Elongate treatment probe for robotic surgery

Patent metadata

Field	Value
Publication number	US-12582297-B2
Application number	US-202117303287-A
Country	US
Kind code	B2
Filing date	May 26, 2021
Priority date	Sep 5, 2014
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

A surgical treatment apparatus comprises an elongate support, an elongate tube, and a movable endoscope having a stiff distal portion, in which the stiff distal portion of the endoscope is configured to move one or more components of the apparatus when the support remains substantially fixed. The support may comprise a plurality of spaced apart aspiration openings near the distal end in order to facilitate alignment with the treatment site. In many embodiments, an image guided treatment apparatus is configured for use with an imaging device. In many embodiments, a target resection profile is provided. The target resection profile and one or more tissue structures are displayed on an image, and the target resection profile displayed on the image is adjusted with user input.

First claim

What is claimed is:

1 . An apparatus to treat a patient, comprising:
an elongate support comprising a tip for insertion into the patient; an elongate carrier tube supported by the elongate support and configured to direct energy to a target site from an energy source affixed to a distal portion of the elongate carrier tube; a handpiece configured to receive an endoscope and support the elongate carrier tube, the handpiece comprising a first plurality of connectors configured to couple to a second plurality of connectors in order to control rotation and translation of the elongate carrier tube; and a coupling supported by the elongate support, the coupling comprising:
one or more openings configured to receive the endoscope and the elongate carrier tube; and
a slot configured to engage with the endoscope to lock the endoscope in position,
wherein the coupling is configured to move with the endoscope relative to the elongate carrier tube and the elongate support, the elongate carrier tube is configured to move independently of the endoscope and the coupling, and the tip of the elongate support extends past the coupling.

2 . The apparatus of claim 1 , further comprising an elongate tube, and wherein the elongate tube has an internal diameter sized to receive the endoscope and the elongate carrier tube and wherein the elongate support extends axially outside the elongate tube and wherein the elongate support extends beyond a distal end of the elongate tube.

3 . The apparatus of claim 1 , wherein the first plurality of connectors comprise a first rotatable connector to control an angle of rotation of the energy source around a longitudinal axis of the elongate carrier tube and a second rotatable connector to control an axial location of the energy source.

4 . The apparatus of claim 3 , wherein the energy source comprises a nozzle and the first rotatable connector is configured to control an angle of rotation of the nozzle around the longitudinal axis and the second rotatable connector is configured to control an axial location of the nozzle.

5 . The apparatus of claim 4 , wherein the second plurality of connectors comprises a plurality of torque transmitters to rotate and translate the elongate carrier tube.

6 . The apparatus of claim 1 , further comprising an elongate tube, wherein each of the endoscope, the elongate carrier tube and the elongate support are sized for insertion into a patient and wherein the elongate carrier tube and the endoscope are slidably disposed within the elongate tube with the elongate support extending axially outside the elongate tube.

7 . The apparatus of claim 1 , wherein the elongate support comprises an axially extending aspiration channel extending to at least one aspiration opening oriented perpendicularly to the elongate carrier tube, the at least one aspiration opening configured to receive tissue from the target site.

8 . The apparatus of claim 1 , wherein the handpiece further comprises an encoder configured to determine an angle of rotation of the energy source around a longitudinal axis of the elongate carrier tube and one or more detectors configured to measure the angle of rotation of the energy source.

9 . The apparatus of claim 8 , wherein the encoder comprises an optical encoder.

10 . The apparatus of claim 8 , wherein the encoder provides an absolute angular orientation of the elongate carrier tube in relation to the one or more detectors.

11 . The apparatus of claim 8 , wherein the encoder comprises an annular structure extending circumferentially around a proximal portion of the elongate carrier tube.

12 . The apparatus of claim 1 , further comprising a plurality of detectors distributed around the elongate carrier tube at a plurality of fixed angular and radial locations to measure rotation of the elongate carrier tube and wherein the fixed angular locations correspond to an angular orientation of the elongate carrier tube around a longitudinal axis of the elongate carrier tube.

13 . The apparatus of claim 1 , wherein the handpiece further comprises an input to increase or decrease a power setting of the energy source.

14 . The apparatus of claim 1 , wherein the handpiece comprises a connector configured to electronically couple to an arm and transmit data to the arm.

15 . The apparatus of claim 1 , further comprising an arm, wherein the arm comprises one or more of a manually movable arm or a robotic arm.

16 . The apparatus of claim 1 , further comprising an arm, wherein the handpiece is configured to couple to the arm.

17 . The apparatus of claim 1 , wherein the energy source is directed transverse to a longitudinal axis of the elongate carrier tube.

18 . The apparatus of claim 1 , wherein the energy source comprises a nozzle, the nozzle comprising a jewel mounted on the elongate carrier tube.

19 . The apparatus of claim 1 , wherein the slot is configured to engage with a protrusion on the endoscope.

Assignees

• Procept Biorobotics Corp

Inventors

• Aljuri Nikolai
• Mantri Surag
• Bentley Peter
• Baez Luis
• Badia James Luis

Classifications

• A61B18/14

  Probes or electrodes therefor · CPC title

• A61B17/320016

  Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes (A61B10/0233, A61B17/29, A61B17/3207 take precedence) · CPC title

• A61B1/018

  for receiving instruments · CPC title

• A61B1/00045

  Display arrangement · CPC title

• A61B2034/2068

  using pointers, e.g. pointers having reference marks for determining coordinates of body points · CPC title