Steerable and flexible robotic endoscopic tools for minimally invasive procedures

Patent metadata

Field	Value
Publication number	US-12557970-B2
Application number	US-202519196285-A
Country	US
Kind code	B2
Filing date	May 1, 2025
Priority date	Mar 4, 2019
Publication date	Feb 24, 2026
Grant date	Feb 24, 2026

Abstract

A probe part includes a base member defining a first bore. A first elongated elastic member includes a near end secured to the base member and extends therefrom to a far end and defines a channel in communication with the first bore and that runs lengthwise with the first elongated elastic member. A first tendon has a first end and an opposite second end that is secured to the first elongated elastic member adjacent to the far end. The first tendon runs through the channel adjacent the first side and exits through the first bore exiting outwardly therefrom. Applying tension to the first tendon causes the first elongated elastic member to bend in the direction of the first side.

First claim

What is claimed is:

1 . A probe assembly comprising:
a base member defining a first bore and a spaced apart second bore passing therethrough; a first elongated elastic member:
having a first side and an opposite second side;
including a near end secured to the base member and extending therefrom to a far end; and
defining a first channel in communication with the first bore running lengthwise along the first elongated elastic member;
one or more additional elongated elastic members coupled in series to the first elongated elastic member, each additional elongated elastic member:
having a first side and an opposite second side;
including a near end and extending to an opposite far end; and
defining an additional channel running lengthwise along the additional elongated elastic member;
an intermediate rigid member affixed to the far end of the first elongated elastic member; a first tendon having a first end located outside the base member, the first tendon having a portion which is disposed through the first bore which is adjacent to the first side of the first elongated elastic member, and the first tendon having a portion extending to an opposite second end located within the first channel of the first elongated elastic member, the second end of the first tendon being secured to the first elongated elastic member adjacent to the far end, the first tendon exiting through the first bore so that the first end extends outwardly therefrom, such that applying tension to the first tendon causes the first elongated elastic member to bend in a direction of the first side of the first elongated elastic member; and a second tendon having a first end located outside the base member, the second tendon having a portion which is disposed through the second bore which is adjacent to the second side of the first elongated elastic member, and the second tendon having a portion extending to an opposite second end located within the first channel of the first elongated elastic member, the second end of the second tendon being secured to the first elongated elastic member adjacent to the far end, the second tendon exiting through the second bore so that the first end extends outwardly therefrom, such that applying tension to the second tendon causes the first elongated elastic member to bend in a direction of the second side of the first elongated elastic member.

2 . The probe assembly of claim 1 further comprising:
a third tendon;
wherein:
a first of the one or more additional elongated elastic members is a second elongated elastic member; and
the third tendon having a first end located outside the base member, the third tendon having a portion which is disposed through a third bore in the base member, which is adjacent to the first side of the second elongated elastic member, and the third tendon having a portion extending to an opposite second end located within the additional channel of the second elongated member, the second end of the third tendon secured to the second elongated elastic member adjacent to the far end, the third tendon exiting through the third bore so that the first end extends outwardly therefrom, such that applying tension to the third tendon causes the second elongated elastic member to bend in the direction of the first side of the second elongated elastic member.

3 . The probe assembly of claim 2 further comprising:
a fourth tendon having a first end located outside the base member, the fourth tendon having a portion which is disposed through a fourth bore in the base member, which is adjacent to the second side of the second elongated elastic member, and the fourth tendon having a portion extending to an opposite second end located within the additional channel of the second elongated member, the second end of the fourth tendon secured to the second elongated elastic member adjacent to the far end, the fourth tendon exiting through the fourth bore so that the first end extends outwardly therefrom, such that applying tension to the fourth tendon causes the second elongated elastic member to bend in the direction of the second side of the second elongated elastic member.

4 . The probe assembly of claim 3 , wherein the probe assembly has a diameter that is less than a working channel of a rigid endoscope.

5 . The probe assembly of claim 3 , wherein:
the first elongated elastic member further comprises a first tube including a first tube first plurality of crenulations machined into the first side of the first elongated elastic member; and the second elongated elastic member further comprises a second tube including a second tube first plurality of crenulations machined into the first side of the second elongated elastic member.

6 . The probe assembly of claim 5 , wherein:
the first tube further includes a first tube second plurality of crenulations machined into the second side of the first elongated elastic member; and the second tube further includes a second tube second plurality of crenulations machined into the second side of the second elongated elastic member.

7 . The probe assembly of claim 3 further comprising a tool affixed to the far end of the second elongated elastic member.

8 . A probe system comprising:
the probe assembly of claim 1 ; and a device configured to operate the probe assembly; wherein:
the device is further configured to be used with an endoscope that defines a lengthwise passage passing therethrough;
the device comprises:
a housing having an interior that is configured to be accessed by retracting a retractable portion, the housing further having an end that is configured for joining with the endoscope;
at least one input passage defined by the housing and configured to be aligned with the lengthwise passage of the endoscope, the at least one input passage configured to receive a portion of the probe assembly therein so that the probe assembly is received into the lengthwise passage of the endoscope; and
an actuator assembly affixed to the housing and configured to manipulate the probe assembly by selectively applying stress to one or more of the first or second tendons.

9 . The probe system of claim 8 , wherein the device further comprises:
a quick connect assembly couplable to the actuator assembly and affixed to the probe assembly; wherein:
one or more of the first or second tendons is coupled to a probe-side tendon connector; and
the actuator assembly includes an actuator-side tendon connector that is complimentary to the probe-side tendon connector so that when the quick connect assembly is snapped in place with the actuator assembly, the actuator-side tendon connector engages the probe-side tendon connector so that actuator-induced movements applied to the actuator-side tendon connector results in corresponding movements in the probe-side tendon connector, thereby resulting in manipulation of the one or more of the first or second tendons.

10 . The probe system of claim 9 further comprising:
at least one joystick configured to provide intuitive control input to the probe assembly.

Assignees

• Georgia Tech Res Inst

Inventors

• Desai Jaydev P
• Chitalia Yash Chetan
• Jeong Seokhwan
• Chern Joshua J

Classifications

• A61B1/018

  for receiving instruments · CPC title

• A61B1/0125

  Endoscope within endoscope · CPC title

• A61B1/005

  Flexible endoscopes · CPC title

• A61B17/22031

  Gripping instruments, e.g. forceps, for removing or smashing calculi (A61B17/221 takes precedence) · CPC title

• A61B17/221

  Gripping devices in the form of loops or baskets {for gripping calculi or similar types of obstructions (surgical snare instruments A61B17/32056)} · CPC title