U.S. patent application number 11/762734 was filed with the patent office on 2007-10-11 for robotic medical instrument system.
This patent application is currently assigned to HANSEN MEDICAL, INC.. Invention is credited to Robert Ailinger, David L. Brock, David Driscoll, Woojin Lee, Dwight Meglan, Gary S. Rogers, Albert Solbjor, Barry D. Weitzner.
Application Number | 20070239178 11/762734 |
Document ID | / |
Family ID | 32930247 |
Filed Date | 2007-10-11 |
United States Patent
Application |
20070239178 |
Kind Code |
A1 |
Weitzner; Barry D. ; et
al. |
October 11, 2007 |
ROBOTIC MEDICAL INSTRUMENT SYSTEM
Abstract
A medical system and method of performing a medical procedure on
a patient are provided. An electrical controller directs an
electromechanical driver to bend an elongated member back upon
itself to place a active work element in a working relationship
with an intermediate work element, and to respectively control the
active work element and intermediate work element, in unison, to
perform a medical procedure. The electrical controller may be
remote from the electromechanical driver, and may be coupled to the
electromechanical driver via external cabling. The electrical
controller may have a user interface for receiving commands from a
user. In this case, the movements made at the user interface
correspond to movements of the medical instrument.
Inventors: |
Weitzner; Barry D.; (Acton,
MA) ; Rogers; Gary S.; (Wenham, MA) ; Solbjor;
Albert; (Waltham, MA) ; Meglan; Dwight;
(Westwood, MA) ; Ailinger; Robert; (Norwood,
MA) ; Brock; David L.; (Natick, MA) ; Lee;
Woojin; (Hopkinton, MA) ; Driscoll; David;
(Milton, MA) |
Correspondence
Address: |
Vista IP Law Group LLP
2040 MAIN STREET, 9TH FLOOR
IRVINE
CA
92614
US
|
Assignee: |
HANSEN MEDICAL, INC.
Mountain View
CA
|
Family ID: |
32930247 |
Appl. No.: |
11/762734 |
Filed: |
June 13, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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10639785 |
Aug 12, 2003 |
|
|
|
11762734 |
Jun 13, 2007 |
|
|
|
60403621 |
Aug 14, 2002 |
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Current U.S.
Class: |
606/147 |
Current CPC
Class: |
A61B 34/30 20160201;
A61B 2017/00309 20130101; A61B 2017/2927 20130101; A61B 17/0469
20130101; A61B 2017/2905 20130101; A61B 17/0491 20130101; A61B
2034/301 20160201; A61B 17/068 20130101; A61B 17/1114 20130101;
A61B 34/71 20160201; A61B 2017/1135 20130101; A61B 2017/22054
20130101; A61B 2017/22069 20130101; A61B 34/32 20160201; A61B
2034/305 20160201; A61B 2017/00477 20130101; A61B 90/361 20160201;
A61B 34/37 20160201 |
Class at
Publication: |
606/147 |
International
Class: |
A61B 17/03 20060101
A61B017/03 |
Claims
1. A medical system, comprising: a medical instrument having an
elongated member having a distal tip, an active work element
located at the distal tip, and an intermediate work element located
on the elongated member proximal to the distal tip; an
electromechanical driver coupled to the medical instrument; and an
electrical controller configured for directing the
electromechanical driver to bend the elongated member back upon
itself to place the active work element in a working relationship
with the intermediate work element, and to respectively control the
active work element and intermediate work element, in unison, to
perform a medical procedure.
2. The medical system of claim 1, wherein the electrical controller
is remote from the electromechanical driver.
3. The medical system of claim 2, wherein the electrical controller
is coupled to the electromechanical driver via external
cabling.
4. The medical system of claim 1, wherein the electrical controller
has a user interface for receiving commands from a user.
5. The medical system of claim 4, wherein movements made at the
user interface correspond to movements of the medical
instrument.
6. The medical system of claim 1, wherein the electromechanical
driver has a motor array.
7. The medical system of claim 1, wherein the entire length of the
elongated member is flexible.
8. The medical system of claim 1, wherein the active working
element and the intermediate working element are suturing tools,
and the medical procedure is a suturing procedure.
9. The medical system of claim 8, wherein one of the suturing tools
has a needle, and another of the suturing tools has an anvil that
cooperates with the needle to perform the suturing procedure.
10. The medical system of claim 1, wherein the active working
element and the intermediate working element are sewing tools, and
the medical procedure is a sewing procedure.
11. The medical system of claim 10, wherein one of the sewing tools
has a needle, and another of the sewing tools has a hook end
effector that cooperates with the needle to perform the sewing
procedure.
12. The medical system of claim 11, wherein the one sewing tool has
a presser foot, and the needle is configured for reciprocating
relative to the presser foot.
13. The medical system of claim 11, wherein the needle is
configured for pulling a loop of suture material through an
anatomical wall, and the hook end effector is configured for
grabbing the loop of material before the needle pulls the loop of
suture material through the anatomical wall.
14. A method of performing a medical procedure on a patient, the
comprising: conveying control signals from an electrical controller
to a drive unit; and operating the drive unit in accordance with
the control signals to advance a first medical instrument within
the patient, to bend the medical instrument back upon itself to
place an active work element located on the medical instrument
adjacent an intermediate work element located on the medical
instrument, and respectively controlling the active work element
and intermediate work element, in unison, to perform a medical
procedure.
15. The method of claim 14, wherein control signals are remote
control signals.
16. The method of claim 14, wherein the control signals are
conveyed from the electrical controller to the drive unit in
response to user commands.
17. The method of claim 16, wherein the user commands are movements
made at a user interface that correspond to movements of the
medical instrument.
18. The method of claim 14, further comprising operating the drive
unit in accordance with the control signals to advance the
instrument within the patient.
19. The method of claim 14, wherein the active working element and
the intermediate working element are suturing tools, and the
medical procedure is a suturing procedure.
20. The method of claim 19, wherein one of the suturing tools has a
needle, another of the suturing tools has an anvil, the suturing
procedure is performed by placing a fold of an anatomical wall
between the needle and anvil, and passing a suture through the fold
using the needle.
21. The method of claim 14, wherein the active working element and
the intermediate working element are sewing tools, and the medical
procedure is a sewing procedure.
22. The method of claim 21, wherein one of the sewing tools has a
needle, another of the sewing tools has a hook end effector, and
the sewing procedure is performed by pulling a loop of suture
material through an anatomical wall using the needle, and grabbing
the loop of suture material with the hook end effector before the
needle pulls the loop of suture material through the anatomical
wall.
23. The method of claim 22, wherein the one of the sewing tools has
a presser foot, and the sewing procedure is further performed by
reciprocating the needle relative to the presser foot.
Description
RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 10/639,785, filed Aug. 12, 2003, which claims benefit of
priority from U.S. Application Ser. No. 60/403,621, filed Aug. 14,
2002. This application is also related to U.S. application Ser. No.
XX/XXX,XXX (Attorney Docket No. HNMD-EA005 CON1), Ser. No.
XX/XXX,XXX (Attorney Docket No. HNMD-EA005 CON2), Ser. No.
XX/XXX,XXX (Attorney Docket No. HNMD-EA005 CON3), Ser. No.
XX/XXX,XXX (Attorney Docket No. HNMD-EA005 CON4), and xx/xxx,xxx
(Attorney Docket No. HNMD-EA005 CON6), all of which are filed on
the same date herewith. The entire disclosures of the above
applications are expressly incorporated herein by reference.
BACKGROUND OF THE INVENTION
[0002] Robotically controlled surgical instruments are usually
controlled from a master station at which a surgeon or other
medical practitioner is situated. The master station may include
one or more input devices manipulated by the user for, in turn,
controlling, at an operative site, respective instruments used in
performing a surgical procedure or application.
SUMMARY OF THE INVENTION
[0003] In accordance with a first aspect of the present inventions,
a medical system is provided. The medical system comprises a
medical instrument having an elongated member having a distal tip,
an active work element located at the distal tip, and an
intermediate work element located on the elongated member proximal
to the distal tip. In one embodiment, the entire length of the
elongated member is flexible. The medical system further comprises
an electromechanical driver coupled to the medical instrument, and
an electrical controller configured for directing the
electromechanical driver to bend the elongated member back upon
itself to place the active work element in a working relationship
with the intermediate work element, and to respectively control the
active work element and intermediate work element, in unison, to
perform a medical procedure. In one embodiment, the electrical
controller is remote from the electromechanical driver, and the
electrical controller is coupled to the electromechanical driver
via external cabling. In another embodiment, the electrical
controller has a user interface for receiving commands from a user.
In this case, the movements made at the user interface correspond
to movements of the medical instrument.
