Minimally invasive surgical instrument to provide needle-based therapy

Patent metadata

Field	Value
Publication number	US-10772691-B2
Application number	US-201916259928-A
Country	US
Kind code	B2
Filing date	Jan 28, 2019
Priority date	Feb 15, 2012
Publication date	Sep 15, 2020
Grant date	Sep 15, 2020

Abstract

A minimally invasive surgical instrument includes a first mechanism including a periphery and an opening in the periphery, a second mechanism including a surface and a helical slot in the surface, a pin extending through the opening of the first mechanism and into the helical slot of the second mechanism, and a surgical device coupled to an end of the first mechanism. A first axial axis of rotation is defined for the first mechanism. A second axial axis of rotation is defined for the second mechanism. The second axial axis of rotation is coincident with the first axial axis of rotation. Rotation of the first mechanism relative to the second mechanism results in motion of the second mechanism along the second axial access of rotation relative to the first mechanism.

First claim

What is claimed is:

1. A minimally invasive surgical instrument, the instrument comprising:
a first mechanism comprising a periphery and an opening in the periphery, wherein a first axial axis of rotation is defined for the first mechanism;
a second mechanism comprising a surface and a helical slot in the surface, wherein a second axial axis of rotation is defined for the second mechanism, and wherein the second axial axis of rotation is coincident with the first axial axis of rotation;
a pin, wherein the pin extends through the opening of the first mechanism and into the helical slot of the second mechanism; and
a surgical device coupled to an end of the first mechanism;
wherein rotation of the first mechanism relative to the second mechanism results in motion of the second mechanism along the second axial axis of rotation relative to the first mechanism.

2. The instrument of claim 1 , further comprising a first driving mechanism coupled to the first mechanism such that the first driving mechanism rotates the first mechanism about the first axial axis of rotation.

3. The instrument of claim 1 , wherein the surgical device is a needle.

4. The instrument of claim 3 , further comprising at least one of a catheter, an injector, a biopsy probe, an optical biopsy probe, an ablation device, or a tissue sampling device, or a combination thereof extending axially through the needle.

5. The instrument of claim 3 , wherein a catheter extends axially through at least part of the needle.

6. The instrument of claim 1 , wherein the opening of the first mechanism is a slot.

7. The instrument of claim 1 , wherein on the condition that the first and second mechanisms rotate together about their associated axial axes of rotation, the surgical device rotates about but does not translate along the first axial axis of rotation.

8. The instrument of claim 1 , wherein on the condition that the first mechanism remains stationary while the second mechanism rotates about the second axial axis of rotation, the surgical device translates along and rotates about the first axial axis of rotation.

9. The instrument of claim 1 , wherein the surgical device comprises at least one of a mechanical biopsy probe, an optical biopsy probe, an ablation device, and a tissue sampling device, or a combination thereof.

10. The instrument of claim 1 , further comprising:
an insert;
wherein:
a third axial axis of rotation is defined for the insert;
the third axial axis of rotation is coincident with the first axial axis of rotation; and
the pin extends from the insert, through the opening of the first mechanism, and into the helical slot of the second mechanism.

11. The instrument of claim 10 , further comprising a catheter coupled to the insert and extending axially through the insert and through at least part of the surgical device.

12. The instrument of claim 10 , further comprising a catheter extending axially through at least part of the surgical device.

13. The instrument of claim 10 , further comprising a catheter coupled to the insert.

14. The instrument of claim 1 , further comprising:
a plurality of electric pins; and
a microprocessor coupled to the electrical pins, wherein the microprocessor is configured to transmit information about the instrument to an external manipulator via the electrical pins.

15. The instrument of claim 14 , wherein the information comprises at least one of an identification number of the instrument, an identification of the surgical device, a length of the surgical device, or information describing how to move the first and second mechanisms to obtain desired rotation and translation of the surgical device.

16. The instrument of claim 1 , further comprising an arrangement of fiducial markers, the fiducial markers configured to be identified by at least one of computer tomography (CT) scanning, magnetic resonance imaging (MRI) scanning, X-ray imaging, ultrasound imaging, or positron emission topography (PET) imaging.

17. The instrument of claim 1 , wherein the helical slot is formed on an interior surface of the second mechanism.

18. The instrument of claim 1 , wherein the first mechanism is arranged concentrically within the second mechanism.

19. The instrument of claim 1 , further comprising:
a housing enclosing the first mechanism and the second mechanism;
wherein the housing comprises a hole at a first end, the hole arranged to be concentric with the surgical device coupled to the first mechanism.

20. The instrument of claim 19 , further comprising a plurality of release levers arranged around a periphery of the housing.

Assignees

• Intuitive Surgical Operations

Inventors

• Bailey David W
• Dimaio Simon P

Classifications

• A61B2017/00318

  Steering mechanisms · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B18/1477

  Needle-like probes · CPC title

• A61B2017/00331

  with preformed bends · CPC title