Surgical apparatus
The disclosure provides a surgical apparatus comprising: a steerable member that is bendable and comprises a plurality of bending segments with channels therein; and a plurality of bending actuation wires that are arranged to pass through the steerable member and cause the steerable member to bend, the steerable member comprising at least one outwardly opening lumen through which the bending actuation wires pass.
1. A surgical instrument, comprising:
a carriage mounted on a base, the carriage moveable linearly on the base;
at least one support extending from, and supported by, the carriage;
at least one frame supported on the carriage, the frame moveable linearly by linear movement of the carriage, and also moveable rotationally about an axis extending from the support, the carriage, the support and the at least one frame moveable linearly, along the base, by a first linear actuator and the at least one frame moveable rotationally by a rotational actuator interposed between the first linear actuator and the frame;
at least one robotic controller supported by the at least one frame, wherein the at least one robotic controller is linearly moveable inwardly and outwardly of the at least one frame, and the robotic controller includes a coupling face and at least one moveable member moveable toward and away from the coupling face;
a coupling configured to connect to a steerable member, the end of which is configured with an end effector, the steerable member actuable to bend by operation of the at least one robotic controller moveable inwardly and outwardly of the frame, the coupling further including at least one wire extending therefrom to the end effector and a wire connection releasably coupleable to the moveable member of the robotic controller; and
a flexible sheath coupling configured to connect to a flexible sheath.
2. The surgical instrument of claim 1 , wherein the at least one robotic controller is rotatable within the frame.
3. The surgical instrument of claim 2 , wherein the moveable member of the robotic controller includes and end portion moveable inwardly and outwardly of the coupling face.
4. The surgical instrument of claim 1 , further comprising a sheath support spaced from, and supported by, the frame, the sheath support configured to connect to a flexible sheath.
5. The surgical instrument of claim 1 , further comprising:
a second frame supported on the carriage, the second frame moveable linearly by linear movement of the carriage, and also moveable about an axis extending from the support;
a second robotic controller supported by the second frame, wherein the second robotic controller is linearly moveable inwardly and outwardly of the second frame; and
a second coupling configured to connect to a steerable member, the end of which is configured with an end effector actuable by operation of the second robotic controller.
6. The surgical instrument of claim 5 , further comprising:
a sheath support spaced from, and supported by, the frames;
a flexible sheath having a proximal end and a distal end, the flexible sheath connected to the sheath support at its proximal end; and
a first a steerable member, the end of which is configured with an end effector actuable by operation of the at least one robotic controller, extending from the at least one robotic controller and inwardly of the flexible sheath and a second steerable member, the end of which is configured with an end effector actuable by operation of the at least one robotic controller extending from the second robotic controller and inwardly of the flexible sheath.
7. The surgical instrument of claim 6 , wherein the first steerable member and the second steerable member comprise a proximal portion connected to the at least one robotic controller and a distal portion connected to a first end effector and a second end effector, respectively; wherein
movement of the at least one robotic controller inwardly and outwardly of the frame changes the position of the first end effector and the second end effector relative to the end of the flexible sheath.
8. The surgical instrument of claim 7 , further comprising a coupler extending inwardly of the distal end of the flexible sheath, the coupler including at least a first opening therethrough within which the first steerable member is extendable, and second opening therethrough within which the second steerable member is extendable.
9. The surgical instrument of claim 7 , further comprising a wire coupled at its first and second ends to different ones of the instrument connectors, and a wire connector connected thereto;
wherein the end effector comprises a four bar linkage, first and second linkages of which are coupled together by a first pivot pin, and third and fourth linkages of which are connected by a second pivot pin, and the wire connector is connected to the second pin;
and, the wire passes over the first pivot pin.
10. The surgical instrument of claim 6 , further comprising an intermediate coupler located in the flexible sheath and having at least a first opening therein and a second opening therein, wherein the first steerable member extends through the first opening in the intermediate coupler and the second steerable member extends through the second opening in the intermediate coupler.
11. The surgical instrument of claim 6 , wherein the steerable member is bendable and comprises a plurality of bending segments, each bending segment comprising:
a body surrounding a channel extending therethrough and disposed about a longitudinal axis of the bending segment, the body including a circumferential outer wall extending thereabout and bounded by opposed first and second end walls spaced from one another in the direction of the longitudinal axis; and
at least one connection portion extending from each body of the plurality of bending segments and in the direction of another of the bending segments of the plurality of bending segments;
a plurality of bending actuation wires that are arranged to pass through the steerable member and cause the steerable member to bend, and wherein
each body further includes a plurality of lumens extending in a direction generally parallel to the longitudinal axis of the bending segment and through the body of the bending segment;
at least two of the plurality of lumens in one body comprise an open lumen portion open to exterior of the bending segment and not covered by the circumferential outer wall of the bending segment at a location of the body between the first end wall and the second end wall of the body, and a closed lumen portion extending through the body and surrounded by the body of the bending segment.
