as is the cup
1060B. The cup 1060B may also be secured in position by an
adhesive. The cup 1060B is engaged by the end of the link 1046. In
this embodiment the pin 1058 also rides within the elongated slots
1022B and when the jaws are moved to a closed position the end of
link 1046 bears against the cup 1060B. In still another embodiment
one may use all three cups to provide additional resiliency.
[0165] The actuation cables for the end effector include the cables
1038-1041. One set of cables actuates the rotation piece 1045,
while the other set of cables actuates the jaw 1023. The other jaw
1022 is actuated through the coupling provided from the rotation
piece 1045 to the jaw 1022, including pin 1050 and the associated
linkages 1046 and 1048 controlled via pins riding in slots 1052.
These linkages provide direct drive from the rotation piece 1045 to
the base of the jaw 1022, to control the pivoting motion of that
jaw, controlled usually from a remote location.
[0166] Another embodiment of the tool 18 is illustrated in FIGS.
34-38, where FIG. 34 is a perspective view of the tool while FIG.
35 is an exploded perspective view showing the separate components
of the tool. In this embodiment the same reference characters are
used to designate similar components.
[0167] The tool 18 shown in FIGS. 34-38 includes four basic members
including a base 1020, a link 1021 attached to the base, an upper
grip or jaw 1022, and a lower grip or jaw 1023. The base is affixed
to an instrument shaft in a manner similar to that depicted in FIG.
26. As before, the instrument shaft may be rigid or flexible
depending upon the particular use.
[0168] In the embodiment shown in FIGS. 34-38, the link 1021 may be
rotatably connected to the base about a wrist axis such as the axis
1025 of the just previously described embodiment. The upper and
lower jaws 1022 and 1023 are rotatably connected to the link 1021
about axis 1028 with a pin 1030 that is substantially perpendicular
to axis 1025.
[0169] Six cables 1036-1041 actuate the wrist, namely the link
1021, as well as the end effector or tool 18. Cable 1036 extends
through the instrument shaft and through a hole in the base, wraps
around curved surface 1032 on link 1021, and then attaches on link
1021 at 1034 (FIG. 35). Tension on cable 1036 rotates the link
1021, and the upper and lower jaws 1022 and 1023, about the wrist
axis. Cable 1037 provides the opposing action to cable 1036, and
goes through the same routing pathway, but on the opposite side of
the instrument shaft. Cable 1037 is also attached to link 1021
generally at 1034.
[0170] Cables 1038 and 1040 also travel through the instrument
shaft and though holes in the base. The cables 1038 and 1040 then
pass between two fixed posts that are similar to the posts 1035 in
FIG. 26. These posts constrain the cables so that they pass
substantially through the wrist axis about which the link 1021
rotates. This construction allows the link 1021 to freely rotate
with minimal length changes in cables 1038-1041. Hence, the cables
1038-1041, which actuate the jaws 1022 and 1023, are decoupled from
the motion of link 1021. Cables 1038 and 1040 pass over rounded
sections and terminate on jaws 1022 and 1023, respectively. The
application of tension on cables 1038 and 1040 rotate jaws 1022 and
1023 counter-clockwise about axis 1028.
[0171] Finally, as shown in FIG. 35, the cables 1039 and 1041 pass
through the same routing pathway as cables 1038 and 1040, but on
the opposite side of the instrument. These cables 1039 and 1041
provide the clockwise motion to jaws 1022 and 1023, respectively.
The ends of cables 1038-1041 are secured at 1033 of the jaws 1022
and 1023.
[0172] In addition to the jaws 1022 and 1023, the tool 18 includes
the rotation piece 1045, along with linkage pair 1066 and straight
linkage 1068. The rotation piece 1045 has a central hole 1045A that
receives the pivot pin 1030. The pivot pin 1030 also passes through
holes 1023A in one jaw member and hole 1022A in the other jaw
member. The pin 1030 is secured to respective holes in the arms
1029 of the link 1021 to rotatably support the jaw members from the
link 1021. The rotation piece 1045 also carries an actuation pin
1050 extending in the same direction as the pivot pin 1030, and
parallel thereto. The actuation pin 1050 extends into curved slots
1052 in respective jaw flanges 1054 of jaw 1023, as shown in FIGS.
35, 37, and 38.
[0173] The actuation pin 1050 is also received through an end hole
1068A of the linkage 1068, and the linkage is supported between the
spaced flanges 1054 of the jaw 1023. At the other end of the
linkage 1068 there is a hole 1068B that receives the pin 1076. The
linkage 1068 also pivotally attaches with the linkage pair 1066 by
virtue of the pin 1076 passing through the holes 1066B and 1068B.