[0004] The robotic medical system may be configured to perform the
medical procedure in any one of a variety of manners. For example,
if the medical procedure is a suturing procedure, the active
working element and the intermediate working element may be
suturing tools. In this case, the one of the suturing tools may
have a needle, and another of the suturing tools may have an anvil
that cooperates with the needle to perform the suturing procedure.
As another example, if the medical procedure is a sewing procedure,
the active working element and the intermediate working element may
be sewing tools. In this case, one of the sewing tools may have a
needle, and another of the sewing tools may have a hook end
effector that cooperates with the needle to perform the sewing
procedure. The one sewing tool may have a presser foot, in which
case, the needle may be configured for reciprocating relative to
the presser foot. The needle may be configured for pulling a loop
of suture material through an anatomical wall, and the hook end may
be configured for grabbing the loop of material before the needle
pulls the loop of suture material through the anatomical wall.
[0005] In accordance with a second aspect of the present
inventions, a method of performing a medical procedure on a patient
is provided. The method comprises conveying control signals from an
electrical controller to a drive unit (e.g., one that has a motor
array). The method further comprises operating the drive unit in
accordance with the control signals to advance a first medical
instrument within the patient, to bend the medical instrument back
upon itself to place an active work element located on the medical
instrument adjacent an intermediate work element located on the
medical instrument, and respectively controlling the active work
element and intermediate work element, in unison, to perform a
medical procedure. In one method, the control signals are remote
control signals that are conveyed from the electrical controller to
the drive unit in response to user commands, which may be movements
made at a user interface that correspond to movements of the
medical instrument. Another method further comprises operating the
drive unit in accordance with the control signals to advance the
instrument within the patient. The medical procedure (e.g., a
suturing or sewing procedure) may be performed using suturing or
sewing tools in the manner described above.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] 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.
[0007] FIG. 1 is a perspective view of one embodiment of a robotic
surgical system in which the principles of the present invention
are applied;
[0008] FIG. 2 schematically illustrates a surgical procedure using
intralumenal and extralumenal instruments, one flexible and one
rigid;
[0009] FIG. 3 illustrates respective end effectors of rigid and
flexible instruments used in performing a suturing procedure at a
wall of a lumen;
[0010] FIG. 3A shows a next step in the suturing process with the
needle having punctured the anatomic wall;
[0011] FIG. 3B shows still another suturing step with the suture
being pulled through the wall, and further illustrating the
placement of a viewing endoscope attached internally;
[0012] FIG. 3C is a schematic illustration of dual end effectors
used in a sewing technique for attaching vessel segments
together;
[0013] FIG. 3D illustrates the completion of the sewing technique
of FIG. 3C;
[0014] FIG. 3E illustrates a surgical procedure in the stomach
using dual instruments, a flexible instrument passing into the
stomach and either a rigid or flexible instrument outside the
stomach wall;
[0015] FIG. 3F schematically shows the end of the sewing or
suturing technique at the stomach wall;
[0016] FIG. 3G illustrates the dual instruments used for securing
or re-securing an internal object such as a stent in an artery,
vein, or other anatomic lumen or vessel;
[0017] FIG. 3H illustrates a first step in a procedure for
attaching one vessel to another such as in bypass surgery;
[0018] FIG. 3I illustrates a second step in a procedure for
attaching one vessel to another;
[0019] FIG. 3J illustrates a third step in a procedure for
attaching one vessel to another;
[0020] FIG. 3K shows the use of dual instruments in a bladder
procedure;
[0021] FIG. 3L illustrates the use of dual instruments in a stomach
procedure;
[0022] FIG. 4 is an exploded perspective view of another version of
the cable drive mechanism and tool in accordance with the present
invention;
[0023] FIG. 5 is a top plan view of the instrument insert
itself;
[0024] FIG. 6 is a perspective view of another embodiment of the
present invention;
[0025] FIG. 7 is an enlarged detail perspective view of the
tool;
[0026] FIG. 8 is a perspective view at the tool;
[0027] FIG. 9 is a side elevation view of the needle driver;
[0028] FIG. 10 is a perspective view of an embodiment of a flexible
or bendable wrist just proximal to the tool;
[0029] FIGS. 11-14 illustrate different end effector constructions
that may be used with either flexible or rigid instruments;
[0030] FIG. 15 is a perspective view at the slave station of the
system of FIG. 1 illustrating the interchangeable instrument
concepts;
[0031] FIG. 16 is a cross-sectional view through the storage
chamber and as taken along line 16-16 of FIG. 15;
[0032] FIG. 17 is a longitudinal cross-sectional view, as taken
along line 17-17 of FIG. 15, and showing both a stored articulating
instrument and a stored fluid dispensing;
[0033] FIG. 18 is schematic diagram of the instrument systems of
the present invention as deployed through the urethra for a
surgical procedure in the bladder;
[0034] FIG. 19 gives further details of the bladder procedures of
FIG. 18; and
[0035] FIG. 20 illustrates still another concept using a single
controllable instrument.
DETAILED DESCRIPTION OF THE INVENTION
[0036] A description of preferred embodiments of the invention
follows.
[0037] FIG. 1 is a perspective view of one embodiment of a robotic
surgical system in which the principles of the present invention
are applied. FIG. 1 illustrates a surgical instrument system 10
that includes a master M at which a surgeon 2 manipulates an input
device, and a slave station S at which is disposed a surgical
instrument. 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. The forearms of the
surgeon are typically resting upon armrests 5.
[0038] FIG. 1 illustrates a master assembly 7 associated with the
master station M and a slave assembly 8 associated with the slave
station S. Assembly 8 may also be referred to as a drive unit.
Assemblies 7 and 8 are interconnected by means of cabling 6 with a
controller 9. As illustrated in FIG. 1, controller 9 typically has
associated therewith one or more displays and a keyboard. Reference
is also made to, for example, the aforementioned U.S. Ser. No.
10/014,143, for further detailed descriptions of the robotic and
computer controller operation and associated operating
algorithm.
[0039] As noted in FIG. 1, the drive unit 8 is remote 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, part of the controller 9. The master station M may also be
referred to as a user interface vis--vis the controller 9. Commands
issued at the user interface are translated by the computer into an
electronically driven motion in the drive unit 8. The surgical
instrument, which is tethered to the drive unit through the cabling
connections, produces the desired replicated motion. FIG. 1, of
course, also illustrates an operating table T upon which the
patient P is placed.
[0040] FIG. 1 illustrates both a flexible system and a rigid
system. Only one drive unit is depicted it being understood that
there is also a drive unit associated with the rigid instrument
system such as shown in FIG. 4. Each of the drive units is
controlled from cabling that couples from the controller. This is
electrical cabling that drives corresponding motors in each drive
unit.
[0041] Thus, the controller couples between the master station M
and the slave station S and is operated in accordance with a
computer algorithm. The controller receives a command from the
input device 3 and controls the movement of the surgical instrument
so as to replicate the input manipulation. The controller may also
receive commands from the master station for controlling instrument
interchange.
[0042] With further reference to FIG. 1, associated with the
patient P is the surgical instrument 14, which in the illustrated
embodiment actually comprises two separate instruments one rigid
and one flexible, along with an endoscope E. The endoscope includes
a camera to remotely view the operative site. The camera may be
mounted on the distal end of the instrument insert, or may be
positioned away from the site to provide 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 rigid surgical instrument. In this regard, in FIG. 1 three
separate ingress locations are shown, two for accommodating the
rigid surgical instrument and the endoscope, and the third
accommodates the flexible instrument through a natural body
orifice. A drape is also shown.
[0043] The viewing endoscope may also be formed integral with the
instrument whether it be a rigid instrument or a flexible
instrument. The optics and camera may be mounted directly on the
distal part of the instrument such as at or adjacent the end
effector. In particular, with respect to a flexible instrument the
optics and camera may be supported at the distal end of the
instrument.
[0044] In FIG. 1, as indicated previously two separate instruments
are depicted, a rigid instrument system 14 and a flexible
instrument system 500. In the rigid instrument system there is an
instrument insert that carries at its distal end an end effector
18A entering the anatomy through a small incision. This may be for
the purpose of providing access to the area about the bowel or
bladder, for example. In the flexible instrument system there is a
flexible and bendable instrument section terminating at the end
effector 500A, and entering the anatomy, for example, through a
natural body orifice such as through the anus in the case of a
bowel procedure.
[0045] An end effector is usually associated with each of the
instrument systems. In FIG. 1 this is illustrated by the end
effectors 18A and 500A. These can take on a variety of different
form such as scissors, graspers or needle drivers. Both of the
medical instrument members comprise active work elements at
respective member working ends and are usually disposed at opposite
sides of an anatomic wall. By "active", reference is made to end
effectors that are useable in performing a surgical procedure or
application and that are capable of being manipulated from a master
station such as from a surgeon controlled input device.
