Systems and methods for positioning medical instruments

Patent metadata

Field	Value
Publication number	US-11969227-B2
Application number	US-201917279208-A
Country	US
Kind code	B2
Filing date	Oct 4, 2019
Priority date	Oct 5, 2018
Publication date	Apr 30, 2024
Grant date	Apr 30, 2024

Abstract

A medical instrument system comprises an instrument manipulator configured to control a position of a medical instrument with respect to a base. The instrument manipulator comprises an instrument carriage comprising a medical instrument connector configured to engage the medical instrument. The instrument carriage is configured to translate along a linear axis to advance or retract the medical instrument with respect to the base. The medical instrument system also comprises an insertion stage slideably engaged with the instrument carriage along the linear axis. The insertion stage has a drive assembly comprising a drive belt and a drive motor configured to drive the drive belt. The base is fixedly coupled to the drive belt. The medical instrument system also comprises a connecting element having a distal end fixedly coupled to the drive belt and a proximal end fixed to the instrument carriage.

First claim

What is claimed is:

1. A medical instrument system comprising an instrument manipulator configured to control a position of a medical instrument with respect to a base, the instrument manipulator comprising:
an instrument carriage comprising a medical instrument connector configured to engage the medical instrument, the instrument carriage configured to translate along a linear axis to advance or retract the medical instrument with respect to the base;
an insertion stage slideably engaged with the instrument carriage along the linear axis, the insertion stage having a drive assembly comprising a drive belt and a drive motor configured to drive the drive belt, wherein the base is fixedly coupled to the drive belt; and
a connecting element having a distal end fixedly coupled to the drive belt and a proximal end fixed to the instrument carriage.

2. The system of claim 1 , wherein the instrument carriage further comprises an instrument carriage housing, and wherein the connecting element is aligned with the linear axis and runs along an inside of the instrument carriage housing, proximate an inner wall of the instrument carriage housing.

3. The system of claim 2 , wherein the instrument carriage housing at least partially overlaps with an insertion stage housing.

4. The system of claim 1 , wherein the drive belt is configured to drive the instrument manipulator to move between an extended state and a retracted state, along the linear axis, and wherein during movement towards the extended state or movement towards the retracted state, the instrument carriage telescopes over the insertion stage.

5. The system of claim 1 , wherein the connecting element is mounted a predetermined distance along the drive belt, the predetermined distance being defined at least in part by a distance between a proximal end portion of the insertion stage and a distal end portion of the insertion stage.

6. The system of claim 1 , further comprising an input device, wherein the input device is located on at least one of the instrument carriage, the insertion stage, or the base.

7. The system of claim 6 , wherein the input device provides input for actuating the drive motor for translating the instrument carriage and the insertion stage.

8. The system of claim 6 , wherein the input device provides input to unlock a position of the instrument carriage and the insertion stage to allow for manual translation of the instrument carriage and the insertion stage.

9. The system of claim 1 , wherein the medical instrument comprises a flexible elongate device.

10. The system of claim 9 , wherein the flexible elongate device comprises a flexible catheter and a control assembly configured to mate with the medical instrument connector.

11. The system of claim 10 , wherein the control assembly further comprises an instrument interface with a plurality of actuators configured drive a plurality of pull wires to steer the flexible elongate device.

12. The system of claim 9 , further comprising a probe configured to run through a channel of the flexible elongate device and configured to operatively connect to the flexible elongate device.

13. The system of claim 1 , wherein the insertion stage further comprises a cable pulley configured to engage a plurality of cables for operations of the medical instrument system and to regulate tension on the plurality of cables as the insertion stage moves along the linear axis.

14. The system of claim 13 , wherein the cable pulley is further configured to separate the cables to prevent entanglement.

15. The system of claim 13 , wherein the cables comprise at least one of power cables, communication cables, or fiber cables for operation of the medical instrument system.

16. The system of claim 1 , wherein the instrument manipulator is configured to rotate about a rotation axis defined along a length of an arm portion of a support structure.

17. The system of claim 16 , further comprising a control system including a processor configured to:
receive data for determining a shape of a distal end portion of the medical instrument when the distal end portion of the medical instrument is positioned adjacent an anatomical opening of a patient;
compare the determined shape of the distal end portion of the medical instrument with a threshold shape value; and
provide instructions for rotating the instrument manipulator based on the comparison.

18. The system of claim 17 , wherein the control system is configured to provide instructions to a display for displaying a visual indicator providing guidance for rotating the instrument manipulator based on the comparison.

19. The system of claim 17 , wherein the control system is configured to provide instructions for automatically rotating the instrument manipulator based on the comparison.

20. The system of claim 1 , wherein a distal end portion of the medical instrument is positioned within a medical insertion device and the medical insertion device is configured to aid insertion of the medical instrument into an anatomical opening of a patient.

Assignees

• Intuitive Surgical Operations

Inventors

• Rohr Daniel Matthew D
• Bailey David W

Classifications

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B2090/3762

  using computed tomography systems [CT] · CPC title

• A61B2034/2061

  using shape-sensors, e.g. fiber shape sensors with Bragg gratings · CPC title

• A61B2090/378

  using ultrasound · CPC title