Steering techniques for surgical instruments
A steerable endoscopic tool uses concentric sleeves of varying curvature to steer a tool tip toward or in the direction of a location of surgical interest. By rotating and/or axially displacing such sleeves relative to one another the tool tip may be maneuvered within a current field of view with several degrees of freedom without any physical movement of an endoscope, thus facilitating improved surgical access and control without complex mechanical systems in the endoscope or at the surgical site.
1. An apparatus comprising:
a tube having an end with a predetermined radius of curvature and a predetermined stiffness, the tube including a hollow core and an exit from the hollow core at the end for a surgical tool;
a laser fiber disposed in the hollow core as the surgical tool;
a sleeve slidably disposed outside of and concentric with the tube, the sleeve having a terminal portion proximal to the end of the tube with a stiffness greater than the predetermined stiffness of the tube and a radius of curvature greater than the predetermined radius of curvature of the tube;
an endoscopic body having a working channel around the tube and the sleeve; and
a control mechanism coupled to the tube and sleeve through the working channel at a position along the endoscopic body distal to the end of the tube, the control mechanism configured for steering the end of the tube independently of the endoscopic body, the control mechanism including a housing with three controls comprising:
a first control configured to axially displace the tube and the sleeve together to deploy the end of the tube from the endoscopic body in response to sliding a finger interface along a housing of the control mechanism without changing a curvature of the tube and the sleeve, wherein the finger interface is coupled to the tube and the sleeve through a mechanical configuration providing a change in mechanical advantage such that moving the finger interface on the control mechanism moves the end of the tube a small amount relative to a movement of the finger interface,
a second control coupled to the tube and the sleeve and configured to rotate the tube and the sleeve within the endoscopic body in response to a rotation of the housing about a rotation axis of the housing to sweep a distal tip of the laser fiber within a surgical site when the apparatus is introduced to the surgical site for use, and
a third control configured to change a curvature of the end of the tube by axially displacing the sleeve relative to the tube in response to swiveling the housing about a second axis of an axle within the housing the second axis different than the rotation axis.
2. The apparatus of claim 1 wherein the hollow core has a diameter of at least one millimeter.
3. The apparatus of claim 1 wherein the terminal portion of the sleeve is straight.
4. The apparatus of claim 1 wherein the end of the tube is formed of a shape memory alloy.
5. The apparatus of claim 4 wherein the end of the tube is formed of nitinol.
6. The apparatus of claim 1 wherein the terminal portion of the sleeve is formed of nitinol.
7. The apparatus of claim 1 wherein the first control is configured to axially translate the end by uniformly axially displacing the tube and the sleeve.
8. The apparatus of claim 1 wherein the endoscopic body includes:
a remote end housing a second surgical tool proximal to the end of the tube;
a control end distal to the end of the tube; and
a channel for coupling the second surgical tool to the control end.
9. The apparatus of claim 8 wherein the second surgical tool includes a camera.
10. The apparatus of claim 1 wherein the second control is configured to axially rotate the tube within the endoscopic body.
11. The apparatus of claim 1 wherein the second control is configured to axially rotate the tube and the sleeve together within the endoscopic body.
12. The apparatus of claim 1 further comprising a source of a fluid.
13. The apparatus of claim 12 wherein the fluid is supplied from the source through the hollow core to the exit.
14. An endoscope comprising:
a flexible endoscopic body having a first end and a second end;
a tube within the flexible endoscopic body having an end proximal to the first end of the flexible endoscopic body with a predetermined radius of curvature and a predetermined stiffness, the tube including a hollow core and an exit from the hollow core for a surgical tool;
a sleeve slidably disposed outside of and concentric with the tube, the sleeve having a terminal portion proximal to the end of the tube with a stiffness greater than the predetermined stiffness of the tube and a radius of curvature greater than the predetermined radius of curvature of the tube;
a fiber optic within the hollow core extending from the first end to the second end of the flexible endoscopic body;
a laser source coupled to the fiber optic and the second end of the flexible endoscopic body; and
a control mechanism for controlling steering of the fiber optic independent of an endoscopic steering system for the flexible endoscopic body, the control mechanism coupled to the tube and sleeve through a working channel at a position along the flexible endoscopic body distal to the end of the tube, the control mechanism configured for steering the exit from end of the tube independently of an endoscope steering system for the endoscopic body, the control mechanism including a housing with three controls comprising:
a first control configured to axially displace the tube and the sleeve together to deploy the end of the tube from the endoscopic body in response to sliding a finger interface along a housing of the control mechanism without changing a curvature of the tube and the sleeve, wherein the finger interface is coupled to the tube and the sleeve through a mechanical configuration providing a change in mechanical advantage such that moving the finger interface on the control mechanism moves the end of the tube a small amount relative to a movement of the finger interface,
a second control coupled to the tube and the sleeve and configured to rotate one or more of the tube and the sleeve within the endoscopic body in response to a rotation of the housing about a rotation axis of the housing to sweep a distal tip of the fiber optic within a surgical site when the endoscope is introduced to the surgical site for use, and
a third control configured to change a curvature of the end of the tube by axially displacing the sleeve relative to the tube in response to swiveling the housing about a second axis of an axle within the housing, the second axis different than the rotation axis.
15. The endoscope of claim 14 further comprising a camera housed in the first end of the flexible endoscopic body.
16. The apparatus of claim 1 wherein the first control enables the tube and sleeve to fully retract into the endoscopic body.
17. The apparatus of claim 1 wherein the first control includes a finger interface coupled to a tubing advancement slide rack, the tubing advancement slide rack further engaged with a tubing advancement gear rotatably coupled to the housing and coupled to a support rail slide rack engaged through the tubing advancement gear to cause translational movement of the housing relative to a scope attachment mechanism that couples the housing to the endoscopic body, thereby axially displacing the tube and the sleeve together within the endoscopic body.
18. The apparatus of claim 1 wherein the second control supports rotation of at least one of the tube and the sleeve about the rotation axis of the housing independent from a rotation of the endoscopic body.
19. The apparatus of claim 1 wherein the second axis is transverse to the rotation axis.
20. The apparatus of claim 1 wherein the third control includes an outer tube attachment rod coupled to the tube and controlling an axial position of the tube relative to the sleeve by sliding within a slider channel to a position at an intersection of a curvature adjustment channel in the housing and the slider channel, further wherein the curvature adjustment channel is shaped to displace the intersection axially along the slider channel as the housing rotates about the second axis.
21. The apparatus of claim 1 wherein the second control is configured to sweep the distal tip of the laser fiber within a field of view of the surgical site with a degree of rotational freedom independent from the endoscopic body.