The pin 1076 is also positioned in the slots 1052 of the flanges
1054, and thus moves along the slots to different positions, two of
which are illustrated in FIGS. 37 and 38. When the jaws are in a
substantially closed position, the pin 1076 is at the top of the
slot 1052 as illustrated in FIG. 37. When the jaws are in other
positions, the pin 1050 will reside in different positions in the
slot 1052.
[0174] The linkages 1066 are also supported at its other ends at
holes 1066A the pin 1078. The pin 1078 also passes through a hole
1022B in the base of the jaw 1022. At that point the base has a
support wall 1022D in which the hole 1022B is located. The linkage
pair 1066 fits on opposite sides of the wall 1022D, and the pin
1078 passes through both the base of the jaw 1022 as well as the
linkage pair 1066.
[0175] The actuation cables for the end effector or tool include
the cables 1038-1041. One set of cables actuates the rotation piece
1045, while the other set of cables actuates the jaw 1023. The
other jaw 1022 is actuated through the coupling provided from the
rotation piece 1045 to the jaw 1022, including pin 1050 and the
associated linkages 1046 and 1048 riding in slots 1052. These
linkages provide direct drive from the rotation piece 1045 to the
base of the jaw 1022, to control the pivoting motion of that jaw,
typically from a remote location.
[0176] In the embodiment shown in FIGS. 35-38, control of the
grasping force on an item is provided primarily by means of a slot
or gap in one of the jaws. This is illustrated in FIGS. 34-38 by
the gap 1031 located near the base 1022C in the jaw 1022. FIGS. 35,
37, and 38 show in particular the shape and depth of the gap 1031.
The gap 1031 is located above a hinge 1044 where the jaw can
deflect when grasping and holding an item, regardless of its size,
and with a firm grasping force. The gap 1031 may be terminated in a
tubular passage 1031 A to enhance the hinging effect of the hinge
1044. Hence the hinge 1044 acts as a compliance member similar to
the resilient members 1060 described with reference to FIGS.
27-33.
[0177] Referring now in particular to FIGS. 37 and 38, the jaws
1022, 1023 are shown in a substantially closed position in FIG. 37
grasping a suture S. In that position it is noted that both of the
pins 1050 and 1076 are substantially at their top transition
locations. FIG. 38 illustrates the jaws 1022, 1023 grasping an item
such as a needle N that causes the jaw 1022 to flex and
consequently the gap 31 to close up. This flexure enables the
application of a varied grasping force at the tip of the jaws. When
the links are at the end of their travel, the jaw 1022 flexes when
the jaws 1022, 1023 grasp an item. The amount of flexure depends on
the diameter of the item being grasped. Thus, the jaws 1022 flexes
to a lesser extent when a smaller diameter item such as a suture S
is being grasped then when a larger item such as a needle N is
being held. That is, to grasp a smaller item, the gap 1031 closes
to a lesser extent, while the jaws still apply a sufficient holding
force to the item. This force is primarily a function of the
resiliency at the gap, as defined primarily by the flexure
capability at the hinge 1044. The larger the diameter of the item
being held, the larger the corresponding holding force. The tool is
constructed so that, for an item the size of a needle, as shown in
FIG. 38, the gap 1031 is fully closed with the sides of the top of
the gap touching, with a maximum grasping force being applied to
the needle N. This is particularly desirable for the securing and
controlling of the needle in important surgery techniques. Here
again, the pin 1076 is at a contact position A' (FIG. 38) when the
jaws first make contact with a larger item such as the needle N, or
further up the slot 1052 at a contact position A (FIG. 37) when the
jaws contact a smaller item such as the suture S. Regardless of the
size of the item, the pin moves to a locked position B (FIGS. 37
and 38) when the sufficient force is applied to lock the jaws onto
the item.
[0178] In connection with both of the embodiments described in
respective FIG. 26-33, and FIGS. 34-38, there has been described a
"locked" position B of the pins or jaws. This locked position
corresponds to a position wherein the linkages are disposed at
right angles to each other. In other words, for example, in FIG. 31
in that locked position the linkages 1046 and 1048 are disposed at
right angles (90 degrees) to each other. This provides virtually
infinite grasping force with essentially no back drive at the jaws.
Regarding the embodiment in FIGS. 34-38 it would be the linkages
1066 and 1068 that are disposed at right angles when locked.
