Minimally invasive surgical instrument to provide needle-based therapy

Patent metadata

Field	Value
Publication number	US-9931167-B2
Application number	US-201313768313-A
Country	US
Kind code	B2
Filing date	Feb 15, 2013
Priority date	Feb 15, 2012
Publication date	Apr 3, 2018
Grant date	Apr 3, 2018

Abstract

A surgical instrument is provided that includes a first input mechanism having axial slots formed in a periphery and a second input mechanism having helical slots formed in a surface. The instrument also includes an insert having pins extending from a surface thereof, the insert coupled to the second input mechanism such that the one or more pins extend into the helical slots, and a surgical device coupled to an end. The surgical device is moved in a first degree of freedom in response to a mechanical driving force applied to both the first input mechanism and the second input mechanism, respectively, and the surgical device is moved in a second degree of freedom in response to a mechanical driving force applied to the second input mechanism while the first input mechanism is held stationary.

First claim

What is claimed is:

1. A minimally invasive surgical instrument, comprising:
a first input mechanism having one or more axial slots formed in a periphery therein, the first input mechanism coupled to a first mechanical driving mechanism;
a second input mechanism having a helical slot formed in a surface therein, the second input mechanism coupled to a second mechanical driving mechanism;
an insert having a pin extending from a surface thereof, the insert coupled to the second input mechanism such that the pin extends into the helical slot; and
a needle coupled to an end of the insert, wherein:
the needle is configured to move in a first degree of freedom in response to a mechanical driving force applied to both the first input mechanism and the second input mechanism by the first and second mechanical driving mechanisms, respectively; and
the needle is configured to move in a second degree of freedom in response to a mechanical driving force applied to the second input mechanism by the second mechanical driving mechanism while the first input mechanism is held stationary.

2. The instrument of claim 1 , wherein the first degree of freedom comprises rotation about an axis of the needle and the second degree of freedom comprises movement along the axis of the needle.

3. The instrument of claim 2 , further comprising:
a catheter coupled to the first input mechanism, the catheter comprising a surgical device, wherein the catheter and the surgical device are rotated about the axis of the needle in response to the mechanical driving force applied to the first input mechanism.

4. The instrument of claim 3 , wherein the surgical device comprises at least one of a mechanical biopsy probe, an optical biopsy probe, an ablation device, and a tissue sampling device, or a combination thereof.

5. The instrument of claim 1 , wherein:
the insert is arranged concentrically within the first input mechanism; and
the first input mechanism and the insert are arranged concentrically within the second input mechanism.

6. The instrument of claim 2 , further comprising:
a housing enclosing the first input mechanism, the second input mechanism, the first mechanical driving mechanism, the second mechanical driving mechanism, the insert and the needle, the housing comprising:
a hole at a first end of the housing, the hole arranged to be concentric with the needle and allow the needle to move into and out of the housing along the axis of the needle;
a plurality of release levers arranged along a periphery of the housing; and
a plurality of electrical pins for coupling to a matching electrical interface, the electrical pins facilitating communication between the instrument and an electronic device.

7. The instrument of claim 1 , wherein the helical slot is formed on an interior surface of the second input mechanism, and the pin extends through an axial slot in the first input mechanism.

8. The instrument of claim 1 , further comprising:
a plurality of electric pins; and
a microprocessor coupled to the electrical pins, wherein the microprocessor is configured to transmit information about the instrument to an external manipulator via the electrical pins.

9. The instrument of claim 8 , further comprising:
a catheter coupled to the first input mechanism, the catheter comprising a surgical device;
wherein the information comprises at least one of an identification number of the instrument, an identification of the surgical device, a length of the surgical device, and information describing how to move the first and second input mechanisms to obtain desired movement in the first and second degrees of freedom.

10. The instrument of claim 1 , further comprising an arrangement of fiducial markers, the fiducial markers configured to be identified by at least one of computer tomography (CT) scanning, magnetic resonance imaging (MM) scanning, X-ray imaging, ultrasound imaging, and positron emission topography (PET) imaging.

11. The instrument of claim 1 , further comprising a catheter extending axially through at least part of the needle.

12. The instrument of claim 1 , further comprising a catheter extending axially through the first input mechanism, through the insert, and through at least part of the needle.

13. A minimally invasive surgical instrument, comprising:
a first input mechanism comprising a periphery and an axial slot in the periphery, wherein a first axial axis of rotation is defined for the first input mechanism;
a second input mechanism comprising a surface and a helical slot in the surface, wherein a second axial axis of rotation is defined for the second input mechanism, and wherein the second input mechanism surrounds the first input mechanism such that the second axial axis of rotation is coincident with the first axial axis of rotation;
an insert comprising a pin, wherein a third axial axis of rotation is defined for the insert, wherein the insert is surrounded by the first input mechanism such that the third axial axis of rotation is coincident with the first axial axis of rotation, and wherein the pin extends from the insert through the axial slot of the first input mechanism and into the helical slot of the second input mechanism; and
a needle coupled to an end of the insert.

14. The instrument of claim 13 , further comprising:
a first driving mechanism coupled to the first input mechanism such that the first driving mechanism rotates the first input mechanism about the first axial axis of rotation; and
a second driving mechanism coupled to the second input mechanism such that the second driving mechanism rotates the second input mechanism about the second axial axis of rotation;
wherein the first driving mechanism rotates the first input mechanism about the first axial axis of rotation independently of the second driving mechanism rotating the second input mechanism about the second axial axis of rotation; and
wherein the second driving mechanism rotates the second input mechanism about the second axial axis of rotation independently of the first driving mechanism rotating the first input mechanism about the first axial axis of rotation.

15. The instrument of claim 14 , further comprising a catheter extending axially through at least part of the needle.

16. The instrument of claim 14 , further comprising a catheter extending axially through the first input mechanism, through the insert, and through at least part of the needle.

17. The instrument of claim 13 , further comprising:
a first driving mechanism coupled to the first input mechanism such that the first driving mechanism rotates the first input mechanism about the first axial axis of rotation; and
a second driving mechanism coupled to the second input mechanism such that the second driving mechanism rotates the second input mechanism about the second axial axis of rotation;
wherein on the condition that the first and second input mechanisms rotate together about their associated axial axes of rotation, the needle rotates about but does not translate along the third axial axis of rotation;
wherein on the condition that the first input mechanism rotates around the first axial axis of rotation while the second input mechanism remains stationary, the needle rotates about and translates along the third axial axis of rotation; and
wherein on the condition that the first input mechanism remains stationary while the second input mechanism rotates about the second axial axis of rotation, the needle translates along but does not rotate about the third axial axis of rotation.

18. The ins

Assignees

• Intuitive Surgical Operations

Inventors

• Bailey David W
• Dimaio Simon P

Classifications

• A61B2017/00331

  with preformed bends · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B18/1477

  Needle-like probes · CPC title

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title