[0046] The instrument system 14 is generally comprised of two basic
components, including a surgical adaptor or guide 15 and an
instrument insert 16. FIG. 1 illustrates the surgical adaptor 15,
which is comprised primarily of the guide tube 24, but also
includes a mechanical interface that interfaces with a
corresponding mechanical interface of the instrument itself. In
FIG. 1 the instrument 14 is not clearly illustrated but extends
through the guide tube 24. The instrument 14 carries at its distal
end the instrument member or insert. The surgical adaptor 15 is
basically a passive mechanical device, driven by the attached cable
array.
[0047] In FIG. 1 there is illustrated cabling that couples from the
instrument 14 to the drive unit. The cabling 22 is preferably
detachable from the drive unit. 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 14 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. Other tool interchanges are also shown
in further drawings herein.
[0048] Referring still to FIG. 1, the surgical system 10 includes a
surgeon's interface 11, computation system or controller 9, drive
unit 8 and the surgical instrument 14. The surgical system 10, as
mentioned previously, is comprised of an adaptor or guide 15 and
the instrument insert 16. The system is used by positioning the
instrument, which is inserted through the surgical adaptor or guide
15. During use, a surgeon may manipulate the input device 3 at the
surgeon's interface 11, to affect desired motion of the distal end
of the instrument 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 guide tube 24, instrument, and, when
an articulating instrument is used, the end effector or tool 18A.
Also, movements at the master station may control instrument
exchange.
[0049] The surgical instrument 14, along with the guide tube 24 is
mounted on a rigid post 19 which is illustrated in FIG. 1 as
removably affixed to the surgical table T. This mounting
arrangement permits the instrument to remain fixed relative to the
patient even if the table is repositioned. As indicated previously,
connecting between the surgical instrument 14 and the drive units
8, are cablings. These include two mechanical cable-in-conduit
bundles. These cable bundles may terminate at two connection
modules, not illustrated in FIG. 1, which removably attach to the
rigid instrument drive unit 8. Although two cable bundles are
described here, it is to be understood that more or fewer cable
bundles may be used. Also, the drive unit 8 is preferably located
outside the sterile field, although it may be draped with a sterile
barrier so that it may be operated within the sterile field.
[0050] In the preferred technique for setting up the system, and
with reference to FIG. 1, the surgical instrument 14 is inserted
into the patient through an incision or opening. The instrument 14
is then mounted to the rigid post 19 using a mounting bracket. The
cable bundle or bundles are then passed away from the operative
area to the drive unit. The connection modules of the cable bundles
are then engaged into the drive unit. The separate instrument
members of instrument 14 are then selectively passed through the
guide tube 24. This action is in accordance with the
interchangeable instrument concepts also described herein.
[0051] The instrument 14 is controlled by the input device 3, which
is be 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 are illustrated and two corresponding
instruments. These input devices are usually for left and right
hand control by the surgeon. Many other forms of input device
control may also be used. For example, instead of finger graspers a
joystick arrangement may be used.
[0052] The surgeon's interface 11 is in electrical communication
with the controller 9. This electrical control is primarily by way
of the cabling 6 illustrated in FIG. 1 coupling from the bottom of
the master assembly 7. Cabling 6 also couples from the controller 9
to the actuation or drive units. This cabling 6 is electrical
cabling. Each of the actuation or drive units, however, is in
mechanical communication with the corresponding instrument. 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 provides a number of independent motions, or
degrees-of-freedom, when an articulating type instrument such as a
tool, gripper, etc. is used. These degrees-of-freedom are provided
by both the guide tube 24 and the instrument insert.
[0053] FIG. 1 shows primarily the overall surgical system. FIGS.
15-17 show further details particularly of the interchangeable
instrument concepts as applied to this system. The rigid instrument
part of the system is adapted to provide seven degrees-of-freedom
when an articulating tool is used such as the tool 18A shown in
FIG. 1. Three of the degrees-of-freedom are provided by motions of
the adaptor 15, while four degrees-of-freedom may be provided by
motions of the instrument. As will be described in detail later,
the adaptor is remotely controllable so that it pivots, translates
linearly, and has its guide tube rotate. The instrument insert also
rotates (via rotation of the instrument driver), pivots at its
wrist, and has two jaw motions at the tool.
[0054] Now, mention has been made of bowel and bladder procedures
illustrated schematically in FIG. 2. This shows the two separately
controlled instruments including rigid instrument system 14 that
may be engaged laparoscopically through a small incision, and
flexible instrument system 500 that may be engaged through the anus
in the case of a bowel procedure or the urethra in the case of a
bladder procedure. FIG. 2 also shows the respective end effectors
18A and 500A. These end effectors are shown positioned on either
side of an anatomic wall W shown schematically in dotted outline in
FIG. 2.
[0055] Refer now also to FIG. 3 for an illustration of further
details showing the end effectors 18A and 500A positioned to
perform a suturing step with a needle 19A being grasped by the end
effector 18A. The rigid instrument has been passed through a small
incision and is positioned outside the vessel wall 20A. The
flexible instrument with end effector 500A is positioned within the
lumen 20C between walls 20A and 20B. The end effector 500A is shown
grasping a tissue at the wall, assisting in the suturing step. In
FIG. 3 both of the instruments include at their distal ends,
proximal of the end effectors, bendable sections 18B and 500B. Each
of these bendable sections or segments is remotely controllable
from the master input devices, allowing additional degrees of
freedom of motion of the respective end effectors. The end
effectors of both instruments are preferably also remotely
computer-controlled from a master station input device or devices.
Also, illustrated is a viewing endoscope VE directed at the
operative site where the end effectors are acting.
[0056] Reference is now made to FIG. 3A showing a next step in the
suturing procedure. The needle 19A has now passed through the
vessel wall 20A. The suture 19B is attached to the end of the
needle 19A, as illustrated. In FIG. 3A there is illustrated a
viewing endoscope 19C that is attached to the instrument 18 just
proximal of the end effector 18A.
[0057] In FIG. 3B the needle 19A is shown in the next step with the
suture 19B having passed through the anatomic wall 20A. In this
arrangement the viewing endoscope 19C is shown secured to the chest
wall 19E. There may be provided a clamp 19D, or the like for
holding the viewing endoscope in place and in a good viewing
location for the surgical procedure that is being performed. In
both FIGS. 3A and 3B the instrument system 500 is within the lumen
20C, while the instrument system 14 is outside the lumen 20C. The
instrument systems 500 within the lumen are usually of the flexible
type so as to be able to maneuver through an anatomic body part.
The instrument system outside the lumen is illustrated as being of
the rigid type but could also be of the flexible type.
[0058] FIG. 3C shows the use of another dual instrument system that
is adapted for intralumenal/extralumenal positioning. This
particular arrangement is for sewing between two separate vessels
V1 and V2. This procedure may be used in a variety of different
types of operations in which it is desirable to secure together two
vessels or lumens, end-to-end. For this purpose there are provided
two instrument systems, both of which are preferably robotically
controlled from a master station input device. The control of the
two systems may be under direct surgeon control such as from an
input device manipulated by the surgeon, or, alternatively the
systems may be automatically controlled so that once a sequence is
initiated the ensuing steps are performed automatically. For
example in a sewing procedure it may be desirable to position the
instrument systems and, once positioned, it may be desirable to
initiate a sequence of suturing steps or stitches so that the
suturing occurs essentially automatically, with little or no
surgeon intervention except for safety concerns.
[0059] Now, in FIG. 3C there is illustrated a dual instrument
system that includes an internally disposed system 150, and an
externally disposed system 160. The system 150 is usually of the
flexible type as the instrument shaft has to negotiate a vessel or
lumen that typically has non-straight portions. The instrument
system 160, on the other hand, may be flexible or rigid, but would
usually be rigid as it would enter the anatomy through an incision
or percutaneously. In FIG. 3C the instrument systems together
define a sewing system including, on the instrument system 150 a
hook end effector 152, and on the instrument system 160 a needle
end effector 162. Together these instrument systems are adapted to
be operated in unison and usually in an automatic manner, although
the sewing steps can also be performed under manual control of the
surgeon from a master station.
[0060] The combination of the instrument systems 150 and 160
provide a sewing technique. The system 150 with its hook end
effector 152 cooperates with the needle end effector 162 supported
by the instrument system 160. This arrangement may be used to
provide a chain stitch. Both of the end effectors are controllable
with multiple degrees of freedom. Thus, if the systems are used
under manual robotic control the hook end effector 152 is moved in
unison with the needle end effector 162 to provide the stitch 164.
