IP Library › Granted Patent US 12,376,930
Granted Patent B1
US 12,376,930 · App. 18/952,944 · Granted Aug 5, 2025

Handheld surgical systems with interchangeable dexterous end-effectors

Inventors: Emmanouil Dimitrakakis (London, GB); Keshav Iyengar (London, GB); George Dwyer (London, GB); Dimitrios Psychogyios (London, GB)
Assignee: Panda Surgical Limited
A61B34/71A61B17/2909A61B34/37A61B2017/00398A61B2017/00424A61B2017/00464A61B2017/2903A61B2017/2927A61B2017/2946A61B2034/742A61B2090/067
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Quick Facts
Patent No.
US 12,376,930
App. No.
18/952,944
Granted
Aug 5, 2025
Kind
B1
Abstract

Handheld surgical systems having an adjustable, ergonomic handheld controller and a series of interchangeable surgical instruments with dexterous, end-effectors for performing a surgical procedure, e.g., removing brain tumor tissue from confined spaces, and methods of use thereof are disclosed. The end-effector may be actuated in one or more degrees of freedom via a tendon routing system comprising a plurality of antagonistic pairs of tendons extending from the end-effector to a plurality of independently rotatable capstan shafts disposed within a housing of the interchangeable instrument and configured to be releasably and operatively coupled to one or more motors disposed within the handheld controller.

Claims (47)

1. A method for performing a surgical procedure, the method comprising:

providing a handheld controller comprising an interface operatively coupled to one or more motors;

providing an interchangeable instrument having a distal region comprising an end-effector, a proximal region comprising one or more capstan shafts, an elongated shaft extending between the proximal and distal regions, and one or more pairs of tendons, each pair of tendons having distal ends coupled to the end-effector and proximal ends extending through the elongated shaft towards a corresponding pair of capstans of the one or more capstan shafts via a pair of pulleys associated with the corresponding pair of capstans;

releasably coupling the handheld controller to the interchangeable instrument; and

actuating the interface to cause at least one of the one or more motors to cause rotation of at least one of the one or more capstan shafts to thereby actuate the end-effector in one or more degrees of freedom,

wherein rotation of each capstan shaft of the one or more capstan shafts in a first rotational direction causes a first tendon of the corresponding pair of tendons to move in a first axial direction and causes a second tendon of the corresponding pair of tendons to move in a second axial direction opposite the first axial direction to thereby actuate the end-effector in one of the one or more degrees of freedoms.

2. The method of claim 1 , wherein the one or more capstan shafts comprise a first capstan shaft comprising a first pair of capstans operatively coupled to the end-effector via a first pair of tendons of the one or more pairs of tendons, and a second capstan shaft comprising a second pair of capstans operatively coupled to the end-effector via a second pair of tendons of the one or more pairs of tendons, and wherein actuating the interface comprises actuating the interface to cause a first motor of the one or more motors to cause rotation of the first capstan shaft to thereby actuate the end-effector in a pitch degree of freedom, and/or actuating the interface to cause a second motor of the one or more motors to cause rotation of the second capstan shaft to thereby actuate the end-effector in a yaw degree of freedom.

3. The method of claim 2 , wherein distal ends of the first pair of tendons are coupled to opposite sides of the end-effector such that rotation of the first capstan shaft causes the first pair of tendons to cause rotation of the end-effector about a pitch axis, and wherein distal ends of the second pair of tendons are coupled to opposite sides of the end-effector such that rotation of the second capstan shaft causes the second pair of tendons to cause rotation of the end-effector about a yaw axis.

4. The method of claim 2 , wherein the first and second capstan shafts are arranged in a linear configuration.

5. The method of claim 2 , wherein the one or more capstan shafts comprise a third capstan shaft comprising a third pair of capstans operatively coupled to the end-effector via a third pair of tendons of the one or more pairs of tendons, the method further comprising actuating a second interface of the handheld controller to cause a third motor of the one or more motors to cause rotation of the third capstan shaft to thereby actuate the end-effector in an open and close degree of freedom.

6. The method of claim 5 , wherein the second interface comprises a trigger.

7. The method of claim 5 , wherein the end-effector comprises a jaw configured to rotate about a jaw axis perpendicular to a longitudinal axis of the end-effector, and wherein a first distal end of the third pair of tendons is coupled to a first side of the jaw and a second distal end of the third pair of tendons is coupled to an opposite side of the jaw, such that rotation of the third capstan shaft in the first rotational direction causes the third pair of tendons to rotate the jaw in a first direction about the jaw axis and rotation of the third capstan shaft in an opposite rotational direction causes the third pair of tendons to rotate the jaw in an opposite direction about the jaw axis.

8. The method of claim 5 , wherein the first, second, and third capstan shafts are arranged in a triangular configuration.

9. The method of claim 1 , wherein each capstan shaft of the one or more capstan shafts comprises an instrument coupler,

wherein each motor of the one or more motors comprises a controller coupler, and

wherein releasably coupling the handheld controller to the interchangeable instrument comprises operatively coupling each instrument coupler to a corresponding controller coupler of the one or more motors, such that the one or more motors cause rotation of the one or more capstan shafts via the corresponding instrument and controller couplers.

10. The method of claim 9 , wherein the instrument coupler comprises a groove,

wherein the controller coupler comprises a boss comprising a tapered portion configured to facilitate self-alignment of the controller coupler with the instrument coupler, and

wherein operatively coupling each instrument coupler to the corresponding controller coupler comprises releasably engaging the boss with the groove to permit transmission of rotary motion from the one or more motors to the one or more capstan shafts.