[0179] Reference is now made to another embodiment of the invention
illustrated in FIGS. 39 and 40. This embodiment has a structure
very similar to that described in detail in FIGS. 26-33. However,
in place of the resilient cup 1060 there is provided a modified jaw
slot configuration. As indicated previously the slots 1052 in jaw
1023 have a curved segment 1052A, and a straight segment 1052B. In
this embodiment the J-slots 1052 also have a contiguous end slot
1052C that extends back toward the tip of the jaw tip. Hence, the
overall slot configuration is C-shaped. In FIG. 39 the jaws are in
a substantially open position with a gap G1 as noted when the jaw
members 1022, 1023 are locked onto and the needle N, with the pin
1056 located at a locked position B. Before the jaws make contact
with the needle N, the pin 1056 may be out of the end slot 1052C,
and the pins 1050 and 1056 are located at different positions along
the slots 1052 depending upon the degree of openness of the jaws.
When the jaws contact the needle N, the pin 1056 is at a contact
position A'. In FIG. 40 the jaws are in a substantially closed
position with a small gap G2 as the jaws grasp a smaller item such
as a suture S. In this position the pin 1056 now moves further into
the end slots 1052C to the locked position B, as the jaws apply a
grasping force to an item to lock the suture between the jaws. When
contact is first made between the jaws and the suture, the pin 1056
is located at the contact position A further up the slot 1052 than
the contact position A' of FIG. 39. Thus, depending upon the size
thereof, the pin 1056 moves to a greater or lesser extent into the
slots 1052C.
[0180] To hold a large diameter item such as a needle, the pins
1050 and 1056 are in the position illustrated in FIG. 39 with there
being a maximum grasping force applied to the item by virtue of the
links 1046 and 1048 being positioned at 90 degrees relative to each
other. For smaller diameter items such as a suture, the pins rotate
slightly further clockwise with the pin 1056 moving into the slot
1052C as illustrated in FIG. 40. When the pin 1056 moves into the
slot 1052C, the jaw and linkages move together as a rigid body
while closing against the suture.
[0181] In sum the slots 1052C, like the resilient member 1060
(FIGS. 27-33) and the hinge 1044 (FIGS. 37 and 38), are
accommodating mechanisms that allow a closing force to be applied
to grasped items of different sizes as the force is applied to the
grasped item as the jaws close to a position at which the jaws
remain open.
[0182] The accommodating mechanisms described above like the slots
1052C (FIGS. 39 and 40), the resilient member 1060 (FIGS. 27-33),
and the hinge 1044 (FIGS. 37 and 38, can be implemented in other
types of grasping mechanisms as well, such as those described in
U.S. application Ser. No. 09/827,643, filed Apr. 6, 2001, and U.S.
application Ser. No. 10/014,143, filed Nov. 16, 2001, the entire
contents of which are incorporated herein by reference.
[0183] In each of the aforementioned embodiments described herein
the medical instrument includes a jaw or work members controlled by
a drive mechanism that is used to open and close the jaws or work
members for applying an increased force to an item grasped between
the jaws or work members. The accommodating mechanisms described
above such as the slots 1052C (FIGS. 39 and 40), the resilient
member 1060 (FIGS. 27-33), and the hinge 1044 (FIGS. 37 and 38,
each have the characteristic of providing a maximum grasping force
at what may be considered a maximum grasping position. This
corresponds to the positions illustrated, and discussed previously,
in FIGS. 33, 38, and 39. In each of the embodiments the instrument
is constructed so that this maximum position corresponds to a
predetermined size or diameter items that is to be grasped, usually
a needle in this case. For item smaller or larger than this size
the grasping force is progressively less. In the instance of the
embodiment of FIGS. 26-33, for smaller items such as the suture S,
the force is less because the compliant member is compressed less.
For the case of an item larger than the needle N, the linkage does
not go to the top of the J-slot and thus the applied force is also
less in that case, as the linkages are not yet to a maximum force
90 degree position.
[0184] In all three of the described embodiments the accommodating
mechanism allows the jaws or work members to be closed beyond this
maximum grasping position in order to grasp items of various sizes,
particularly smaller size items. Again, this is illustrated by way
of example in FIG. 32 where the jaws go past their maximum grasping
position, closing to a closer position therebetween, in grasping
the suture S. In FIG. 37 this is illustrated by the jaws closing to
grasp the suture S with less force being imposed by the flexure at
the jaw 1022. This is also illustrated in FIGS. 39 and 40. In FIG.
39 the jaws are at their maximum grasping position. In FIG. 40 the
jaws are closed beyond this maximum grasping position to grasp the
smaller size suture S. The accommodating mechanism in this case may
be considered as including the slot segment 1052C that enables
further rotation of the linkages to the position illustrated in
FIG. 40.
