CN-122028865-A - Rotary-to-linear force articulation member for surgical instrument

Abstract

The medical device includes a plurality of rotational-to-linear force articulation members each having a first end coupled to the elongate rotatable drive element and a second end operatively coupled to a distal end of the medical device. Each rotational-to-linear force articulation member is distally spaced from the force transmission member via the elongate shaft and indirectly connected to the force transmission member via a plurality of elongate rotatable drive elements. In response to the force transmitting member, the plurality of rotational-to-linear force articulation members drive actuation of the distal end of the medical device by coordinating a length adjustment determined by relative rotation between the first and second ends thereof. Due to the over-torquing, the length adjustment may have a substantially linear relationship with one or more rotatable inputs of the force transmission member.

Inventors

• B.M. Sherner

Assignees

• 直观外科手术操作公司

Dates

Publication Date

20260512

Application Date

20241015

Priority Date

20231016

Claims (20)

1. 1. A medical device, comprising: a proximal force transmission member comprising one or more rotatable inputs configured to receive a force or torque from an external device; An elongate shaft having a proximal end coupled to the proximal force transmitting member, the elongate shaft housing a plurality of elongate rotatable drive elements respectively coupled to the one or more rotatable inputs of the proximal force transmitting member, and A plurality of rotational-to-linear force articulation members coupled to the distal end of the elongate shaft, each of the plurality of rotational-to-linear force articulation members having a first end coupled to the elongate rotatable drive element and having a second end operably coupled to the distal end of the medical device, respectively, each rotational-to-linear force articulation member being distally spaced from the force transmission member via the elongate shaft and indirectly connected to the force transmission member via the plurality of elongate rotatable drive elements, Wherein in response to a force or torque applied to one or more rotatable inputs of the force transmitting member, one or more of the plurality of rotation-to-linear force articulation members is configured to drive actuation of the distal end of the medical device by coordinating a selected rotation-to-linear force articulation member length adjustment determined by a relative rotation between the first end and the second end of each of the selected rotation-to-linear force articulation members.
2. 2. The medical device of claim 1, wherein the elongate shaft is a flexible elongate member.
3. 3. The medical device of claim 1, wherein the elongate shaft is a rigid shaft.
4. 4. The medical device of any one of claims 1-3, wherein the rotation-to-linear force articulation member comprises a torsion cord actuator.
5. 5. The medical device of any one of claims 1-3, wherein the medical device is a surgical instrument.
6. 6. The medical device of claim 5, wherein the distal end of the medical device is an end effector actuated by the rotational-to-linear force articulation member.
7. 7. The medical device of claim 6, wherein the end effector operates along a plurality of axes and the proximal force transmission member includes two motors for each of the plurality of axes.
8. 8. The medical device of claim 5, wherein the medical device comprises a wrist mechanism actuated by the rotational-to-linear force articulation member.
9. 9. The medical device of any one of claims 1-3, wherein the medical device is an endoscope.
10. 10. The medical device of claim 9, wherein the distal end of the endoscope is an articulating bending section of the endoscope.
11. 11. The medical device of claim 10, wherein the articulating bending section comprises a coiled tubing.
12. 12. The medical device of any one of claims 1-3, wherein a flexible sheath is provided around each of the plurality of elongate rotatable drive elements.
13. 13. The medical device of any one of claims 1-3, wherein each of the plurality of rotational-to-linear force articulation members is mated such that a length adjustment of a first mating rotational-to-linear force articulation member in a first direction matches an equidistant length adjustment of a second mating rotational-to-linear force articulation member in a second, opposite direction.
14. 14. The medical device of claim 13, wherein the first pair of rotational-to-linear force articulation members is integral with the second pair of rotational-to-linear force articulation members.
15. 15. The medical device of claim 13, wherein the first pair of rotational-to-linear force articulation members is separate from but connected to the second pair of rotational-to-linear force articulation members.
16. 16. The medical device of any one of claims 1-3, wherein each force articulation member is distally spaced from the force transmission member by one meter or more.
17. 17. The medical device of any one of claims 1-3, further comprising a plurality of ball bearings provided at the first ends of the plurality of rotational-to-linear force articulation members.
18. 18. The medical device of claim 17, wherein the first subset of ball bearings is axially offset from the second subset of ball bearings.
19. 19. The medical device of any one of claims 1-3, further comprising a plurality of linear slides connected to the second ends of the plurality of rotational-to-linear force articulation members and configured to maintain alignment of the plurality of rotational-to-linear force articulation members.
20. 20. The medical device of claim 19, wherein each of the plurality of linear slides is fixed to another of the plurality of linear slides.