The needle end effector 162 is adapted to reciprocate relative to
its presser foot 166. At the beginning of each stitch, the needle
end effector 160 pulls a loop of suture material through the
tissue. The hook end effector 150 moves in synchronism with the
needle end effector 160 and grabs the loop of suture material
before the needle end effector 160 pulls up. The instrument system
proceed about the vessel portions and FIG. 3D shows the final
stitch 164 that attaches the vessels or lumens together,
end-to-end.
[0061] In connection with the systems shown in FIGS. 3C and 3D
these instrument systems may also be controlled automatically and
under computer control. In that case, once the instrument systems
are in place, sensors associated with each instrument system
detects the relative position between them. Then the computer at
the controller that is disposed between master and slave stations,
controls the instrument systems in unison to perform the stitching
action. In other words the computer controls the action of the
needle end effector and hook end effector to perform the stitch
such as a chain stitch.
[0062] In the arrangement shown in FIGS. 3C and 3D the needle end
effector is shown outside the lumen while the hook end effector is
shown inside the lumen. In an alternate embodiment the positions of
the instruments may be interchanged do the hook end effector is
outside the lumen and the needle end effector is inside the lumen.
The positioning between the end effectors can be controlled by
sensing electromagnetic signals associated with sensors associated
with each instrument system. The stitching sequences described can
provide a variety of different stitch patterns. Inversion or
eversion of sewed edges can be provided depending upon the
particular surgical procedure being performed. For example, for
cardiac procedures a slight inversion of the stitch is desired.
[0063] FIG. 3E illustrates a surgical procedure in the stomach
using dual instruments, a flexible instrument passing into the
stomach and either a rigid or flexible instrument outside the
stomach wall. FIG. 3F schematically shows the end of the sewing or
suturing technique at the stomach wall. The flexible instrument
system 160A passes through the esophagus 167 entering initially
through the patient's mouth. The outlet from the stomach is at the
duodenum 168. This flexible instrument system is illustrated as
having an operative segment O controlled by the surgeon in a
telerobotic manner to control bending at that segment for guidance
of the distal end effector 160. An outside instrument system 150 is
also illustrated which may be either a flexible or rigid instrument
system. This is illustrated in FIG. 3E by system 150A carrying the
end effector 150. In FIGS. 3E and 3F the end effectors may be the
same as shown in FIGS. 3C and 3D used in performing a sewing or
suturing operation. The instrument systems are controlled to
perform the sewing or suturing action forming stitches 170 as
illustrated in FIG. 3F. This stitching action closes the hole
169.
[0064] FIGS. 3E and 3D illustrate a surgical procedure on the
stomach 165 particularly at the stomach wall 171. An ulcerated hole
169 is disclosed and it is the purpose of the instrument system
shown to close up this hole by means of a sewing or suturing
technique employing the instrument systems 150A and 160A. The
procedure shown in FIGS. 3E and 3F can be performed manually from
the master station or can be performed automatically under computer
control initiated from the master station. The same or a similar
procedure can also be used for gastric ulcers or for repairing a
bowel wall defect.
[0065] FIG. 3G shows still another technique that can be practiced
with the instrument systems described herein. In FIG. 3G the same
reference characters are used to identify similar components as
previously described in connection with FIGS. 3C and 3D. In this
instance an object is being stitched within the body vessel 174.
The object may be, for example, a stent 173 that is being secure or
re-secured within the vessel walls. For this purpose in FIG. 3G
there is illustrated the instrument systems 150A and 160A. Usually
the instrument system 150A is flexible as it has to conform to the
shape and contour of the inside of the vessel or lumen. The
instrument systems 150A and 160A carry respective end effectors 150
and 160. These may be the same type end effectors described in
connection with FIGS. 3C and 3D. FIG. 3G shows the stitching being
completed at 175 at one end of the stent 173, and further shows the
instrument systems in action at the other end of the stent securing
the other end thereof by means of the illustrated instrument
systems 150A and 160A.
[0066] In FIG. 3G the instrument system 150A may enter the anatomy
through a lumen from a natural body orifice, or percutaneously. The
instrument system 160A may be positioned at the lumen via an
incision at a convenient location proximal to the operative site.
The stitching action may be direct surgeon controlled my
manipulation at a master station or can be under automatic control.
In FIG. 3G the securing may be for a newly placed object or can be
used to repair an existing object. For example, the technique
explained can be used for AAA stent failures.
[0067] Refer now to FIGS. 3H through 3J for an illustration of
another surgical procedure that can be performed using the present
inventive techniques. This example relates to the attachment of one
vessel or lumen 177 to another vessel or lumen 178. This is a
technique that can be used, for example, in performing a cardiac
by-pass. In the illustrated steps the same instrument systems may
be employed as previously discussed in connection with earlier
embodiments that are described herein. This may include both
flexible and rigid systems. Furthermore it is noted in this
particular procedure that more than two instrument systems are
employed. For example, refer to FIG. 31 where three instrument
systems are shown, two positioned within respective lumens and one
positioned outside the lumens.
[0068] FIG. 3H shows the lumen or vessel 178 to which the vessel or
lumen 177 is to be attached. This illustrates the first step in the
procedure of positioning the lumen 177 by means of the instrument
system 180 that is disposed within the lumen 177. The instrument
system 180 may carry a balloon 181 for example, that is inflated to
hold the lumen 177 in place. The instrument system 180 may then be
advanced to position the lumen 177 toward the position illustrated
in FIG. 31. The control of movement of the instrument system 180
may be by means of surgeon control from a master station input
device. In this procedure, as well as other procedures described
herein a viewing endoscope is used to assist in the positioning of
instrument systems.
[0069] FIG. 31 now shows the next step in the procedure of
attaching the tapered end of the vessel 177 to the side wall of the
vessel 178. For this purpose there is provided the previously
described instrument systems 150A and 160A. These instrument
systems are used to sew or suture about the open end of the vessel
177 to attach it to the side wall of the vessel 178. This sewing or
suturing step is performed with the use and control of the end
effectors 150 and 160. In FIG. 31 it is noted that the instrument
system 180 may be kept in place during this step to hold the vessel
or lumen 177 against the vessel or lumen 178 to assure accurate
attachment. At least parts of the procedures may be performed
automatically, particularly the sewing or suturing technique.
[0070] After the step illustrated in FIG. 31 is completed then an
opening is to be cut in the sidewall of lumen 178 to allow fluid
flow between lumens. This is illustrated in FIG. 3J where
additional instrument systems are now employed. One instrument
system 182 may carry a cutting blade to perform the opening of the
sidewall in the lumen 178. In the other lumen 178 there is disposed
the instrument system 183 that carries a balloon 184 that is meant
to hold the sidewall in place as the cutting operation is
performed. For the purpose of illustration only one balloon id
shown in FIG. 3J, however, instead a pair of balloons may be used,
one positioned on either side of the opening so that there is no
interference between the cutting instrument and the supporting
balloons.
[0071] Refer now to another use of the concepts of the invention
illustrated in FIG. 3K.
[0072] This illustrates a surgical procedure that is performed in
the bladder 185. FIG. 3K shows one instrument system 160A passing
through the urethra 188 into the interior of the bladder. This is
the instrument system 160A carrying the needle end effector 160.
FIG. 3K also illustrates the other instrument system 150A carrying
the hooked end effector 150. Both of these instrument systems are
shown in relative proximity to each other and can be used to
perform any one of a number of different procedures. For example,
the instrument systems may be used to close the sphincter at the
base of the ureter tube 186 that couples to the kidney 187.
[0073] FIG. 3L is a further illustration of the use of the
instrument systems of the invention in closing the sphincter
leading into the stomach 190 at the gastro-esophageol juncture.
This is a procedure that is useable to reduce acid reflux that can
occur in some patients. By reducing the size of the port at that
point acids from the stomach are impeded from backing up into the
esophagus. Thus, in FIG. 3L the aforementioned instrument systems
150A and 160A are used to perform a sewing or suturing operation so
as to constrict the sphincter at the area 192 illustrated in FIG.
3L. The instrument system 150A carries the hook end effector 150
while the instrument system 160A carries the needle end effector
160. Both the instrument systems may be operated in the same manner
as described previously in connection with other procedures that
have been described herein.