[0185] Other embodiments of the flexible or bending segment are
within the scope of the invention. For example, there is shown in
FIGS. 41-47 another embodiment of a flexible or bending segment
with a unibody construction which can be used with any suitable end
effector like the tools 18 described above, whether used with a
rigid shaft body or a flexible shaft body or combinations thereof.
As with some of the embodiments described earlier, one of the
benefits of the embodiment shown in FIGS. 41-47 is that only a
single cable 1136 needs to be coupled to the tool 18 to actuate it.
The pitch and yaw of the tool 18 is controlled at the flexible
section 1100 shown in FIG. 41. This arrangement also lends itself
to making the tool disposable or at the very least detachable from
the instrument body to facilitate substituting another tool. Here
again, because of the simplified construction at the tip of the
instrument, a tool can be constructed that is readily detachable
from the instrument.
[0186] Although the bendable section 1100 is depicted near the
tool, the bendable section can be located at other locations
further away from the tool. Since the tool 18 of the embodiment
shown in FIGS. 41-47 requires only a single actuation cable, it is
simpler to operate than the wrist/tool combination shown in FIGS.
26 and 27. Recall, in the wrist arrangement, a pivot axis does not
accommodate single cable actuation. Thus, with the wrist unit one
has to use a far more complex cabling scheme, such as, by way of
example, the cabling arrangement illustrated in U.S. Pat. Nos.
6,312,435 and 6,206,903. Furthermore, the single cable actuation
provides a more simplified design that readily lends itself to a
variety of tool constructions.
[0187] In order for the various degrees of motions to be decoupled
from each other, and for the proper overall functioning of the
distal end of the instrument, the instrument has certain preferred
characteristics, particularly at the flexible or bendable section
of the instrument shaft. These characteristics are listed below but
are not in any particular order of significance. Embodiments can
employ at least one of these characteristics. Furthermore, although
these characteristics are listed with reference to the embodiment
described in FIGS. 41-44, one or more of the characteristics can
apply as well to any of the other embodiments described
earlier.
[0188] A first characteristic is that the actuation element for the
tool be centered in the flexible or bendable section. In this way,
during any bending operation the center of the flexible or bendable
section tends to maintain the same length, even though opposed
outer surfaces of the section may, respectively, expand and
contract. This, in essence, means that the bending action is not
erroneously transferred to the actuation element for the tool,
hence, de-coupling the bending operation from the tool actuation,
and vice versa.
[0189] A second characteristic is that the flexible or bendable
section of the instrument shaft be readily flexible without the
application of undue force. This bendable section, in a preferred
embodiment, is to have orthogonal bending characteristics, hence
providing two degrees of freedom (DOF) to the distal tool, for
example, yaw and pitch. To accomplish this, at a particular bend
location, a substantial portion of the flexible or bendable section
is located as near to the center neutral axis 1111 of the section
as physically possible. This is achieved by the spaced rib
construction including the ribs 1112 shown in the drawings. The
slots 1114 defined by these ribs 1112 provide void areas, leaving
more material near the center neutral axis, as depicted in FIG. 45.
Reference has been made to a neutral axis 1111 of the bendable
section 1 100. In actuality there is for a particular bend
direction a neutral plane that during a bend is maintained at a
fixed length.
[0190] A third characteristic relates to the torsional nature of
the flexible or bendable section. The more stiff the section is
torsionally (twisting moment) the less likely there will be an
undesired twisting of the bendable section that accompanies
controlled rotation thereof. In other words, if the bendable
section is torsionally stiff, then upon controlled rotation of the
instrument shaft, there is no an undesired twisting action imparted
on the shaft particularly at the flexible or bendable section 1100.
To accomplish this, at a particular bend location, a substantial
portion of the material forming the flexible or bendable section is
located at the periphery of the flexible or bendable section. This
may be achieved by having portions of the section extend to an
outer surface. In the embodiment described here this is
accomplished by providing radial ridges, such as the ridges 1120
shown in the drawings. Furthermore, these ridges are alternated
between horizontal and vertical positions to, at the same time, to
provide the orthogonal bending or flexing.
[0191] A fourth characteristic is that the flexible or bendable
section of the instrument shaft is constructed so that there is
little or no end-to-end compression. In other words, the flexible
or bendable section maintains a relatively constant length
regardless of the motion actuations that occur in the multiple
degrees of freedom movement of the instrument. To accomplish this,
a stiff member is provided to maintain the ends of the flexible or
bendable section at a fixed spacing. This may be achieved by
providing the stiff member as a centrally located stiff sleeve that
receives and supports the sliding motion of the actuation element
for operation of the distal tool. This stiff member is preferably
fixed at its opposite ends to the bendable section to maintain the
fixed length of the section, thereby preventing end-to-end
compression. At least part of this member may include the sleeve
1182 depicted in FIG. 43.