11. The method of claim 10 , wherein the one or more motors are disposed within a compliant motor pack, and wherein operatively coupling each instrument coupler to the corresponding controller coupler comprises applying a force to move the compliant motor pack within the handheld controller to facilitate self-alignment of the controller coupler with the instrument coupler.

12. The method of claim 1 , wherein each capstan shaft of the one or more capstan shafts is configured to rotate about a respective capstan axis parallel to a longitudinal axis of the elongated shaft.

13. The method of claim 12 , wherein each pair of pulleys associated with the one or more capstan shafts is configured to rotate about a respective pulley axis perpendicular to the longitudinal axis of the elongated shaft.

14. The method of claim 13 , wherein the respective pulley axis is angled to align the corresponding pair of pulleys in a direction towards the pair of capstans of the associated one or more capstan shafts.

15. The method of claim 13 , wherein each pair of pulleys associated with the one or more capstan shafts is aligned with the longitudinal axis of the elongated shaft to thereby route the one or more pairs of tendons from the one or more capstan shafts through the elongated shaft.

16. The method of claim 13 , wherein a first pair of pulleys associated with a first capstan shaft of the one or more capstan shafts is configured to rotate about a first pulley axis, and wherein a second pair of pulleys associated with a second capstan shaft of the one or more capstan shafts is configured to rotate about a second pulley axis offset from the first pulley axis.

17. The method of claim 1 , wherein a distal end of the elongated shaft comprises a ball joint base pivotally engaged with a ball at a proximal end of the end-effector to form a ball joint, and wherein actuating the interface causes movement of the end-effector in at least one of two degrees of freedom about the ball joint.

18. The method of claim 1 , wherein rotation of each capstan shaft of the one or more capstan shafts in a second rotational direction opposite the first rotational direction causes the first tendon of the corresponding pair of tendons to move in the second axial direction and causes the second tendon of the corresponding pair of tendons to move in the first axial direction to thereby actuate the end-effector in the one of the one or more degrees of freedoms.

19. The method of claim 1 , further comprising actuating a latch to transition the latch from an unlocked state to a locked state to lock the handheld controller to the interchangeable instrument.

20. The method of claim 1 , further comprising measuring an angular position of each capstan shaft of the one or more capstan shafts via one or more sensors of the interchangeable instrument, the angular position of each capstan shaft indicative of an amount of actuation of the end-effector in each of the one or more degrees of freedoms.

21. The method of claim 1 , wherein the interface comprises a joystick.

22. The method of claim 1 , wherein the handheld controller comprises a connection portion configured to be removably coupled to the interchangeable instrument, and a handle portion rotatably coupled to the connection portion, the handle portion sized and shaped to be held in a user's palm and comprising the interface, the method further comprising:

selectively rotating the handle portion relative to the connection portion at predefined increments to ergonomically align the interface with the user's thumb.

23. The method of claim 22 , wherein selectively rotating the handle portion relative to the connection portion comprises:

pulling the handle portion away from the connection portion;

rotating the handle portion relative to the connection portion via a hirth joint; and

releasing the handle portion, such that a compression spring coupling the handle portion to the connection portion biases the handle portion towards the connection portion to thereby maintain a position of the handle portion relative to the connection portion.

24. The method of claim 1 , further comprising actuating a second interface to cause the end-effector to return to a linear configuration.

25. The method of claim 1 , further comprising:

selecting the interchangeable instrument from a plurality of interchangeable instruments based on the surgical procedure, each of the plurality of interchangeable instruments comprising a long grasper, a short grasper, a ring-curette, a long ring-curette, a spoon curette, a suction tip, an endoscope, a needle holder, a scissor, or a dissector,

wherein releasably coupling the handheld controller to the interchangeable instrument comprises releasably coupling the handheld controller to the selected interchangeable instrument.

26. The method of claim 1 , further comprising applying a drape between the interchangeable instrument and the handheld controller to maintain sterility of the handheld controller during the surgical procedure.

27. The method of claim 1 , further comprising providing power to the handheld controller via a console operatively coupled to the handheld controller.

28. The method of claim 1 , wherein actuating the interface to actuate the end-effector comprises actuating the interface to cause the end-effector to move in the one or more degrees of freedom to perform minimally invasive neurosurgery.

29. The method of claim 28 , further comprising visualizing an operative workspace of the end-effector via a neuroendoscope.

30. The method of claim 28 , wherein the elongated shaft is sized and shaped to be inserted through a nasal passageway, the method further comprising:

inserting the distal region of the interchangeable instrument through the nasal passageway of a patient,

wherein actuating the interface to actuate the end-effector comprises actuating the interface to cause the end-effector to move in the one or more degrees of freedom to perform the minimally invasive neurosurgery on a brain of the patient.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 19, 2024
From: DIMITRAKAKIS, EMMANOUIL; IYENGAR, KESHAV; DWYER, GEORGE; PSYCHOGYIOS, DIMITRIOS
To: PANDA SURGICAL LIMITED
Reel/Frame 069331/0822 →
Priority Claims (1)
EP 24386010 · Feb 2, 2024 · regional
Continuity (2)
Continuation 18792533 · Aug 1, 2024
Provisional Application 63570158 · Mar 26, 2024
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US 12,667,442