[0074] FIG. 4 is an exploded perspective view of another version of
the cable drive mechanism and tool. FIG. 5 is a top plan view of
the rigid instrument insert itself. FIG. 4 is an exploded
perspective view of the cable drive mechanism and instrument
illustrating the de-coupling concepts at the slave station S. A
section of the surgical tabletop T which supports the rigid post 19
is shown. The drive unit 8 is supported from the side of the
tabletop by an L-shaped brace 210 that carries an attaching member
212. The brace 210 is suitably secured to the table T. The drive
unit 8 is secured to the attaching member 212 by means of a clamp
214. Similarly, the rigid support rod 19 is secured to the
attaching member 212 by means of another clamping mechanism
216.
[0075] Also in FIG. 4 the instrument 14 is shown detached from (or
not yet attached to) support post 19 at bracket 25. The instrument
14 along with cables 21 and 22 and lightweight housing section 856
provide a relatively small and lightweight decoupleable slave unit
that is readily manually engageable (insertable) into the patient
at the guide tube 24.
[0076] After insertion, the instrument assembly, with attached
cables 21, 22 and housing 856, is attached to the support post 19
by means of the knob 26 engaging a threaded hole in base 452 of
adapter 15. At the other end of the support post 19, bracket 216
has a knob 213 that is tightened when the support rod 19 is in the
desired position. The support rod 19, at its vertical arm 19A,
essentially moves up and down through the clamp 216. Similarly, the
mounting bracket 25 can move along the horizontal arm 19B of the
support rod to be secured at different positions therealong. A
further clamp 214 supports and enables the drive unit 8 to be moved
to different positions along the attaching member 212. FIG. 4 also
shows the coupler 230 which is pivotally coupled from base piece
234 by means of the pivot pin 232. The coupler 230 is for engaging
with and supporting the proximal end of the instrument insert
16.
[0077] The first housing section 855 also carries oppositely
disposed thumb screws 875 (see FIG. 4). These may be threaded
through flanges 876. When loosened, these set screws enable the
second housing section 856 to engage with the first housing section
855. For this purpose, there is provided a slot 878 illustrated in
FIG. 4. Once the second housing section 856 is engaged with the
first housing section 855, then the thumb screws 875 may be
tightened to hold the two housing sections together, at the same
time facilitating engagement between the coupler disks 862 and the
coupler spindles 860.
[0078] As illustrated in FIG. 4, the two housing sections 855 and
856 are separable from each other so that the relatively compact
slave unit can be engaged and disengaged from the motor array,
particularly from the first housing section 855 that contains the
motors 800. The first housing section 855, as described previously,
contains the motors 800 and their corresponding coupler disks 862.
In FIG. 4, the second housing section 856 primarily accommodates
and supports the coupler spindles 860 and the cabling extending
from each of the spindles to the cable bundles 21 and 22 depicted
in FIG. 4.
[0079] FIG. 4 also shows details of the adaptor including the
carriage 226 supported on rails 224. The carriage 226 holds the
base piece 234 that, in turn, supports the instrument insert. The
coupler 230 of the adaptor provides mechanical drive to the
instrument insert. The carriage and rails are pivoted at 225 to
provide one degree of freedom, while the in and out motion of the
carriage provides another degree of freedom to the instrument.
[0080] As shown in FIG. 5, each wheel of the instrument coupler 300
has two cables 376 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 (e.g., capstan 34), which routes the
cables toward the center of the instrument stem 301. It is
desirable to maintain the cables near the center of the instrument
stem. The closer the cables are to the central axis of the stem,
the less disturbance motion on the cables when the insert stem is
rotated. The cables may then be routed through fixed-length plastic
tubes that are affixed to the proximal end of the stem section 301
and the distal end of the stem section 302. The tubes maintain
constant length pathways for the cables as they move within the
instrument stem.
[0081] The instrument coupler 300 is also provided with a
registration slot 350 at its distal end. The slot 350 engages with
a registration pin 352 supported between the bars 270 and 272 of
base piece 234. The coupler 300 is also provided with a clamping
slot 355 on its proximal end for accommodating the threaded portion
of the clamping knob 327 (on adapter coupler 230). The knob 327
affirmatively engages and interconnects the couplers 230 and
300.
[0082] In operation, once the surgeon has selected a particular
instrument insert 16, it is inserted into the adapter 15. The
proximal stem 301, having the distal stem 302 and the tool 18 at
the distal end, extend through the adapter guide tube 24. FIG. 4
shows the tool 18 extending out of the guide tube 24 when the
surgical instrument 16 is fully inserted into the adaptor 15. When
it is fully inserted, the tab 281 on the axial wheel 306 engages
with the mating detent 280 in pulley 279. Also, the registration
slot 350 engages with the registration pin 352. Then the coupler
230 is pivoted over the base 300 of the instrument insert 16. As
this pivoting occurs, the respective wheels of the coupler 230 and
the coupler 300 interengage so that drive can occur from the
coupler 230 to the insert 16. The knob 327 is secured down so that
the two couplers 230 and 300 remain in fixed relative
positions.
[0083] FIG. 6 is a perspective view of one embodiment of the
flexible instrument system 500 illustrated in FIG. 1. FIG. 7 is an
enlarged detailed perspective view of the end effector that may be
used with the flexible instrument system. FIG. 1 depicts flexible
instrument system 500 supported from support bracket 502, which
extends to the operating table. Usually the support bracket is
supported from the side of the operating table and may be
adjustable in position relative to the operating table, to dispose
system 500 in a convenient position over or relative to the
patient. In one embodiment, bracket 502 is secured to the operating
table at one end. The other end of bracket 502 supports the entire
flexible instrument by means of a two-piece structure similar to
that described in copending U.S. Provisional Applications Ser. No.
60/279,087 filed Mar. 27, 2001 the entire teachings of which are
concorporated herein by reference. A knob may be provided on
support base 504, not shown in FIG. 1. Once the support base 504 is
fixed to the support bracket 502, then the flexible instrument
system is maintained in a fixed position at base 504, providing a
stable and steady structure during the medical procedure. Like the
rigid system in FIG. 1, system 500 can be positioned at an acute
angle with respect to the operating table or can be arranged at
other convenient positions depending upon the surgical procedure
being performed.
[0084] Flexible instrument system 500 illustrated in FIG. 6
comprises flexible instrument 510 having a shaft 528 extending to
mechanically drivable mechanism 526, which interlocks with base (or
receiver) 506. Base 506 is supported on carriage 508. Carriage 508,
in turn, is adapted for linear translation and supported by
elongated rails 512 and 514. Rails 512 and 514 terminate at one end
via end piece 516 which provides further support. Support base 504
terminates rails 512 and 514 at their other end. Carriage 508
includes bearings or bushings 509 that support the carriage from
rails 512 and 514.
[0085] Flexible instrument system 500 employs two separate cable
bundles for mechanically driving the flexible instrument along
rails 512 and 514. Pulley 521 (dotted outline), residing within
carriage control module 520, receives a first pair of cables 518.
Pulley 521 also receives a second set of cables, which runs through
carriage 508 to a further pulley 522 supported by end piece 516.
The second set of cables controls the translational motion of
carriage 508 and terminates at point 519.
[0086] FIG. 6 also shows a set of cables 524 for driving control
elements, e.g. pulleys within receiver 506. These control elements
move the shaft and the tool in several degrees-of-freedom. Arrow J1
indicates the linear translation via module 520. Rotational arrow
J2 indicates rotation of flexible shaft 528 of flexible instrument
510 about the inner axis parallel with the shaft length. Arrow J3
represents the flexing or bending of flexible shaft 528 at
controlled flexible segment 530. In this embodiment, flexible
segment 530 is positioned directly adjacent tool 534 at the distal
end of shaft 528. Arrow J4 represents the pivot action of a wrist
joint, which links tool 534 to shaft 528, about axis 532. In this
embodiment, tool 534 is exemplified as a grasper, and arrows J5 and
J6 represent the opening and closing actions of the tool jaws.
Motions indicated by arrows J2-J6 are controlled from cabling 524
originating at receiver 506.
[0087] FIG. 7 provides an enlarged perspective view of the distal
end of shaft 528 including flexible segment 530 and tool 534. The
segment 530 corresponds to the section 500B illustrated in FIG. 3,
while the end effector 534 corresponds to the end effector 500A
illustrated in FIG. 3. Tool 534 comprises upper grip or jaw 602 and
lower grip or jaw 603, both supported from link 601. Base 600 is
affixed to or integral with flexible shaft 528. Link 601 is
rotatably connected to base 600 about axis 532. A pivot pin may be
provided for this connection. Upper and lower jaws 602 and 603 are
rotatably connected to link 601 about axis 536 and again, a pivot
pin can provide this connection.