[0192] Referring again to FIG. 41 there is disclosed one embodiment
of the tool 18, used in conjunction with a flexible shaft or tube
having a remotely controllable bending or flexing section 1100. The
medical instrument may include an elongated shaft, such as shaft
section 1110 shown in FIGS. 41 and 42, having proximal and distal
ends; and the tool 18 with jaws 102 and 104, supported from the
distal end of the elongated shaft and useable in performing a
medical procedure on a subject. In FIGS. 42 and 43 the tool 18 is
actuated preferably by a single tendon or cable 1136 that extends
through the flexible section 1100. In order to provide the pitch
and yaw action at the tool, the bending or flexing section 1100 is
constructed to bend in orthogonal directions with the use of four
cables separated at about 90.degree. intervals and by using a
center support with ribs and slots about the entire periphery of
the bending section 1100, as depicted in FIGS. 42-44. This
orthogonal bending may also be referred to as bi-axial bending,
meaning bending in separate axes. The ribs 1112 define
corresponding slots 1114, and also define at each of their centers
a center support passage 1118 that has the cable 1136 extending
through it, as well as other cable support members described in
further detail later. The bending section 1100 extends from the end
of tube section 1110, which itself may be flexible, may be smooth
as shown, or may be fluted, and may have other controllable bending
sections disposed along its length.
[0193] To bend the bending section 1100 in orthogonal directions,
use is made of the four cables 1106, 1107, 1116 and 1117. The
operation of cables 1106 and 1107 provides flexing in one
degree-of-freedom while an added orthogonal degree-of-freedom is
provided by operation of cables 1116 and 1117. Each of the cables
1106, 1107, 1116, and 1117 have at their terminating ends
respective balls 1 106A, 1 107A, 1116A, and 1117A that may be held
in corresponding recesses in a distal end wall 1119 (FIG. 45) of
the flexible section 1100.
[0194] The bending section 1100, as indicated previously, includes
a series of spaced ribs 1112 positioned, in parallel, with the
plane of each rib extending orthogonal to the neutral axis 1111 of
the section 1100. At the proximal end of the bendable section, an
end rib connects to the shaft section 1110, while at the distal end
there is provided the distal end wall 1119 that supports the ends
of the cables. Each of the ribs 1112 are held in spaced
relationship by means of the alternating ridges 1120. As depicted
in FIG. 43 these ridges are identified as horizontal ridges 11 20A,
alternating with vertical ridges 1120B. This structure provides
support at the center passage for the actuating cable 1136, while
also providing torsional strength to prevent undesired twisting at
the shaft section 1100.
[0195] The jaws 1102 and 1104 are supported for opening and closing
by means of a pivot pin 1135 that extends along a pivot axis. These
grippers may be supported in link 1140, and the pin 1135 may be
supported at its ends in opposite sides of link 1140. The tool also
includes a pivot linkage 1142 that intercouples between the
grippers and the actuation cable 1136. The pivot linkage 1142
includes linkages 1142A and 1142B. At one end, each of the linkages
1142A and 1142B connects to respective jaws 1104 and 1102. At the
other end, the linkages 1142A and 1142B are pivotally supported at
end 1137 of cable 1136. Opposed pins extend from end 1137 for
engagement with the linkages 1142A and 1142B. The jaws 1102 and
1104 are shown having recesses 1102A and 1104A for accommodating
the respective linkages 1142B and 1142A.
[0196] In FIG. 42 the jaws 1102 and 1104 are shown in their open
position with the linkages 1142A and 1142B shown in a forward
pivoted configuration. FIG. 43 illustrates the jaws 1102 and 1104
in a closed position with the linkages 1142A and 1142B shown in an
in-line configuration. As the linkage 1142 is moved in an axial
direction by the cable 1136, this action opens and closes the jaws
or grippers. This corresponds to a "pushing" of the cable in a
direction toward the tool. FIG. 43, on the other hand, shows the
linkage and grippers in a closed position. This corresponds to a
"pulling" of the cable in a direction away from the tool with the
specific linkages 1142A and 1142B shown in an in-line configuration
in their final closed position. The grippers themselves are
prevented from any axial movement by the support at pin 1135, so
when the linkage is operated from the cable 1136 the resulting
action is either opening or closing of the grippers, depending upon
the direction of forward-to-back translation of the actuating cable
1136.
