Endoscopy-guided deployment of vessel punch

Patent metadata

Field	Value
Publication number	US-9788901-B2
Application number	US-201113877475-A
Country	US
Kind code	B2
Filing date	Oct 4, 2011
Priority date	Oct 8, 2010
Publication date	Oct 17, 2017
Grant date	Oct 17, 2017

Abstract

A robotic punch system employs a robot unit ( 70 ) and a control unit ( 80 ). The robot unit ( 70 ) includes a robot ( 71 ) and an endoscopic punch ( 72 ) mounted to the robot ( 71 ). The endoscopic punch ( 72 ) includes a calibrated spatial alignment of an endoscope ( 73 ) and a punch ( 74 ). The control unit ( 80 ) commands the robot ( 71 ) for deploying the endoscopic punch ( 72 ) in executing a puncture of an anatomical tissue ( 92 ).

First claim

The invention claimed is:

1. A robotic punch system comprising:
an endoscopic mount having formed therein an endoscope and a working channel;
a punch partially disposed within the working channel of the endoscope mount and fixedly extending beyond a distal end of the endoscopic mount;
a robot comprising an end-effector and robot motors that move a position of the end-effector, the endoscopic mount being attached to the end-effector; and
a control circuit that generates actuation currents for each of the robot motors and conveys corresponding actuation currents to each of the robot motors so as to move the punch to a desired three-dimensional location.

2. The robotic punch system of claim 1 , wherein the endoscope and the punch have a measured spatial alignment within the endoscope mount.

3. The robotic punch system of claim 1 , wherein the robotic punch is in a field of view of the endoscope.

4. The robotic punch system of claim 1 , wherein the punch does not have a spring-release mechanism.

5. The robotic punch system of claim 4 , wherein the punch has a tip at a distal end, and the tip is adapted to pierce tissue.

6. The robotic punch system of claim 1 , wherein the robot has four (4) degrees of freedom.

Assignees

• Popovic Aleksandra
• Koninklijke Philips Nv

Inventors

• Popovic Aleksandra

Classifications

• A61B17/32053

  Punch like cutting instruments, e.g. using a cylindrical or oval knife (A61B17/326 takes precedence; trepans A61B17/1695) · CPC title

• A61B2017/0034

  adapted to be inserted through a working channel of an endoscope · CPC title

• A61B1/00149

  using articulated arms · CPC title

• A61B1/00

  Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes (examination of body cavities or body tracts using ultrasonic, sonic or infrasonic waves A61B8/12; endoscopic instruments for taking cell samples or for biopsy A61B10/04); Illuminating arrangements therefor (for the eyes A61B3/00) · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title