Description

Rotary-to-linear force articulation member for surgical instrument Cross Reference to Related Applications The present application claims the benefit of priority from U.S. provisional application No.63/590,738 filed on 10/16 of 2024, the entire contents of which are incorporated herein by reference. Technical Field The present disclosure relates to force articulation members for surgical instruments. Background Minimally invasive medical techniques aim to reduce the amount of damaged tissue in a medical procedure, thereby reducing patient recovery time, discomfort, and deleterious side effects. Such minimally invasive techniques may be performed through natural orifices in the patient's anatomy or through one or more surgical incisions. Through these natural orifices or incisions, the operator may insert minimally invasive medical instruments to reach the target tissue site. Minimally invasive medical instruments include instruments such as therapeutic, diagnostic, biopsy, and surgical instruments. The medical instrument may be inserted into the anatomical passageway and directed toward a region of interest within the patient's anatomy. Some anatomical passageways, such as the gastrointestinal tract (GI), are long and tortuous. Surgical instruments for GI procedures such as endoscopic submucosal dissection (Endoscopic Submucosal Dissection, ESD) and endoscopic submucosal resection (Endoscopic Mucosal Resection, EMR) can be operated through long, flexible working channels of standard or custom endoscopes or otherwise along such endoscopes, which can be over 1.6 meters in length. Articulation of the instrument and/or endoscope may be by a tension element (e.g., a drive cable) wound on a rotating capstan. The capstan is operably coupled to an external device, such as a robotic manipulator, and receives force/torque from the manipulator to drive the instrument and/or endoscope. However, with longer lengths of instrument/endoscope and associated drive cables, capstan friction from moving the tensioning cable through a tortuous path may hinder actuation of the surgical instrument, as capstan friction increases exponentially based on the angle of bending. Even a small increase in the bending angle multiplies the force loss to the point that the surgical instrument is malfunctioning or completely out of operation and reaches the cumulative bending angle of the cecum, which may exceed 360 degrees, for example. In short, the design of flexible surgical instruments is limited by the actuation challenge posed by capstan friction. There is a need for an instrument that can operate without unduly increasing capstan friction to achieve a medical procedure. Disclosure of Invention Consistent with some examples, a medical device may include a proximal force transmitting member, an elongate shaft, and a plurality of rotational-to-linear force articulation members/rotational-to-linear force articulation members (rotary to linear force articulation members). The proximal force transmitting member may include one or more rotatable inputs configured to receive a force or torque from an external device. The elongate shaft may have a proximal end coupled to a proximal force transmitting member. The elongate shaft may house a plurality of elongate rotatable drive elements that are respectively coupled to one or more rotatable inputs of the proximal force transmission member. A plurality of rotational to linear force articulation members may be coupled to the distal end of the elongate shaft. The plurality of rotational-to-linear force articulation members may each have a first end coupled to the elongate rotatable drive element and a second end operatively coupled to the distal end of the medical device, respectively. Each rotational-to-linear force articulation member may be distally spaced from the force transmission member via the elongate shaft and indirectly connected to the force transmission member via a plurality of elongate rotatable drive elements. In response to a force or torque applied to one or more rotatable inputs of the force transmitting member, one or more of the plurality of rotation-to-linear force articulation members may be configured to drive actuation of the distal end of the medical device by coordinating a selected adjustment of the length of the rotation-to-linear force articulation member. The length adjustment of the selected rotational-to-linear force hinge member may be determined by a relative rotation between the first end and the second end of each of the selected rotational-to-linear force hinge members. In some examples, the elongate shaft may be a flexible elongate member. In some examples, the elongate shaft may be a rigid shaft. In some examples, the rotation to linear force hinge member may include a torsion cord actuator. In some examples, the medical device may be a surgical instrument. In some examples, the distal end of the medical device may be an end effector actuated by a rotary to li