[0197] The structure shown in FIGS. 41-47 preferably also includes
a plastic cable sheath 1180, a plastic stiffener sheath or sleeve
1182 that surrounds the cable 1136 and the sheath 1180, and that
fits closely in the center passage 1118, and an outer silicon
spacer 1184. The sleeve 1182 is preferably constructed of a
polyethylene plastic such as PEEK which has flexibility to allow
the sleeve 1182 to bend with the section 1100, but at the same time
is sufficiently stiff (particularly end-to-end) to properly retain,
center and hold the supported cable to enable the cable to readily
slide within the sheath 1180 and the supporting sleeve 1182, in
performing its function. In FIG. 42 the sleeve 1182 is illustrated
extending from the distal end of the bendable section 1100, back
through the passage, to the more proximal end of the bendable
section 1100.
[0198] Reference has been made previously to the single actuation
cable 1136 that provides all the action that is required to operate
the tool. This greatly simplifies the construction and makes it
easier to keep the single cable centered in the instrument. As
indicated previously this centering feature maintains the same
length of the actuation element, even though opposed outer surfaces
of the section itself may, respectively, expand and contract during
bending. This, in essence, means that the bending action is not
erroneously transferred to the actuation element, hence, the
bending operation is de-coupled from tool actuation, and vice
versa.
[0199] FIGS. 42 and 43 also show the use of an adhesive, at 1186,
such an epoxy adhesive for anchoring opposite ends of the sheath
1180 and the sleeve 1182 to opposite ends of the bendable section
1100. By maintaining the sheath 1180 and sleeve 1182 fixed in
position at their ends, when the section 1100 is controlled to
bend, the cable length at the center or neutral axis of section
1100 does not change. Furthermore, at the ribbed bendable section,
on one side the section shortens and on the other side it expands
while keeping the center or neutral axis length unchanged. In this
way when bending occurs at section 1100 there is no transfer of
motion to the cable 1136 which could undesirably move the jaws. The
bending motion is thus de-coupled from the tool operation motion,
and vice versa.
[0200] Other features of the bending section are shown in FIG. 45
in a side elevation view, while FIGS. 46 and 47 illustrate
cross-sectional views, with one through one of the ridges 1120A and
the other through one of the ridges 1120B. The respective ridges
1120A and 1120B are arranged at about 90 degrees to each other.
[0201] As described earlier, the section 1100 is easily bendable
while being torsionally stiff, and has other improved
characteristics as well. Details of these characteristics are best
described with reference to FIGS. 45-47 by considering a particular
cross-section such as the cross-section in FIG. 45 taken along line
46-46. In viewing FIG. 45 it is clear that, at that location and
with the orientation of the section 1100 as shown, there is a
substantial void created by the slot 1114, so that the majority of
the section material is located at the center of the section. This
is consistent with the desired bendability at that location, since,
in general, a structure becomes more bendable as its diameter
deceases. The void area mentioned is also illustrated in the
cross-sectional view of FIG. 46 at 1115.
[0202] To understand how the bending section 1100 can be
torsionally stiff while also being bendable, reference is also made
to the same location at the line 46-46, but with the section
rotated through 90 degrees. This is the same as looking at the
cross-sectional view depicted in FIG. 47. In other words, one is
thus considering the location through the ridge 1120A. The section
1100 is constructed so that there is preferably a relatively large
center passage 1118, leaving more material toward the outer
periphery, which is desired for providing enhanced torsional
stiffness. Note that this material is the material of the ridge
itself. Thus, for torsional stiffness it is desired to have a void
near the middle and more material located away from the middle.
[0203] The rib and ridge arrangement shown in the drawings thus
provides in a single structure a bendable section that provides two
degrees of freedom (biaxial motion) that is also torsionally stiff.
The bending characteristics enable the transfer of two degrees of
freedom to the tool, rather than just one degree of freedom as with
a conventional wrist joint. The torsional stiffness enables direct
rotational transfer to the tool through the bendable section and
without any twisting at the bendable section.
[0204] Mention has been made previously of the four characteristics
of the bendable section described herein. The first characteristic
relates to the centering of the actuation element. This is carried
out primarily with the use of the center passage and the associated
sheath 1180, sleeve 1182, and the spacer 1184. The second
characteristic relates to the ease of bending. This is accomplished
primarily with the ribbed construction with void peripheral areas.
