MASTER - SLAVE FLEXIBLE ROBOTIC ENDOSCOPY SYSTEM
A flexible robotic endoscopy slave system includes an endoscope body and a flexible elongate shaft extending therefrom into which at least one tendon driven robotic endoscopic instrument is insertable; a docking station with which the endoscope body is releasably dockable; and a translation mechanism for selectively longitudinally displacing the endoscopic instrument(s) within the flexible elongate shaft when the endoscope body is docked. The translation mechanism can carry and selectively displace actuators that drive each robotic endoscopic instrument by way of tendons. At least one degree of freedom (DOF) of robotic instrument motion is controlled by a pair of actuators and a corresponding pair of tendons. Actuation engagement structures releasably couple the actuators to an adapter structure for driving each endoscopic instrument. Tendon pretensioning can occur automatically under programmable control. A roll joint without tendon crimping structures can be employed in a robotic endoscopic instrument for reducing tendon wear and roll joint spatial volume.
1 . A master-slave endoscopy system comprising:
an endoscope having a main body from which a flexible elongate shaft extends, the flexible elongate shaft spanning a length between a proximal end and a distal end thereof, the flexible elongate shaft having a set of channels disposed therein along its length into which a set of actuation assemblies are insertable, the plurality of channels including a first channel and a second channel;
a set of robotically driven actuation assemblies, each robotically driven actuation assembly including:
a robotic arm having a robotically driven end effector coupled thereto;
a plurality of tendons coupled to the robotic arm and configured for controlling motion of the robotic arm and the end effector in accordance with a predetermined number of degrees of freedom (DOF); and
an outer sleeve surrounding the plurality of tendons;
a first instrument adapter corresponding to each robotically driven actuation assembly and coupled to the tendons thereof, the first instrument adapter couplable to a set of mechanical elements for selectively coupling the plurality of tendons of the robotically driven actuation assembly to a set of robotic arm/end effector manipulation actuators; and
a translation mechanism configured for independently translating each robotically driven actuation assembly along a predetermined fraction of the length of the flexible elongate shaft to effectuate surge displacement of the robotically driven actuation assembly, the translation mechanism comprising one of:
(a) a collar carried by each outer sleeve of the set of robotically driven actuation assemblies; and
a translation unit comprising:
a receiver configured for matingly receiving an outer sleeve of a robotically driven actuation assembly; and
a linear actuator corresponding to each receiver and configured for selectively translating the receiver along the predetermined fraction of the flexible elongate shaft's length;
(b) a second instrument adapter to which each first instrument adapter is matingly engageable for coupling the tendons of the robotically driven actuation assembly corresponding to the first instrument adapter to the set of robotic arm/end effector manipulation actuators; and
a translation unit configured for carrying each first instrument adapter as well as a second instrument adapter matingly engageable therewith, and displacing each first instrument adapter and each second instrument adapter that are matingly engaged to effectuate surge displacement of individual robotically driven actuation assemblies along the predetermined fraction of the flexible elongate shaft's length; and
(c) a translation unit configured for displacing individual sets of robotic arm/end effector manipulation actuators and each first instrument adapter coupled thereto to effectuate surge displacement of individual robotically driven actuation assemblies along the predetermined fraction of the flexible elongate shaft's length.
2 . The system of claim 1 , wherein each second instrument adapter is coupled to the set of robotic arm/end effector manipulation actuators by a tether having a plurality of tendons therein.
3 . The system of claim 1 , further comprising a docking station to which a portion of the main body of the endoscope is detachably engageable, wherein the translation mechanism is carried by the docking station.
4 . The system of claim 2 , further comprising a docking station to which a portion of the main body of the endoscope is detachably engageable, wherein the translation mechanism is carried by the docking station.
5 . The system of claim 2 , further comprising a patient side cart that carries the docking station.
6 . The system of claim 3 , further comprising a patient side cart that carries the docking station.
7 . The system of claim 4 , further comprising a patient side cart that carries the docking station.
8 . The system of claim 1 , further comprising a set of cradles carrying the translation mechanism, wherein each cradle of the set of cradles corresponds to an individual robotically driven actuation assembly, and each cradle of the set of cradles is coupled to a roll motion actuator configured for individually rotating the cradle and its corresponding robotically driven actuation assembly about a roll axis to provide roll motion to the robotic arm and end effector of the robotically driven actuation assembly.
9 . The system of claim 8 , further comprising a docking station to which a portion of the main body of the endoscope is detachably engageable, wherein the docking station carries the translation mechanism and the set of cradles.