Systems and methods of steerable elongate device

Patent metadata

Field	Value
Publication number	US-11116586-B2
Application number	US-201716314317-A
Country	US
Kind code	B2
Filing date	Jun 28, 2017
Priority date	Jun 30, 2016
Publication date	Sep 14, 2021
Grant date	Sep 14, 2021

Abstract

Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels.

First claim

What is claimed is:

1. An input control console for an elongate device, the console comprising:
a first input control having an infinite length of travel in a first direction, the first input control providing a first command suitable for controlling an insertion depth of the elongate device;
a first ring located on a top surface of the console, the first input control being mounted within the first ring;
a second input control having an infinite length of travel in more than one direction, the second input control providing a second command suitable for controlling steering of a distal end of the elongate device including a pitch setting and a yaw setting;
a second ring located on the top surface of the console, the second input control being mounted within the second ring;
one or more transceivers for coupling the console to a control unit for the elongate device; and
interface circuits for coupling the first input control and the second input control to the one or more transceivers.

2. The console of claim 1 , wherein the first input control is a single-axis device and the second input control is a multiple-axis device.

3. The console of claim 1 , wherein the first input control is a scroll wheel and the second input control is a track ball.

4. The console of claim 1 , wherein the first input control or the second input control is a touch pad.

5. The console of claim 1 , wherein:
the first ring comprises a first raised ring; and
the second ring comprises a second raised ring.

6. The console of claim 5 , wherein:
the first raised ring includes a first side surface configured to hold an opening in a first pocket of a drape anchored to the first raised ring; and
the second raised ring includes a second side surface configured to hold an opening in a second pocket of the drape anchored to the first raised ring.

7. The console of claim 6 , wherein the first side surface is indented.

8. The console of claim 1 , further comprising a wrist rest raised above a surface on which the first input control and the second input control are mounted.

9. The console of claim 8 , wherein the wrist rest is undercut providing a gap between an underside of the wrist rest and the surface on which the first input control and the second input control are mounted.

10. The console of claim 1 , wherein the one or more transceivers are wireless.

11. The console of claim 1 , further comprising an emergency stop input control.

12. The console of claim 1 , further comprising one or more third input controls for receiving a selection of a display view for the elongate device.

13. The console of claim 1 , further comprising one or more third input controls for receiving a selection of an operational mode for the elongate device.

14. The console of claim 13 , wherein the operational mode includes at least one of a locked mode, a controlled mode, or a passive control mode.

15. The console of claim 1 , further comprising a third input control for activating a cleaning system of the elongate device.

16. A method of operating an elongate device, the method comprising:
receiving, by a control unit of the elongate device, an insertion or retraction command from a first input control mounted within a first ring located on a top surface of an input control console, the first input control having an infinite length of travel in a first direction;
controlling an insertion depth of the elongate device based on the insertion or retraction command;
receiving, by the control unit, a steering command that includes a pitch setting and a yaw setting from a second input control mounted within a second ring located on the top surface of the input control console, the second input control having an infinite length of travel in more than one direction; and
controlling steering of a distal end of the elongate device based on the steering command.

17. The method of claim 16 , further comprising receiving, by the control unit, an emergency stop indication.

18. The method of claim 16 , further comprising receiving, by the control unit, a selection of a display view for the elongate device from one or more third input controls.

19. The method of claim 16 , further comprising receiving, by the control unit, a selection of an operational mode for the elongate device from one or more third input controls.

20. The method of claim 16 , further comprising activating, by the control unit, a camera cleaning system of the elongate device in response to receiving input from one or more third input controls.

Assignees

• Intuitive Surgical Operations

Inventors

• Bailey David W
• Barbagli Federico
• Brewer Reuben D
• Carlson Christopher R
• Duindam Vincent
• Morimoto Tania K
• Paris Michael D
• Wagner Oliver J

Classifications

• G06F3/04847

  Interaction techniques to control parameter settings, e.g. interaction with sliders or dials · CPC title

• G06F3/0354

  with detection of two-dimensional [2D] relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks · CPC title

• A61M25/01 Primary

  Introducing, guiding, advancing, emplacing or holding catheters (A61M25/10 takes precedence) · CPC title

• A61B2034/303

  specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels · CPC title

• A61B2017/00398

  using powered actuators, e.g. stepper motors, solenoids · CPC title