[0088] FIG. 7 shows eight cables at 538 extending through the
hollow inside of shaft 528 for control of tool 534 and flexible
segment 530. Two of these cables operate the bend of flexible
segment 530, two cables operate one of the jaws 602, two cables
operate the other of the jaws 603 and the last two cables operate
the wrist action about the axis 532. All of these cables travel
through the hollow shaft 528 and through appropriate holes in
flexible segment 530 e.g. wire 525, as well as holes in base 600.
Each of these pairs of cables operates in concert to open and close
jaws, pivot about the wrist, and bend flexible segment 530.
[0089] One pair of cables travels through shaft 528 and through
appropriate holes in the base 600, wrapping around a curved surface
of the link 601 and then attaching to the link. Tension on this
pair of cables rotates the link 601 along with the upper and lower
grips or jaws 602 and 603 about axis 532.
[0090] Two other pairs of cables also extend through the shaft 528
and through holes in the base and then pass between fixed posts
612. These posts constrain the cables to pass substantially through
axis 532, which defines rotation of link 601. This construction
essentially allows free rotation of link 601 with minimal length
changes in the cables passing to jaws 602 and 603. Thus, the cables
actuating jaws 602 and 603 are essentially decoupled from the
motion of link 601 and are not effected by any rotation of link
601. Cables controlling jaw movement terminate on jaws 602 and 603.
These cables permit independent operation of the jaws 602 and 603
in respective clockwise and counter clockwise directions with
respect to axis 536. A similar set of cables is present on the
under-side of the link 601 (not shown). Each of the jaws 602 and
603, as well as the link 601, may be constructed of metal.
Alternatively, link 601 may be constructed of a hard plastic
material. Base 600 may also be constructed of a plastic material
and may be integral with shaft 528.
[0091] Bending of flexible segment 530 is provided via
diametrically disposed slots 662, which define spaced ribs 664.
Flexible segment 530 also has a longitudinally extending wall 665
through which cabling may extend, particularly for the operation of
the tool. One of the pairs of cables of bundle 538 controlling
flexible segment 530 terminates where base 600 intercouples with
shaft 528. This pair of cables works in concert to cause bending as
indicated by arrow J3, i.e. in a direction orthogonal to the
pivoting provided at wrist axis 532. The flexible segment 530 may
also be provided with additional degrees of freedom by controlling
bending in two axes, direction J3 that is illustrated and a
direction orthogonal thereto.
[0092] FIGS. 8, 9 and 10 show different embodiments that can be
used with either instrument but that are illustrated, in
particular, for the rigid instrument system. FIG. 8 illustrates the
construction of one form of a tool. FIG. 8 is a perspective view.
The tool 18 is comprised of four members including a base 600, link
601, upper grip or jaw 602 and lower grip or jaw 603. The base 600
is affixed to the flexible stem section 302 (see FIG. 5). The
flexible stem may be constructed of a ribbed plastic. This flexible
section is used so that the instrument will readily bend through
the curved part of the guide tube 24.
[0093] The link 601 is rotatably connected to the base 600 about
axis 604. FIG. 8 illustrates a pivot pin 620 at axis 604. The upper
and lower jaws 602 and 603 are rotatably connected by pivot pin 624
to the link 601 about axis 605, where axis 605 is essentially
perpendicular to axis 604.
[0094] Six cables 606-611 actuate the four members 600-603 of the
tool. Cable 606 travels through the insert stem (section 302) and
through a hole in the base 600, wraps around curved surface 626 on
link 601, and then attaches on link 601 at 630. Tension on cable
606 rotates the link 601, and attached upper and lower grips 602
and 603, about axis 604. Cable 607 provides the opposing action to
cable 606, and goes through the same routing pathway, but on the
opposite sides of the insert. Cable 607 may also attach to link 601
generally at 630.
[0095] Cables 608 and 610 also travel through the stem 301, 302 and
though holes in the base 600. The cables 608 and 610 then pass
between two fixed posts 612. These posts constrain the cables to
pass substantially through the axis 604, which defines rotation of
the link 601. This construction essentially allows free rotation of
the link 601 with minimal length changes in cables 608-611. In
other words, the cables 608-611, which actuate the jaws 602 and
603, are essentially decoupled from the motion of link 601. Cables
608 and 610 pass over rounded sections and terminate on jaws 602
and 603, respectively. Tension on cables 608 and 610 rotate jaws
602 and 603 counter-clockwise about axis 605. Finally, as shown in
FIG. 8, the cables 609 and 611 pass through the same routing
pathway as cables 608 and 610, but on the opposite side of the
instrument. These cables 609 and 611 provide the clockwise motion
to jaws 602 and 603, respectively. At the jaws 602 and 603, as
depicted in FIG. 8, the ends of cables 608-611 may be secured at
635, for example by the use of an adhesive such as epoxy glue, or
the cables could be crimped to the jaws.
[0096] Reference is now made to FIG. 9. FIG. 9 is a side elevation
view of a needle driver version of end effector. This embodiment
employs an over-center camming arrangement so that the jaw is not
only closed, but is done so at a forced closure.
[0097] In FIG. 9, similar reference characters are employed with
respect to the embodiment of FIG.8. Thus, there is provided a base
600, a link 601, an upper jaw 650 and a lower jaw 652. The base 600
is affixed to the flexible stem section 302. Cabling 608-611
operate the end jaws. Linkages 654 and 656 provide the over-center
camming operation. The two embodiments of FIGS. 8 and 9 employ a
fixed wrist pivot. An alternate construction is illustrated in FIG.
10 in which there is provided, in place of a wrist pivot, a
flexible or bending section. This type of bendable section may be
used with either flexible or rigid instrument systems.
[0098] FIG. 10 is a perspective view of an embodiment of a flexible
or bendable wrist just proximal to the tool. FIG. 10 illustrates
the manner in which the previously disclosed tools may be used with
a flexible or bendable segment of the instrument shaft, whether
used with a rigid shaft body or a flexible shaft body or
combinations thereof. One of the advantages is that only a single
cable needs to be coupled to the tool for actuation thereof. The
pitch and yaw of the tool is controlled at the flexible section 100
shown in FIG. 10. This arrangement also lends itself to making the
tool disposable or at the very least detachable from the instrument
body such as for substitution of another tool. Because the
construction becomes more simplified at the tip of the instrument,
it makes it possible to construct a tool that is readily detachable
from the instrument.
[0099] In FIG. 10 there is disclosed one embodiment of a tool,
illustrated in conjunction with a flexible shaft or tube having a
remotely controllable bending or flexing section 100. The medical
instrument may comprise an elongated shaft, such as shaft section
110, having proximal and distal ends; and a tool, such as graspers
102 and 104, supported from the distal end of the elongated shaft
and useable in performing a medical procedure on a subject. The
tool is actuated preferably by a single tendon or cable that
extends through the flexible section 100. In order to provide the
pitch and yaw action at the tool, the bending or flexing section
100 is constructed so as to have orthogonal bending by using four
cables separated at 90.degree. intervals and by using a center
support with ribs and slots about the entire periphery. Refer to
the ribs 112 that define corresponding slots 114. The ribs define
at each of their centers a center support passage 118 that has
extending therethrough the cable 136. The bending section 100 is at
the end of tube section 110. The section 110 may be flexible
itself, may be smooth as shown, or may be fluted.
[0100] The bending section 100 has alternating ridges 120 to
provide universal bending. This version enables bending in
orthogonal directions by means of four cables 106, 107, 116 and
117. The operation of cables 106 and 107 provides flexing in one
degree-of-freedom while an added orthogonal degree-of-freedom is
provided by operation of cables 116 and 117. Each of the cables
106, 107, 116, and 117 have at their terminating ends respective
balls 106A, 107A, 116A, and 117A that may be held in corresponding
recesses in a distal end wall 119 of the flexible section 100.
[0101] The bending section 100, as indicated previously, includes a
series of spaced ribs 112 disposed, in parallel, with the plane of
each rib extending orthogonal to the longitudinal axis of the
section 100. At the proximal end of the bendable section an end rib
connects to the shaft section 110, while at the distal end there is
provided the distal end wall 119 that supports the ends of the
cables. Each of the ribs 112 are held in spaced relationship by
means of the alternating ridges 120. As depicted in FIG. 10 these
ribs are identified as horizontal ribs 120A, alternating with
vertical ribs 120B. This structure has been found to provide
excellent support at the center passage for the actuating cable
136, while also providing enhanced flexibility in orthogonal
directions of bending or flexing.
[0102] The grippers 102 and 104 are supported for opening and
closing by means of a pivot pin 135 that extends along a pivot
axis. These grippers may be supported in link 140. Refer to the
exploded perspective view of FIG. 10 showing the pin 135, and
grippers 102 and 104. The pin 135 may be supported at its ends in
opposite sides of link 140.
