Insertion methods for robotic surgical devices
Inventors
Hendrick, Richard • Dillon, Neal • Blum, Evan
Assignees
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Publication Number
US-12310684-B2
Publication Date
2025-05-27
Expiration Date
Abstract
An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.
Core Innovation
The invention relates to a concentric tube robot that includes a straightening tube and a guide tube. The guide tube includes a curved working end biased away from a longitudinal axis of the guide tube, and the curved working end is positioned inside the straightening tube and mechanically constrained toward a longitudinal axis of the straightening tube.
The mechanically constrained curved working end is inserted into a working channel on an endoscope while the curved working end of the guide tube is mechanically constrained inside the straightening tube. The working end is maintained in a constrained condition suitable for insertion through the endoscope working channel, and after insertion the constrained guide tube is advanced for deployment of the curved working end.
The method further includes axially translating the guide tube relative to the straightening tube and deploying the curved working end of the guide tube from the straightening tube. The deployed curved working end may be repositioned by rotating the guide tube relative to the working channel, and a surgical tool may be delivered axially through the guide tube so the tool extends through the curved working end of the guide tube.
Claims Coverage
The independent claim covers 7 inventive features in an insertion method for a concentric tube robot with a curved, bias-away guide-tube working end that is temporarily constrained inside a straightening tube during insertion into an endoscope working channel.
Mechanically constraining a bias-away curved working end inside a straightening tube
Providing a concentric tube robot including a straightening tube and a guide tube, the guide tube including a curved working end biased away from a longitudinal axis of the guide tube, and positioning the curved working end of the guide tube inside the straightening tube and mechanically constraining the curved working end of the guide tube toward a longitudinal axis of the straightening tube.
Inserting the mechanically constrained curved working end into an endoscope working channel
Inserting the guide tube and straightening tube into a working channel on an endoscope while the curved working end of the guide tube is mechanically constrained inside the straightening tube.
Axially translating and deploying the curved working end from the straightening tube
Further including axially translating the guide tube relative to the straightening tube and deploying the curved working end of the guide tube from the straightening tube.
Rotating the guide tube relative to the working channel
Further including rotating the guide tube relative to the working channel.
Delivering a surgical tool axially through the guide tube so it extends through the curved working end
Further including delivering a surgical tool axially through a guide tube so the tool extends through the guide tube’s curved working end.
Using forceps as the surgical tool
The method is performed using a surgical tool that comprises forceps.
Retracting and re-constraining the curved working end back into the straightening tube
Further retracting the curved working end of a guide tube into a straightening tube and mechanically constraining the curved working end toward the straightening tube’s longitudinal axis.
The claim coverage focuses on mechanically constraining a curved, bias-away working end inside a straightening tube during insertion into an endoscope working channel, then deploying it via axial translation and optionally repositioning by rotation, with optional delivery of a surgical tool through the curved working end and additional retraction/constraining.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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