12. The surgical apparatus of claim 11 , wherein the plurality of actuation wires include a first actuation wire extending though a first lumen of the plurality of lumens, and a second actuation wire extending through a second lumen of the plurality of lumens, wherein when the steerable member is bent, the length of contact between the first bending actuation wire and the bending segments is less than the length of contact between the second bending actuation wire and the bending segments.
13. The surgical apparatus of claim 11 , wherein the lumens of the plurality of lumens in each body are located at a distance from the longitudinal axis of the bending segment, and each lumen of the plurality of lumens in a body is configured such that a wall thereof located inwardly of the circumferential outer wall of the body and closer to the center of the body is longer than a wall thereof adjacent to the circumferential outer wall side thereof.
14. The surgical apparatus of claim 11 , wherein at least one of the lumens in the plurality of lumens in each body comprises a closed lumen portion and an open lumen portion, wherein the open lumen portion is located closer to one of the first and second end walls than the other of the first and second end walls of the body.
15. The surgical apparatus of claim 11 , wherein the plurality of bending segments are bendable about a center of curvature, and at least one of the lumens of the plurality of lumens in the body of each bending segment has a stumbling portion on one side along the length thereof in the direction between the first end wall and the second end wall of the body, and the stumbling portion is configured such that when the steerable member is bent, the length of the stumbling portion increases the length of contact between the wire at a lumen on the side of the bending segment distal to the center of curvature of the bending segments.
16. The surgical apparatus of claim 11 wherein the bodies of the plurality of bending segments are bendable about a center of curvature, and when in a bended configuration around the center of curvature, the distance along a path along which a first bending actuation wire of the plurality of actuation wires which is located nearer to the center of curvature than another of the plurality of actuation wires passes through the lumens in the bodies of two adjacent bending segments is longer than the distance between the bodies of the two adjacent bending segments at the location where the first actuation wire passes through the adjacent two bodies of two adjacent bending segments, and the distance along a path along which a second of the bending actuation wires of the plurality of actuation wires which is located further from the center of curvature passes through the two adjacent bending segments is equal to the distance between the two bodies of the two adjacent bending segments at the location where the second actuation wire passes through the adjacent bodies of the two adjacent bending segments.
17. The surgical apparatus of claim 16 wherein the at least one connection portion of the plurality of bending segments include first connection portions and second connection portions, and wherein at least a first connection portion is bounded by the first end wall of the body of a first bending segment and at least a second connection portion is bounded by the second end wall of the body of a second bending segment located directly adjacent to the first bending segment and the first connection portion of the first bending segment and the second connection portion of the second bending segment together comprise a hinged connection.
18. The surgical instrument of claim 1 , wherein the coupling configured to connect to a steerable member comprises:
a housing comprising an outer shell and a plurality of instrument connectors, each coupled to a wire extending therefrom inwardly of the steerable member; wherein
the at least one robotic controller further comprises a plurality of controller connectors, wherein each controller connection is configured to couple to a single instrument connector.
19. The surgical instrument of claim 18 , wherein the at least one robotic controller includes a plurality of linear motors, each one connected to a single one of the controller connectors.
20. A surgical instrument, comprising:
a carriage mounted on a base, the carriage moveable linearly on the base;
at least one support extending from, and supported by, the carriage;
at least one frame supported on the carriage by a connection therewith, the frame moveable linearly by linear movement of the carriage, and also moveable rotationally about an axis extending from the support, the carriage, the support and the at least one frame moveable linearly along the base by a first linear actuator and the at least one frame is also moveable rotationally by a rotational actuator interposed between the first linear actuator and the frame;
at least one robotic controller supported by the at least one frame, wherein the at least one robotic controller is linearly moveable inwardly and outwardly of the at least one frame, and the robotic controller includes a coupling face and at least one moveable member moveable toward and away from the coupling face;
a coupling configured to connect to a steerable member, the end of which is configured with an end effector, the steerable member actuable to bend by operation of the at least one robotic controller, the coupling further including at least one wire extending therefrom to the end effector, and a wire connection releasably coupleable to the moveable member of the robotic controller;
the at least frame further includes an end face on an end thereof distal to the connection thereof with the carriage, the end face having an opening therein, and the robotic controller is configured to extend through and move within the opening in the end face; and
a flexible sheath coupling configured to connect to a flexible sheath.