The third characteristic relates to the torsion stiffness that is
accomplished primarily by the alternating ridges. Lastly, the
fourth characteristic relates to the end-to-end compression. To
prevent the bendable section from compressing from end-to-end
during an operation, particularly during tool actuation, to
facilitate proper tool operation, the center passage is provided
with the stiff sleeve 1182, and the opposite ends of the sheath
1180 and sleeve 1182 fixed in place, and the section 1100 has a
ridged construction.
[0205] It is noted that FIGS. 41-47 disclose one version of an end
effector employing jaws 1102 and 1104, in combination with, linkage
1142. However, other tool constructions are also contemplated as
falling within the scope of the present invention including ones
that provide a mechanical advantage at the tip of the jaws or other
work elements.
[0206] Also, in various embodiments described herein only a single
cable is used for tool actuation. (See, for example, FIGS. 9, 15,
and 42.) In these embodiments it is preferable to provide at least
the opposite ends of the actuation cables with enhanced stiffness,
particularly where the cable is unsupported. For example, in FIG.
42 this might be in the distal section of cable 1136 exiting from
wall 1119 to the jaws of the tool. This stiffness can be provided
by treating the ends of the cable with a harder metal coating, or
by other means that will provide a stiffer end section.
[0207] Turning now to FIGS. 48A-48D, there is illustrated yet
another embodiment of a flexible section 1660 with a unibody
construction. The tool 18 attached to the distal end of the
flexible section 1660 includes an upper grip or jaw 1602 and a
lower grip or jaw 603, supported from a link 1601. Each of the jaws
1602, 1603, as well as the link 1601, may be constructed of metal,
or alternatively, the link 1601 may be constructed of a hard
plastic. The link 1601 is engaged with the distal end of the
flexible stem section 1302. FIG. 48C shows the distal end of the
stem section 1302, terminating in a bending or flexing section
1660. Also, at the flexible section 1660, flexing and bending is
enhanced by the arrangement of diametrically-disposed slots 1662
that define ribs 1664 between the slots. The flexible section 1660
also has a longitudinally extending wall 1665, through which
cabling extends, particularly for the operation of the tool jaws.
The wall 1665 can also be thought of as opposed ridges that extend
outward from the center of the flexible section 1660. The very
distal end of the bending section 1660 terminates with an opening
1666 for receiving the end 1668 of the link 1601. The cabling
1608-1611 is preferably at the center of the flex section at wall
1665 to effectively decouple flex or bending motions from tool
motions.
[0208] To operate the tool, reference is made to the cables 1608,
1609, 1610, and 1611. All of these cablings extend through the
flexible stem section and also through the wall 1665 as illustrated
in FIG. 48C. The cables extend to the respective jaws 1602, 1603
for controlling operation thereof in a manner similar to that
described previously in connection with FIGS. 5-8. FIGS. 48A-48D
also show cables 1606 and 1607 which couple through the bending
section 1660 and terminate at ball ends 1606A and 1607A,
respectively, and urge against the end of the bendable section in
opening 1666. When these cables are pulled individually, they can
cause a bending of the wrist at the bending or flexing section
1660. FIG. 48D illustrates the cable 1607 having been pulled in the
direction of arrow 1670 so as to flex the section 1660 as depicted
in the figure. Pulling on the other cable 1606 causes a bending in
the opposite direction.
[0209] By virtue of the slots 1662 forming the ribs 1664, there is
provided a structure that bends quite easily, while the wall or
opposed ridges 1665 provide some torsional rigidity to the flexing
section 1660. The wall 1665 bends by compressing at the slots in
the manner illustrated in FIG. 48D. This construction eliminates
the need for a wrist pin or hinge.
[0210] The embodiment illustrated in FIG. 48B has a separate link
1601. However, in an alternate embodiment, this link 1601 may be
fabricated integrally with, and as part of, the bending section
1660. For this purpose the link 1601 would then be constructed of a
relatively hard plastic rather than the metal link as illustrated
in FIG. 48B and would be integral with section 1660.
[0211] Mention has also been made of various forms of tools that
can be used. The tool may include a variety of articulated tools
such as: jaws, scissors, graspers, needle holders, micro
dissectors, staple appliers, tackers, suction irrigation tools and
clip appliers. In addition, the tool may include a non-articulated
tool such as: a cutting blade, probe, irrigator, catheter or
suction orifice. Moreover, the bending section itself may be
non-actuated. As such, even when the bending movements of the
bending section are not controlled by a surgeon, the one or more
degrees-of-freedom of movement of the bending section allows it to
conform to orifices or lumens within the patient's body as the
section is advanced through the body.
[0212] There have been described herein a number of different
embodiments of bendable sections such as in FIGS. 5, 14, 21, or 41.
