Robotic device for establishing access channel

Patent metadata

Field	Value
Publication number	US-9549720-B2
Application number	US-201314394245-A
Country	US
Kind code	B2
Filing date	Apr 19, 2013
Priority date	Apr 20, 2012
Publication date	Jan 24, 2017
Grant date	Jan 24, 2017

Abstract

A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.

First claim

What is claimed is:

1. A device for establishing an access channel to a target location, the device comprising:
a plurality of cylindrical segments, each segment having a first end, a second end, a central bore, and a plurality of backbone channels, the first end being convex-shaped relative to the second end;
a plurality of backbones each positioned through one of the plurality of backbone channels of each cylindrical segment to join the plurality of segments together, wherein the first end of one cylindrical segment is at least partially received by the second end of a second cylindrical segment, and wherein, the central bore of each of the plurality of cylindrical segments align to form an access channel; and
a distal segment, wherein each of the plurality of backbones is fixedly attached to the distal segment such that an orientation of the distal segment is adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments and when linear movement of the plurality of backbones is restricted the shape of the channel can be adjusted by external forces while maintaining the orientation of the distal segment.

2. The device of claim 1 , wherein each of the cylindrical segments includes a wall around the circumference of the central bore, and further comprising a recess in the wall aligned with one of the backbone channels, wherein a backbone extends from the recess between two cylindrical segments.

3. The device of claim 1 , further comprising a brace mechanism to couple the device to an inside surface of a structure.

4. The device of claim 3 , wherein the brace mechanism includes at least one inflatable balloon, wherein each cylindrical segment includes at least one pneumatic channel, and wherein the at least one inflatable balloon is inflated by air received through the at least one pneumatic channel from a pneumatic pressure source.

5. The device of claim 4 , wherein the at least one inflatable balloon of the brace mechanism extends circumferentially around the exterior of the access channel to brace the channel against the inside surface of the structure.

6. The device of claim 3 , wherein the brace mechanism includes a plurality of support wires each including a support pad coupled to the distal end of the support wire, and wherein the plurality of support wires extend radially from at least one cylindrical segment.

7. The device of claim 6 , wherein each of the plurality of wires includes a flexible preformed wire positioned in a support wire channel of at least one of the cylindrical segments, wherein the support wire channel is arranged substantially parallel to the central bore of the cylindrical segment, and wherein linear movement of the support wire causes the support wire to extend radially from the segment.

8. The device of claim 7 , wherein the at least one cylindrical segment includes a recess formed in a circumferential wall of the segment at the first end of the segment, wherein the recess is aligned with the support wire channel such that the support wire extends from the recess.

9. The device of claim 6 , wherein each support pad is configured to anchor the access channel with respect to the interior surface of the structure when the support wires are radially extended from the at least one cylindrical segment.

10. The device of claim 1 , further comprising a locking mechanism that locks the position of one cylindrical segment relative to another cylindrical segment.

11. The device of claim 10 , wherein the locking mechanism includes a rotatable shaft, wherein each cylindrical segment includes a shaft channel and a locking tab biased towards the center of the shaft channel, wherein each locking tab is configured to engage the rotatable shaft when the rotatable shaft is in a first position and to disengage the rotatable shaft when the rotatable shaft is rotated to a second position, and wherein, when the locking tab is engaged with the rotatable shaft, linear movement of the rotatable shaft through the shaft channel is restricted.

12. The device of claim 11 , wherein, when the locking tab of a first cylindrical segment and the locking tab of an adjoining cylindrical segment are both engaged with the rotating shaft, angular movement of the first cylindrical segment relative to the adjoining cylindrical segment is restricted.

13. The device of claim 11 , wherein, when the locking tab is disengaged from the rotatable shaft, the rotatable shaft is able to move linearly through the shaft channel, and wherein angular movement of the cylindrical segment relative to an adjoining cylindrical segment causes the rotatable shaft to move through the shaft channel.

14. The device of claim 11 , wherein the rotatable shaft includes a plurality of teeth on a first side of the rotatable shaft and a smooth surface on a second side of the rotatable shaft, and wherein the bias of the locking tab extends the locking tab between two of the plurality of teeth of the rotating shaft to engage with the rotating shaft when the rotating shaft is positioned with the first side proximate to the locking tab.

15. The device of claim 14 , wherein rotating the rotatable shaft so that the second is positioned proximate to the locking tab forces the locking tab to withdraw from the shaft channel causing the locking tab to disengage from the rotatable shaft.

16. The device of claim 1 , wherein each backbone includes a super-elastic NiTi wire.

17. The device of claim 1 , wherein each backbone includes at least one of a Kevlar strand and stainless steel wire rope with a low bending resistance.

18. A method for establishing an access channel to a target location in an anatomical structure, the method comprising:
inserting a passively flexible device into an orifice of a patient, the passively flexible device including:
a plurality of cylindrical segments, each segment having a first end, a second end, a central bore, and a plurality of backbone channels, the first end being convex shaped relative to the second end,
a plurality of backbones each positioned through one of the plurality of backbone channels of each cylindrical segment to join the plurality of segments together, wherein the first end of one cylindrical segment is at least partially received by the second end of a second cylindrical segment, and wherein, the central bore of each of the plurality of cylindrical segments align to form an access channel, and
a distal segment, wherein each of the plurality of backbones is fixedly attached to the distal segment such that an orientation of the distal segment is adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments and when linear movement of the plurality of backbones is restricted the shape of the channel can be adjusted by external forces while maintaining the orientation of the distal segment;
positioning the distal segment of the passively flexible device at the target location; and
bracing the passively flexible device to anatomical features at the target location and thereby defining a shape of the flexible device.

19. The method of claim 18 , further comprising, moving the distal segment of the flexible device to inspect the deep anatomy while maintaining the shape of the flexible device.

20. The method of claim 18 , further comprising passing a tool the target location using the access channel of the flexible device as a guide and thereby protecting the surrounding anatomy.

Assignees

• Univ Vanderbilt

Inventors

• Simaan Nabil
• Bajo Andrea

Classifications

• A61B34/30

  Surgical robots · CPC title

• A61B1/00154

  using guiding arrangements for insertion · CPC title

• A61B2034/303

  specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels · CPC title

• A61M25/0144

  having flexible regions as a result of inner reinforcement means, e.g. struts or rods · CPC title

• A61B1/00006

  of control signals · CPC title