Minimally invasive surgical instrument to provide needle-based therapy

Patent metadata

Field	Value
Publication number	US-11950864-B2
Application number	US-202016773605-A
Country	US
Kind code	B2
Filing date	Jan 27, 2020
Priority date	Feb 15, 2012
Publication date	Apr 9, 2024
Grant date	Apr 9, 2024

Abstract

A device includes a first mechanism having a surface and a helical slot in the surface, a second mechanism having a periphery and an axial slot in the periphery, and an insert comprising a pin. The second mechanism is located within the first mechanism. The insert is located within the second mechanism. The pin extends from the insert through the axial slot of the second mechanism and into the helical slot of the first mechanism. The insert is configured to couple to an instrument. In some embodiments, the insert is configured to move the instrument in a degree of freedom in response to the second mechanism being held stationary and the first mechanism being rotated. In some embodiments, the degree of freedom is an insertion and retraction degree of freedom.

First claim

What is claimed is:

1. A device comprising:
a first mechanism comprising a surface and a helical slot in the surface;
a second mechanism comprising a periphery and an axial slot in the periphery, wherein the second mechanism is located within the first mechanism;
a housing;
a catheter coupled to the second mechanism or the housing; and
an insert comprising a pin, wherein the insert is located within the second mechanism and the pin extends from the insert through the axial slot of the second mechanism and into the helical slot of the first mechanism;
wherein the insert is configured to couple to an instrument, and
wherein the second mechanism or the housing of the device is configured to be coupled to the catheter through which the instrument is inserted.

2. The device of claim 1 , wherein the insert is configured to move the instrument in a degree of freedom in response to the second mechanism being held stationary and the first mechanism being rotated.

3. The device of claim 2 , wherein the degree of freedom is an insertion and retraction degree of freedom.

4. The device of claim 1 , further comprising the instrument, wherein the instrument comprises at least one of a needle, an injector, a biopsy probe, an optical biopsy probe, a tissue sampling device, or a combination thereof.

5. The device of claim 1 , further comprising the instrument, wherein the instrument extends through at least part of the catheter.

6. The device of claim 1 , wherein the instrument extends axially through the insert and at least part of the catheter.

7. The device of claim 1 , wherein the insert is configured to advance or retract the instrument within the catheter in response to the second mechanism being held stationary and the first mechanism being rotated.

8. The device of claim 1 , wherein the second mechanism is configured to rotate the catheter about an axial axis of the insert in response to the second mechanism being rotated.

9. The device of claim 1 , further comprising the instrument, wherein the insert is configured to advance or retract the instrument within the catheter in response to the second mechanism being held stationary and the first mechanism being rotated.

10. The device of claim 1 , further comprising a first input coupled to the first mechanism, the first input being rotatable to rotate the first mechanism.

11. The device of claim 1 , further comprising an arrangement of fiducial markers, the fiducial markers being 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.

12. The device of claim 1 , wherein:
the insert is arranged concentrically within the first mechanism; and
the first mechanism and the insert are arranged concentrically within the second mechanism.

13. The device of claim 1 , wherein the housing encloses the first mechanism, the second mechanism, and the insert;
wherein the housing comprises:
a hole at a first end, the hole arranged to be concentric with the instrument; and
a plurality of release levers arranged around a periphery of the housing.

14. The device of claim 1 , wherein the insert is configured to rotate the instrument about an axial axis of the insert in response to the second mechanism being rotated.

15. The device of claim 1 , wherein the insert is configured to insert or retract the instrument along an axial axis of the insert and rotate the instrument about the axial axis of the insert in response to the first mechanism being held stationary and the second mechanism being rotated.

16. The device of claim 1 , wherein the insert is configured to rotate the instrument about an axial axis of the insert without being inserted or retracted along the axial axis of the insert in response to the first and second mechanisms being rotated together.

17. A device comprising:
a first input having a first degree of freedom and being coupled to a first mechanism, wherein the first input is configured to move the first mechanism in the first degree of freedom;
a second input having a second degree of freedom and being coupled to a second mechanism, wherein the second input is configured to move the second mechanism in the second degree of freedom;
a housing;
a catheter coupled to the second mechanism or the housing; and
an insert located within the second mechanism, an end of the insert being configured to be coupled to an instrument, wherein the instrument extends through at least part of the catheter;
wherein in response to the second mechanism being held stationary and the first mechanism being rotated, the insert is configured to move the instrument along a third degree of freedom corresponding to an insertion direction or a retraction direction, and
wherein the second mechanism or the housing of the device is configured to be coupled to the catheter through which the instrument is inserted.

18. The device of claim 17 , further comprising the instrument, wherein the instrument comprises at least one of a needle, an injector, a biopsy probe, an optical biopsy probe, a tissue sampling device, or a combination thereof.

19. The device of claim 17 , wherein:
the insert comprises a pin; and
the pin extends through an axial slot of the second mechanism and into a helical slot of the first mechanism.

20. The device of claim 17 , wherein:
in response to the second mechanism being rotated, the insert is configured to rotate the instrument about an axial axis of the insert;
in response to both the first mechanism and the second mechanism being rotated, the insert is configured to move the instrument along the third degree of freedom and rotate the instrument about the axial axis of the insert; and
in response to the first and second mechanisms being rotated together, the insert is configured to rotate the instrument about the axial axis of the instrument without moving the instrument along the third degree of freedom.

Assignees

• Intuitive Surgical Operations

Inventors

• Bailey David W
• Dimaio Simon P

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title

• A61B2017/00318

  Steering mechanisms · CPC title

• A61B2017/00331

  with preformed bends · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title