Treatment instrument and high-voltage connectors for robotic surgical system

Inventors

Danitz, David J. • Hinman, Cameron D • Krieg, Kenneth R. • Moss, Kevin L. • Foster, Christopher J. • Uecker, Darrin R.

Assignees

Pulse Biosciences Inc

Abstract

Described herein are methods and systems for using the treatment tip apparatuses and high-voltage connectors with robotic surgical systems. For example, retractable treatment tip apparatuses (e.g., devices, systems, etc.) including one, or more preferably a plurality, of electrodes that are protected by a housing (which may be retractable) until pressed against the tissue for deployment of the electrodes and delivery of a therapeutic treatment, are disclosed. In particular, these apparatuses may include a plurality of treatment needle electrodes and may be configured for the delivery of nanosecond pulsed electric fields. Also described herein are high-voltage connectors configured to provide high-voltage energy, such as nsPEF pulses, from a generator to the retractable treatment tip apparatuses.

Core Innovation

The invention relates to a robotic system for delivery of electrical therapy that includes a robotic arm and a treatment tip apparatus with a high-voltage connector. The system provides a treatment tip housing coupled to the high-voltage connector and an electrode housing extending from a distal end of the treatment tip housing. The electrode housing is configured to retract proximally into the treatment tip housing, where a plurality of treatment electrodes are housed at least partially within the electrode housing.

The core mechanism is converting the plurality of treatment electrodes between an un-deployed configuration and a deployed configuration. In the un-deployed configuration, distal ends of the plurality of treatment electrodes do not extend beyond a distal end face of the electrode housing, and in the deployed configuration the distal ends extend beyond the distal end face. The retraction of the electrode housing converts the plurality of treatment electrodes between the un-deployed and the deployed configurations.

The robotic system further incorporates insulating and deployment interaction features. A distal electrically insulating cover or a soft, electrically insulating material is described at the distal end face of the electrode housing, and the deployment/retraction arrangement is configured to expose an uninsulated distal electrode length to tissue while reducing arcing without insulating gel. Additional refinements describe biasing a transition between configurations and mechanical/electrical control concepts tied to pulse delivery and measured impedance.

Claims Coverage

The patent includes two independent claims. Across the independent claims, the coverage centers on a retractable electrode housing that converts treatment electrodes between un-deployed and deployed configurations on a robotic arm or movable arm, and on insulating material at the distal end face of the electrode housing.

Overall, the claim coverage is directed to robotic delivery of electrical therapy using a retractable electrode housing that switches electrode reach beyond the distal end face, with insulating material at the distal end face and additional dependent refinements addressing electrode form factors, deployment transition biasing, impedance measurement/control, and quantitative constraints for insulating hardness and distal uninsulated length.

Stated Advantages

Documented Applications

No documented applications found