[0103] Reference is now made to FIGS. 11-14 for an illustration of
different end effector devices that can be used with the instrument
systems described herein. FIG. 11 shows a clip applier 410. FIG. 12
shows a cutting jaw 420. FIG. 13 shows a device 430 for applying a
solution or agent to an operative site. FIG. 14 shows a syringe
type device 440 useable as an end effector.
[0104] The surgical robotic system, as illustrated in FIGS. 15-17,
although preferably used to perform minimally invasive surgery, may
also be used to perform other procedures as well, such as open or
endoscopic surgical procedure. FIG. 15 is a perspective view at the
slave station of the system of FIG. 1 illustrating the
interchangeable instrument concepts as applied in a dual instrument
system. FIG. 16 is a cross-sectional view through the storage
chamber and as taken along line 16-16 of FIG. 15. FIG. 17 is a
longitudinal cross-sectional view, as taken along line 17-17 of
FIG. 15, and showing both a stored articulating instrument and a
stored fluid dispensing.
[0105] Reference is now made to FIG. 15 which is a perspective view
illustrating the instrument 14 and the adaptor 15 at the slave
station S. This instrument system is secured in the manner
illustrated in FIG. 1 to the rigid post 502 that supports the
surgical instrument by way of a mounting bracket. FIG. 15 also
shows several cables that may be separated into five sets for
controlling different motions and actions at the slave station.
These are individual cables of the aforementioned bundles 21 and 22
referred to in FIG. 4. FIG. 15 also illustrates the support yoke
220 that is secured to the mounting bracket 31, the pivot piece
222, and support rails 224 for the carriage 226. The rails are
supported in end pieces 241 and 262 with the end piece 241 attached
to the pivot piece 222. The pivot piece 222 pivots relative to the
support yoke 220 about pivot pin 225. A base piece 234 is supported
under the carriage 226 by means of the support post 228. The
support post 228 in essence supports the entire instrument
assembly, including the adaptor 15 and the instrument 14.
[0106] As indicated previously, the support yoke 220 is supported
in a fixed position from the mounting bracket 31. The support yoke
220 may be considered as having an upper leg 236 and a lower leg
238. In the opening 239 between these legs 236 and 238 is arranged
the pivot piece 222. Cabling extends into the support yoke 220.
This is illustrated in FIG. 15 by the cable set 501. Associated
with the pivot piece 222 and the carriage 226 are pulleys (not
shown) that receive the cabling for control of two
degrees-of-freedom. This control from the cable set 501 includes
pivoting of the entire instrument assembly about the pivot pin 225.
This action pivots the guide tube 24 essentially in a single plane.
This pivoting is preferably about an incision of the patient which
is placed directly under, and in line with, the pivot pin 225.
Other cables of set 501 control the carriage 226 in a linear path
in the direction of the arrow 227. See also the cables 229
extending between the carriage 226 and the end pieces 241 and 262.
The carriage moves the instrument and guide tube 24 back and forth
in the direction of the operative site OS. Incidentally, in FIG. 15
the instrument is in its fully advanced state with the tool at the
operative site OS.
[0107] The base piece 234 is the main support for the
interchangeable instrument apparatus of the invention. The base
piece 234 supports the guide tube 24, the instrument storage
chamber 540, and the instrument driver 550. The instrument driver
550 is supported from another carriage, depicted in FIGS. 15 and 17
as the carriage 552, and that, in turn, is supported for
translation on the carriage rails 554. The rails 554 are supported
at opposite ends at end pieces 556 and 558, in a manner similar to
the support for the other carriage 226. A support post 560
interconnects the carriage 552 with the instrument driver housing
570.
[0108] With further reference to FIG. 15, and as mentioned
previously, there are a number of cable sets from bundles 21 and 22
coupled to and for controlling certain actions of the instrument
system. Mention has been made of the cable set 501 for controlling
instrument pivoting and translation, as previously explained. In
addition, FIG. 15 depicts four other cable sets 503, 505, 507, and
509. Cable set 503 controls rotation of the guide tube 24. Cable
set 505 controls the carriage 552, and, in turn, the extending and
retracting of the instrument driver for instrument exchange. Cable
set 507 controls rotation of the instrument through rotation of the
instrument driver. Finally, cable set 509 controls the tool via the
instrument driver and instrument. There is also one other set of
control cables not specifically illustrated in FIG. 15 that
controls the indexing motor 565, to be discussed in further detail
later.
[0109] FIG. 17 shows a cross-sectional view through the
interchangeable instrument portion of the overall instrument
system. This clearly illustrates the internal cable and pulley
arrangement for the various motion controls. There is a pulley 301
driven from the cable set 503 that controls rotation of the guide
tube 24. There is also a pulley 303 driven from cable set 505,
along with a companion pulley 305 that provides control for the
carriage 552. FIG. 17 also illustrates another pulley 307 driven
from cable set 507, and for controlling the rotation of the
instrument driver 550, and, in turn, the selected instrument.
[0110] FIG. 17 illustrates the guide tube 24 supported from the
base piece 234. The guide tube 24 is hollow, has a curved distal
end as illustrated in FIG. 15, and is adapted to receive the
individual instruments or work sections 541 (articulating) or 590
(fluid-filled) disposed in the instrument storage chamber 540, as
well as the instrument driver 550. Refer to FIG. 17 for an
illustration of the instrument and instrument driver positioned in
the guide tube 24. FIG. 17 shows the instrument driver 550 in its
rest or disengaged position. The proximal end 24A of the guide tube
24 is supported in the base piece 234 by means of a pair of
bearings 235 so that the guide tube 24 is free to rotate in the
base piece 234. This rotation is controlled from the pulley 237
which is secured to the outer surface of the guide tube 24 by means
of a set screw 231. The pulley 237 is controlled to rotate by means
of the cabling 310 that intercouples the pulleys 301 and 237 and
that is an extension of the cabling 503. Thus, by means of the
cable and pulley arrangement, and by means of the rotational
support of the guide tube 24, the rotational position of the guide
tube 24 is controlled from cable set 503. Of course, this
controlled rotation is effected from the master station via the
controller 9, as depicted in the system view of FIG. 1, and as a
function of the movements made by the surgeon at the user interface
15.
[0111] As indicated before the proximal end 24A of the guide tube
24 is supported from the base piece 234. The distal end of the
guide tube 24, which is adapted to extend through the patient
incision, is disposed at the operative site OS illustrated about
the instrument member 20 in FIG. 15, and where a medical or
surgical procedure is to be performed. In the system shown in FIG.
15 the distal end of the guide tube 24 is curved at 24B. In this
way by rotating the guide tube 24 about its longitudinal axis there
is provided a further degree-of-freedom so as to place the distal
end of the instrument at any position in three-dimensional space.
The rotation of the guide tube 24 enables an orbiting of the
instrument end about the axis of the guide tube 24. The guide tube
24 is preferably rigid and constructed of a metal such as
aluminum.
[0112] FIG. 17 also illustrates a cross-section of the instrument
storage chamber 540 including the storage magazine 549, and showing
two of the six instrument passages 542 in the storage magazine 549.
The instrument storage chamber may also be referred to herein as an
instrument retainer. In FIG. 17 one of the fluid retaining
instruments 590 is about to be engaged by the instrument driver
550. The other articulating type instrument 541 is in place
(storage or rest position) in the instrument storage chamber 540,
and out of the path of the instrument driver 550. The instrument
541 carries a gripper tool, but other instruments may also be
carried such as a scissors. Because these instruments are adapted
to pass to the guide tube 24 and be positioned at the distal end
24B thereof, the body 548 of each instrument is flexible so as to
be able to curve with the curvature of the guide tube 24.
[0113] Although reference is made herein to the separate instrument
and instrument driver, such as illustrated in FIG. 17, once they
are engaged they function as a single piece instrument member.
Accordingly reference is also made herein to the instrument driver
550 as a "driver section" of the overall one piece instrument
member, and the instrument 541 or 590 as a "working section" of the
instrument member. The instrument member has also been previously
discussed as having a "coupling section" or "interface section",
which is defined between the working section and the driver section
where the cables interlock by means of an engaging hook
arrangement. This is shown in FIG. 17 at 559.
[0114] The carriage 552 illustrated in FIG. 17 is moved linearly by
the cables 555 that extend between pulleys 303 and 305. These
cables attach to the carriage 552. The carriage movement is
controlled from cable set 505. It is the movement of the carriage
552 that drives the instrument driver (driver section) 550. The
instrument driver 550, in its rest or disengaged position, is
supported between the instrument driver housing 570 and the wall
562 that is used for support of the instrument storage chamber 540.
The instrument magazine 549 is rotationally supported by means of
the axle or shaft 547, with the use of bushings or bearings, not
shown. This support is between walls 562 and 563.