These may be used, as illustrated herein, in conjunction with
instrument systems as described in, for example, FIG. 1 where the
instrument is inserted laparoscopically. Alternatively, these
concepts may also be used in flexible instrument systems more like
that described in FIG. 21 wherein the bendable sections can be
located at various positions along the instrument shaft or body. In
this case the bendable section or sections may be used both for
guidance toward an operative site, such as for guidance through an
anatomic lumen or vessel, or for operation or manipulation at an
operative site. In the more rigid system where the instrument is
meant to enter the body, for example, through an incision, such as
laparoscopically, then it is preferred to have the bendable section
located close to but just proximal of the distal end effector or
tool. This bendable section positioning provides for proper
manipulation of the tool at the operative site. In this case the
bendable section preferably has a length in a range on the order of
3/4 inch to 4 inches. Also, the distance between the tool pivot
point and the distal end of the bendable section is preferably
equal to or less than the length of the bendable section.
[0213] Referring to FIG. 49, an example of a flexible instrument
2000 is shown in use in a stomach 2002 of a patient. The instrument
2000 includes an elongated portion 2004, which itself is flexible,
and an articulated bendable section 2006. Any embodiments of the
tool 18 described can be mounted at the terminal end of the
bendable section 2006. The bendable section 2006 can be any one of
the different embodiments described earlier such as those shown in
FIGS. 5, 14, 21, or 41. In operation, the flexible instrument 2000
is inserted through a body lumen such as the esophagus 2008, and
the tool 18 is directed to the operative site 2009. As shown, the
instrument 2000 can lean against some element of the anatomy such
as a wall 2010 of the stomach to brace the instrument during the
medical procedure, while the bendable section 2006 and the tool 18
are articulated as described above.
[0214] In certain implementations, as shown in FIG. 50A, a flexible
instrument 2100 may include a bendable section 2102 that can be
operated with one or more pull cables 2104 to manipulate the tip
2106 of the bendable section. The tip 2106 may be provided with an
embodiment of the tool 18 described above that is positioned at the
operative site to perform a medical procedure. At least one cable
2104 is attached at or near the tip 2106 of the bendable section
2102, and extends from its point of attachment through an aperture
2108 at a position spaced a selected distance along the length of
the bendable section 2102 away from the distal end. The remainder
of the cable 2109 extends from the aperture 2108 through a shaft
2110 of the instrument 2100 and is coupled, for example, to a drive
unit 8, like that described earlier, that applies a tension to the
cable 2104 to controllably bend the bendable section 2102.
[0215] The bendable section 2102 may have a circular cross section,
or in some embodiments, the bendable section is provided with one
or more grooves or valleys 2112 (FIG. 50B) along its length. As
such, while the instrument 2100 is inserted into the patient, the
cables 2104 lie along the grooves 2112, which prevents the cables
2104 from inadvertently catching any body element. As appropriate
tension is applied to a particular cable, it effectively "pops" out
of the groove 2112 as the tip of the bendable section 2102 is
pulled towards the aperture 2108. For certain embodiments of the
tool 18, the bendable section 2102 is provided with a center tube
2114 through which the actuation element for the tool 18
extends.
[0216] While this invention has been particularly shown and
described with references to preferred embodiments thereof, it will
be understood by those skilled in the art that various changes in
form and details may be made therein without departing from the
scope of the invention encompassed by the appended claims. For
example, mention has been made of the bi-axial bending of the
bendable section of the instrument. However, the principles of the
present invention may also apply to a bendable section that has
only one degree-of-freedom, in which case the bendable section
would only be controlled by one set of control cables rather than
the two sets described earlier.
[0217] This invention can be implemented and combined with other
applications, systems, and apparatuses, for example, those
discussed in greater detail in U.S. Provisional Application No.
60/332,287, filed Nov. 21, 2001, the entire contents of which are
incorporated herein by reference, as well as those discussed in
greater detail in each of the following documents, all of which are
incorporated herein by reference in their entirety:
[0218] U.S. Pat. Nos. 6,197,017 and 6,432,112, PCT application
Serial No. PCT/US00/12553 filed May 9, 2000, and U.S. application
Ser. Nos. 09/827,643 filed Apr. 6, 2001, 10/034,871 filed Dec. 21,
2001, 10/270,741 file Oct. 11, 2002, 10/270,743 filed Oct. 11,
2002, 10/270,740 filed Oct. 11, 2002, 10/077,233 filed Feb. 15,
2002, and 10/097,923 filed Mar. 15, 2002.
* * * * *