Insertable robot for minimally invasive surgery
An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.
1. An apparatus for performing surgery, comprising:
a shaft including a longitudinal working channel defined through the shaft, the working channel having a proximal end with a proximal end opening and a distal end with a distal end opening and an inner working channel diameter; and
an insertable tube assembly configured for axial insertion into the longitudinal working channel, the insertable tube assembly including a guide tube having a curved working end and a linear straightening tube with an outer diameter, the curved working end of the guide tube having a resting orientation biased away from a longitudinal axis of the linear straightening tube, the insertable tube assembly including an effective outer diameter defined as the outer diameter of the insertable tube assembly when the guide tube is housed inside the linear straightening tube,
wherein when the curved working end of the guide tube is housed inside the linear straightening tube, the linear straightening tube constrains and forces the curved working end of the guide tube away from its resting orientation toward the longitudinal axis of the linear straightening tube. such that the effective outer diameter of the insertable tube assembly is less than the inner working channel diameter, and such that the insertable tube assembly is straight along the longitudinal axis of the linear straightening tube and may be translated axially inside the longitudinal working channel.
2. The apparatus of claim 1 , wherein the insertable tube assembly is configured for axial insertion into the proximal end opening of the working channel.
3. The apparatus of claim 2 , wherein the guide tube is axially moveable in translation relative to the linear straightening tube.
4. The apparatus of claim 3 , wherein the guide tube is angularly rotatable relative to the working channel.
5. The apparatus of claim 4 , further comprising a surgical tool disposed inside the guide tube.
6. The apparatus of claim 5 , wherein the surgical tool is axially moveable in translation relative to the guide tube.
7. The apparatus of claim 6 , wherein the surgical tool is angularly rotatable relative to the guide tube.
8. The apparatus of claim 7 , further comprising a transmission disposed on the insertable tube assembly, wherein the transmission includes a translation drive coupled to the guide tube and a rotation drive coupled to the guide tube.
9. The apparatus of claim 1 , wherein the curved working end of the guide tube is configured to bend toward the resting orientation biased away from the longitudinal axis of the linear straight tube in response to the curved working end of the guide tube being advanced out of the linear straightening tube.