Systems and methods for coupling components of a medical system

Patent metadata

Field	Value
Publication number	US-12369999-B2
Application number	US-202318352938-A
Country	US
Kind code	B2
Filing date	Jul 14, 2023
Priority date	Feb 6, 2017
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device comprises a hollow medial portion including a first end, a second end, and a passageway therebetween. The apparatus further comprises a coupling member coupled to the medial portion along a longitudinal axis of the medial portion. The passageway extends through the coupling member, and the coupling member comprises a curved surface configured to rotatably connect the anatomic orifice device to the robotic medical instrument system.

First claim

What is claimed is:

1. An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device, the apparatus comprising:
a hollow medial portion including a first end, a second end, and a passageway therebetween, wherein the first end is configured to receive an elongate device of the robotic medical instrument system and the second end is configured to be coupled to the anatomic orifice device; and
a coupling member coupled to the medial portion along a longitudinal axis of the medial portion, such that the passageway extends through the coupling member, wherein the coupling member comprises a curved surface configured to rotatably connect the anatomic orifice device to the robotic medical instrument system.

2. The apparatus of claim 1 , wherein the rotatable connection provides rotation about the longitudinal axis.

3. The apparatus of claim 1 , wherein the coupling member includes a first member and a second member, wherein the first and second members are spaced along the longitudinal axis of the medial portion.

4. The apparatus of claim 1 , wherein the medial portion further includes a set of fins extending along the longitudinal axis.

5. The apparatus of claim 4 , wherein the set of fins is tapered in height along the longitudinal axis.

6. The apparatus of claim 4 , wherein the set of fins extends substantially perpendicular to the longitudinal axis.

7. The apparatus of claim 1 , further comprising a barrel disposed within the coupling member, wherein the barrel couples the coupling member to the medial portion.

8. The apparatus of claim 7 , wherein the barrel is coupled to the coupling member by screw threads or barbs.

9. The apparatus of claim 1 , wherein the coupling member includes a ring of a material responsive to a magnetic field over which a remainder of the apparatus is molded.

10. The apparatus of claim 9 , wherein the ring of the coupling member is a slotted cylinder.

11. The apparatus of claim 1 , wherein the coupling member is molded on a first barrel coupled to the medial portion.

12. The apparatus of claim 1 , wherein the coupling member comprises a shell configured to be releasably coupled to the medial portion.

13. The apparatus of claim 12 , wherein the shell includes at least one of a material responsive to a magnetic field, a magnetic material, or an elastic material.

14. The apparatus of claim 12 , wherein the shell further includes a cylindrical segment to fully enclose at least one of the first end or the second end of the medial portion.

15. The apparatus of claim 1 , wherein the coupling member is configured to rotatably connect the anatomic orifice device to the robotic medical instrument system via a mating bracket.

16. The apparatus of claim 1 , wherein the medial portion is configured to accommodate motion between the robotic medical instrument system and the anatomic orifice device in at least one degree of freedom.

17. An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device, the apparatus comprising:
a hollow medial portion including a first end, a second end, and a passageway therebetween;
a coupling member coupled to the medial portion along a longitudinal axis of the medial portion, such that the passageway extends through the coupling member, wherein the coupling member comprises a curved surface configured to rotatably connect the anatomic orifice device to the robotic medical instrument system; and
a tube coupled to the medial portion, the tube being perpendicular to the longitudinal axis, wherein the tube is configured to be coupled to an external air source.

18. The apparatus of claim 17 , wherein the medial portion is configured to accommodate motion between the robotic medical instrument system and the anatomic orifice device in at least one degree of freedom.

19. An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device, the apparatus comprising:
a hollow medial portion including a first end, a second end, and a passageway therebetween; and
a coupling member coupled to the medial portion along a longitudinal axis of the medial portion, such that the passageway extends through the coupling member, wherein the coupling member comprises a curved surface configured to rotatably connect the anatomic orifice device to the robotic medical instrument system, and wherein the coupling member includes a magnetic material or a material responsive to a magnetic field.

20. The apparatus of claim 19 , wherein the medial portion is configured to accommodate motion between the robotic medical instrument system and the anatomic orifice device in at least one degree of freedom.

Assignees

• Intuitive Surgical Operations

Inventors

• Rohr Daniel Matthew D
• Bailey David W
• Blumenkranz Stephen J
• Carlson Christopher R
• Inouye Matthew D

Classifications

• B25J9/10

  characterised by positioning means for manipulator elements · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B2034/2061

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

• A61B2034/2051

  Electromagnetic tracking systems · CPC title