Steerable overtube assemblies for robotic surgical systems
Inventors
Kim, Daniel • Park, Yongman • Lee, Raymond • Cho, Sungwoo • Shin, DongSuk
Assignees
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Publication Number
US-11963730-B2
Publication Date
2024-04-23
Expiration Date
Abstract
A steerable overtube assembly for a robotic surgical system can include a steerable shaft having one or more instrument channel and a control hub configured to mount to the steerable shaft. The assembly can also include a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, and a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft.
Core Innovation
The invention relates to a steerable overtube assembly for a robotic surgical system that includes a steerable shaft having one or more instrument channels and a control hub configured to mount to the steerable shaft. The assembly provides a manual actuator extending from the control hub so a user can manually steer the steerable shaft by a user's hand. The assembly further includes a robotic actuator housed by and/or extending from the control hub to connect to a robotic driver for robotic steering of the steerable shaft.
The manual actuator and the robotic actuator are coaxial and connected together such that robotic movement of the robotic actuator causes movement of the manual actuator. Manual steering is accessible before connecting the robotic actuator to a robotic driver, and robotic steering is enabled after connection. Further embodiments describe actuator arrangements positioned on opposite sides of the control hub and steering control using two planes, optionally orthogonal, with two independent actuators controlling the steerable shaft in the two planes.
The invention also describes embodiments where the control hub includes access channels to instrument channels and where multi-lumen and concentric structures are used with independent actuation. In these embodiments, dual concentric shafts with independent actuation are driven by pull members, including cables, wires, or chains, and the actuation is implemented using a pulley wheel or a toothed wheel. Additional embodiments describe robotic connection using transmission-based gear trains configured to rotate a shaft in the same direction, along with docking/mounting to a patient cart using separate drivers for independent actuators, including docking to multiple non-concentric robotic drivers.
Claims Coverage
The document provides three independent claims (clm-00001, clm-00016, clm-00017). Across the independent claims, the coverage centers on a steerable overtube/control assembly with a control hub, a hub-mounted manual actuator for manual steering, and a hub-mounted robotic actuator for robotic steering, with coaxial mechanical coupling and, depending on the claim, concentric manual actuators.
Coaxial manual and robotic actuators coupled at a control hub
A steerable overtube assembly for a robotic surgical system including a steerable shaft having one or more instrument channels, a control hub configured to mount to the steerable shaft, a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, and a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft, wherein the manual actuator and the robotic actuator are coaxial and connected together such that robotic movement of the robotic actuator causes movement of the manual actuator.
Hub-mounted steerable overtube control with coaxial coupled manual and robotic actuation
A control assembly for a steerable overtube of a robotic surgical system including a control hub configured to mount to a steerable shaft, a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, and a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft, wherein the manual actuator and the robotic actuator are coaxial and connected together such that robotic movement of the robotic actuator causes movement of the manual actuator.
Concentric dual manual actuation with robotic steering from the control hub
A control assembly for a steerable overtube of a robotic surgical system including a control hub configured to mount to a steerable shaft, a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, wherein the manual actuator includes a first manual actuator and a second manual actuator, wherein the first manual actuator and the second manual actuator are concentric, and a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft.
All independent claims require a control hub mountable to a steerable shaft and a manual actuator and robotic actuator arranged coaxially and connected so robotic movement of the robotic actuator moves the manual actuator. One independent claim further specifies the manual actuator includes a first and a second manual actuator that are concentric.
Stated Advantages
Documented Applications
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