Probes to detect tissue resistance during insertion

Patent metadata

Field	Value
Publication number	US-2023255716-A1
Application number	US-202217816321-A
Country	US
Kind code	A1
Filing date	Jul 29, 2022
Priority date	Feb 17, 2022
Publication date	Aug 17, 2023
Grant date	—

Abstract

A probe for insertion into a patient comprises an elongate body. The elongate body comprises a distal portion and a proximal portion, in which the distal portion is shaped for insertion into the patient, and the proximal portion is coupled to the distal portion to advance the distal portion with advancement of the proximal portion. One or more sensors are supported with the elongate probe body and coupled to the distal portion of the probe to detect tissue resistance of the distal portion of the probe during insertion of the probe. An output is operatively coupled to the one or more sensors to provide feedback to a user in response to the tissue resistance. This output allows the user to respond and decrease pressure to the tissue. In some embodiments, a sheath comprising the one or more sensors is configured for placement over the probe prior to insertion.

First claim

What is claimed is:

1 . A probe for insertion into a patient, the probe comprising:
an elongate body comprising a distal portion and a proximal portion, the distal portion shaped for insertion into the patient, the proximal portion coupled to the distal portion to advance the distal portion with advancement of the proximal portion; one or more sensors supported with the elongate probe body and coupled to the distal portion of the probe to detect a tissue resistance of the distal portion related to advancement of the proximal portion; and an output operatively coupled to the one or more sensors to provide feedback to a user in response to the tissue resistance.

2 . The probe of claim 1 , wherein the one or more sensors are configured to be inserted into the patient.

3 . The probe of claim 1 , wherein the one or more sensors are located on a superior side of the distal portion when the probe has been inserted into the patient.

4 . The probe of claim 1 , wherein the one or more sensors are located on the distal portion of the probe to engage the tissue and detect the resistance.

5 . The probe of claim 1 , wherein the one or more sensors comprises a plurality of sensors.

6 . The probe of claim 5 , wherein the plurality of sensors is configured to detect tissue resistance at a plurality of locations on the distal portion of the probe.

7 . The probe of claim 6 , wherein the plurality of sensors is configured to map the tissue resistance to the probe at the plurality of locations.

8 . The probe of claim 1 , wherein the one or more sensors are configured to detect strain or compression of the elongate body between the first portion and the second portion in response to the tissue resistance.

9 . The probe of claim 8 , wherein the elongate body comprises a first portion and a second portion configured to move relative to the first portion and the one or more sensors is configured to detect movement of the first portion relative to the second portion.

10 . The probe of claim 9 , wherein the first portion is coupled to the second portion with a spring and wherein the second portion is configured to move relative to the first portion in response to a force from the tissue resistance greater than a force from the spring.

11 . The probe of claim 10 , wherein a spring is configured to push the first portion away from the second portion against a stop and wherein the first portion moves toward the second portion in the response to the tissue resistance force exceeding the force from the spring in order to decrease movement of the distal portion while the proximal portion advances.

12 . The probe of claim 10 , wherein the spring comprises one or more of a coil, a spring, a torsion spring, a leaf spring or a bendable extension.

13 . The probe of claim 9 , wherein the first portion and the second portion comprise telescopic portions and the one or more sensors is configured to detect relative movement between a first telescopic portion and a second telescopic portion.

14 . The probe of claim 10 , further comprising a switch configured to transition between an open configuration and a closed configuration and generate the output in response to the force from the resistance greater than the force from the spring.

15 . The probe of claim 8 , wherein the body comprises a shaft and wherein the distal portion is configured to move within the shaft in response to the tissue resistance.

16 . The probe of claim 8 , wherein the elongate body comprises a tapered waist between the distal portion and the proximal portion, and the one or more sensors are coupled to the tapered waist to detect strain of the tapered waist.

17 . The probe of claim 8 , wherein the one or more sensors is located between the distal portion and the proximal portion to detect the strain or compression of the elongate body in response to the resistance.

18 . The probe of claim 8 , wherein the one or more sensors comprises a displacement transducer to measure a displacement of the first portion relative to the second portion.

19 . The probe of claim 8 , wherein the elongate body extends along an elongate axis and the one or more sensors comprises a plurality of sensors located around the elongate axis to detect tissue resistance on a side of the probe away from the elongate axis.

20 . The probe of claim 19 , wherein the plurality of sensors located around the elongate axis are configured to detect a direction of deflection of the elongate body in response to the resistance.

Assignees

• Procept Biorobotics Corp

Inventors

• Mantri Surag
• Staid Kevin Patrick
• Bentley Peter

Classifications

• A61B5/6885

  Monitoring or controlling sensor contact pressure · CPC title

• A61B2090/061

  for measuring dimensions, e.g. length · CPC title

• A61B90/50

  Supports for surgical instruments, e.g. articulated arms · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2090/378

  using ultrasound · CPC title