[0115] FIG. 17 shows the very distal end 525 of the instrument
driver (transporter) 550 supported at wall 562. In the rest
position of the instrument driver 550 the driver is out of
engagement with the instruments and the magazine 549, thus
permitting rotation of the instrument storage chamber 540. The
proximal end 526 of the instrument driver 550 is supported at the
instrument driver housing 570. It may be rotationally supported by
means of a bushing 527. The instrument driver 550 is supported for
rotation, but rotation is only enabled once the driver has engaged
the instrument and preferably is at the operative site. The
rotation of the instrument driver 550 is controlled from cable set
507 by way of the pulley 307.
[0116] In FIG. 15 the cable set 509 is illustrated as controlling
the instrument motions including tool actuation. These cables
control a series of pulleys shown in FIG. 17 as pulleys 529. As
indicted in FIG. 17 these pulleys control cabling that extends
through the instrument driver and the instrument for control of
instrument and tool motions when articulating type tools are
selected. The cables that are controlled from these pulleys may
control three degrees-of-freedom of the instrument, including
pivoting at the wrist and two for gripper action. The same
engagement arrangement can be used in this second embodiment of the
invention including the mating hook arrangement, interlocked at
interface 559 when the instrument driver and instrument are
engaged.
[0117] In one version of the invention a rotating member may be
used for control of actuating rods. In the illustrated embodiment
of the invention a different arrangement is used that includes a
lead screw type of mechanism. This mechanism 591 is illustrated in
FIG. 17 next to the pulleys 529. This mechanism includes a drive
nut 593 having an internal threaded passage for receiving the
actuating rod 592. The actuating rod 592 also has a threaded outer
surface and further includes an elongated slot or keyway 594. An
anti-rotation key 595 is fixed in position and is adapted to be
received in the keyway 594. This engagement between the key 595 and
the actuating rod 592, prevents rotation of the actuating rod 592.
However, the threaded engagement between the drive nut 593 and the
outer threads of the actuating rod 592 enable linear (screw
advance) translation of the actuating rod 592. This linear
translation of the actuating rod initiates dispensing from the
fluid-filled instrument by actuating the instrument member
piston.
[0118] The drive nut 593 is journaled to the housing 570, but is
free to rotate relative to the housing. A bearing 596 is provided
to enable rotation of the drive nut 593 relative to the housing
570. The cable set 511 couples about the drive nut 593 to cause
rotation thereof. Because the key 595 is fixed in position, then
the actuating rod 592 can only move linearly in the direction of
the arrow 597. The linear translation of the actuating rod 592 is
transferred, via the driver 550, to the actuating rod of the
instrument member. This action is, in turn, transferred to the
dispensing piston of the syringe member 590. For further details
refer to the pending applications referred to before and
incorporated by reference herein.
[0119] FIG. 17 shows one fluid-filled instrument 590. The cable
control via the cable set 511 can provide precise movement of the
actuating rod 592 so that all or any portion of the liquid in the
dispensing member can be ejected at the appropriate body site. If
less than all the liquid is ejected then the instrument can be
returned to the storage magazine in readiness for a subsequent use.
By keeping track of the degrees of rotation of the drive nut 593,
one can ascertain how much of the liquid has been dispensed and how
much remains in the syringe member.
[0120] FIG. 18 is schematic diagram of the catheter system of the
present invention as deployed through the urethra for a surgical
procedure in the bladder. FIG. 18 provides a schematic
cross-sectional diagram illustrating a surgical procedure where
catheter K1 enters a natural body orifice, such as the urethra for
carrying out procedures in, for example, the bladder. In FIG. 18
catheter K1 is shown extending into bladder B1. In this example,
the computer controlled segment, identified as operative, bendable
or flexible segment O in FIG. 18, is positioned at a more proximal
section of catheter K1. Bladder B1, being an open cavity, does not
have lumens leading from the urethra that would naturally guide a
catheter towards any particular operative site. Upon entering
bladder B1, catheter K1 can bend in any direction including the
direction of the operative site. In this embodiment, because of the
more proximal positioning of operative segment O, a surgeon can
controllably bend the distal end of catheter K towards the
operative site. In the embodiment shown in FIG. 18, the distal end
of the catheter, labeled P1, can be rigid or be "passively"
flexible, i.e. made of a flexible material and not necessarily
controlled for flexure under remote computer control. FIG. 18 also
shows another instrument system preferably a rigid instrument
system including an instrument C extending through an incision D.
The instrument shaft carries an end effector C1 that may be a set
of jaws. Similarly, the bendable instrument K1 may carry an end
effector C2. These instruments are coordinated in their action so
that they can operate together in performing a surgical procedure.
Refer also to the previous discussion regarding FIG. 3K.
[0121] Refer now to FIG. 19 for added details of the bladder
procedure referenced in FIGS. 3K and 18. This drawing also shows
the cross-section through the wall WI of the bladder B1,
illustrating the ureter tube T1 that extends through the muscle
wall to the kidney. This also shows an inside instrument system 11
with a corresponding end effector, as well as an outside instrument
system 12 that likewise carries an end effector. These end
effectors may be for sewing or for other purposes depending upon
the particular procedure that is to be performed. The inside
instrument system is usually flexible, while the outside instrument
system may be either flexible or rigid.
[0122] Reference to a rigid instrument system usually refers to an
instrument in which there is a shaft that is primarily rigid and
usually meant for insertion into the patient through a small
incision such as a laparoscopic incision. However, rigid
instruments may also be used to some extent within a natural body
orifice. Flexible shaft instruments may be used through a natural
body orifice, by percutaneous entry, through an incision or by
other means for entry into the patient.
[0123] FIG. 20 shows still another instrument system that may be
used for suturing, sewing or other surgical procedures in a body
cavity or vessel such as in the cavity 193 illustrated. The
instrument system 194 uses a single instrument arrangement that
actually has two or more work areas. By way of example in FIG. 20
there is, at the very distal end of the instrument system 194, an
active work element 195. This may be the same as the instrument end
effector 160 illustrated in FIG. 3K or may be a set of jaws. In
addition to the active work element 195 the instrument system is
also provided with an intermediate work element 197. This is
another end effector that is adapted to cooperate with the end
effector 195 in performing a surgical procedure. For sewing the end
effector 197 may be a hook end effector previously described, or it
may be an anvil construction. The end effectors shown in FIG. 20
may also be of other types such as, but not limited to, graspers,
needle drivers, cauterizing tools, scalpels, etc. The instrument
system shown in FIG. 20 is simple in construction using only a
single controlled instrument member. Preferably the shaft of the
instrument system is curved back upon itself as illustrated at 198
in FIG. 20. This construction enables the one instrument system to
be used for performing a complete surgical procedure such as
passing a suture through a fold of tissue as illustrated in FIG.
20.
[0124] Another concept relates to arthroscopic procedures, but
could also apply to other medical procedures. This relates to the
use of a single flexible instrument that might be used in, for
example, a knee operation through a single entry point, rather than
present instrumentation that uses multiple instruments and
associated multiple incisions. The procedures described herein are
also advantageous in that they can be carried out without requiring
open incisions, thus lessening recovery times.
[0125] The following are some of the additional features that
characterize these inventions and relating to the use of multiple
instruments, particularly multiple instruments of different types
and adapted for different locations of access to anatomic parts of
the body.
[0126] (A) The use of instruments intralumenally minimizes the
number of incisions that have to be made in a particular
procedure.
[0127] (B) The intralumenal instrument can be used as a "locator"
to assist in locating the extralumenal instrument. For example, one
can locate the coronary vessel (often hidden by fat and muscle, and
not on the heart surface) for anastomosis by means of the
intralumenal instrument.
[0128] (C) Provides for multiple instruments in a small space. For
example, in bowel anastomosis/resection two instruments may be used
intralumenally and one used extralumenally.
[0129] (D) Provides for internal and external control of a surgical
procedure. For example, in the repair of a failed AAA stent (see
FIG. 3G), the intralumenal instrument stabilizes the stent,
bringing the loose stent against the vessel wall, while the
extralumenal instrument performs an anchoring through the vessel
wall.
[0130] (E) In all of the above the instruments are preferably
computer controllable from a master station with an input device
and in coordination with each other. For that purpose the
instruments are provided with sensors so each knows the position of
the other, and their accurate manipulation can thus be
controlled.
[0131] (F) The control of operations described herein such as
sewing or suturing techniques employs algorithms when operation is
substantially totally computer controlled. These algorithms can
control such parameters as stitch patterns, stitch tension, stitch
spacing, tightness and precision of the stitching.
[0132] 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.
* * * * *