Methods and apparatus to shape flexible entry guides for minimally invasive surgery
An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.
1. A robotic medical system, comprising:
a flexible entry guide tube comprising at least one rigidizing cable being actuatable to rigidize a shape of the flexible entry guide tube in place within a body cavity, the at least one rigidizing cable being further actuatable to steer the flexible entry guide tube as the flexible entry guide tube is guided toward a medical site;
a flexible tool insertable into an instrument lumen of the flexible entry guide tube, the flexible tool configured to perform a medical procedure while the shape of the flexible entry guide tube is rigidized by the at least one rigidizing cable;
one or more processors; and
a memory comprising machine readable instructions that cause the one or more processors to:
receive, via a user input device, a command to drive the flexible tool or the flexible entry guide tube; and
control co-articulation of the flexible entry guide tube and the flexible tool while the robotic medical system is in a first drive mode, wherein the co-articulation in the first drive mode includes steering of a distal portion of the flexible entry guide tube to cause an articulation in the distal portion of the flexible entry guide tube, wherein the steering of the distal portion of the flexible entry guide tube causes steering of a steerable portion of the flexible tool such that the steerable portion of the flexible tool has an articulation that corresponds with the articulation of the distal portion of the flexible entry guide tube.
2. The robotic medical system of claim 1 , wherein the machine readable instructions further cause the one or more processors to control movement of the flexible tool to extend a distal end of the flexible tool beyond a distal end of the flexible entry guide tube while the robotic medical system is in a second drive mode.
3. The robotic medical system of claim 1 , wherein the machine readable instructions further cause the one or more processors to, while the robotic medical system is in a second drive mode, control steering of the flexible entry guide tube while the flexible tool remains passive.
4. The robotic medical system of claim 3 , wherein the machine readable instructions further cause the one or more processors to control movement of the flexible entry guide tube to extend a distal end of the flexible entry guide tube beyond a distal end of the flexible tool while the robotic medical system is in the second drive mode.
5. The robotic medical system of claim 3 , wherein in the second drive mode, the flexible entry guide tube is configured to be advanced or retracted while the flexible tool remains stationary.
6. The robotic medical system of claim 1 , wherein in the first drive mode, the flexible entry guide tube and the flexible tool are each configured to advance or retract.
7. The robotic medical system of claim 1 , further comprising a manipulator configured to control movement of the flexible entry guide tube and movement of the flexible tool.
8. The robotic medical system of claim 7 , wherein the machine readable instructions further cause the one or more processors to:
receive, via the user input device, an advancement instruction to advance the flexible entry guide tube when the robotic medical system is in the first drive mode; and
in response to receiving the advancement instruction, advance the flexible entry guide tube via the manipulator.
9. The robotic medical system of claim 7 , wherein the machine readable instructions further cause the one or more processors to:
receive, via the user input device, an advancement instruction to advance the flexible tool when the robotic medical system is in the first drive mode; and
in response to receiving the advancement instruction, advance the flexible tool via the manipulator.
10. The robotic medical system of claim 7 , wherein the machine readable instructions further cause the one or more processors to:
receive, via the user input device, an advancement instruction to advance the flexible tool when the robotic medical system is in a second drive mode, wherein in the second drive mode, the machine readable instructions further cause the one or more processors to control movement of the flexible tool to extend a distal end of the flexible tool beyond a distal end of the flexible entry guide tube; and
in response to receiving the advancement instruction, advance the flexible tool via the manipulator.
11. The robotic medical system of claim 1 , wherein the flexible tool comprises an imaging device, the imaging device configured to capture image data as the flexible entry guide tube is guided toward the medical site.
12. The robotic medical system of claim 1 , wherein flexible tool comprises:
the steerable portion; and
a steering cable extending within the flexible tool to enable independent steering of the steerable portion.
13. The robotic medical system of claim 7 , wherein the manipulator is coupled to the flexible entry guide tube.
14. The robotic medical system of claim 1 , wherein the co-articulation in the first drive mode further includes steering of the steerable portion of the flexible tool to cause an articulation in the steerable portion of the flexible tool, wherein the steering of the steerable portion of the flexible tool causes steering of the distal portion of the flexible entry guide tube such that the distal portion of the flexible entry guide tube has an articulation that corresponds with the articulation of the steerable portion of the flexible tool.