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WO-2026096248-A1 - ROBOTIC SYSTEMS AND INSTRUMENTS

WO2026096248A1WO 2026096248 A1WO2026096248 A1WO 2026096248A1WO-2026096248-A1

Abstract

A force transmission system for a robotically controlled medical device includes a pushing actuator adapted and configured to be pushed distally by a robotic instrument controller, a pivot, and a reverse linkage rotatable about the pivot. The reverse linkage includes a first portion extending between the pivot and the pushing actuator, and operably engaged with the pushing actuator, a second portion extending from the pivot away from the first portion, adapted to engage a control wire of the robotically controlled medical device and pull the control wire proximally in response to distal movement of the pushing actuator, and a distal surface of the second portion having an arcuate surface adapted maintain an axial position of the control wire throughout a range of motion thereof.

Inventors

  • PARK, YONGMAN
  • KIM, DANIEL
  • LEE, RAYMOND
  • CHO, SUNGWOO
  • SHIN, DONGSUK

Assignees

  • ENDOQUEST ROBOTICS, INC.

Dates

Publication Date
20260507
Application Date
20251021
Priority Date
20241031

Claims (20)

  1. 1. A force transmission system for a robotically controlled medical device comprising: a pushing actuator adapted and configured to be pushed distally by a robotic instrument controller; a pivot; and a reverse linkage rotatable about the pivot, the reverse linkage having: a first portion extending between the pivot and the pushing actuator, and operably engaged with the pushing actuator; a second portion extending from the pivot away from the first portion, adapted to engage a control wire of the robotically controlled medical device and pull the control wire proximally in response to distal movement of the pushing actuator; and a distal surface of the second portion having an arcuate surface adapted to maintain an axial position of the control wire throughout a range of motion thereof.
  2. 2. The force transmission system of claim 1 , wherein the arcuate surface is adapted to maintain a radial position of the control wire with respect to a central axis of the robotically controlled medical device.
  3. 3. The force transmission system of claim 1, wherein the arcuate surface is defined by a constant radius from the pivot.
  4. 4. The force transmission system of claim 1, wherein the arcuate surface is provided with a groove to guide the control wire and maintain operable engagement therewith. Attorney Docket No. 1569633.110WO22 CBMX0015D01
  5. 5. The force transmission system of claim 1, further comprising the control wire, the control wire having first and second ends, a first end thereof being secured to the second portion of the reverse linkage.
  6. 6. The force transmission system of claim 5, wherein the control wire is engaged with an aperture formed in the reverse linkage.
  7. 7. The force transmission system of claim 1 , wherein the pushing actuator is a linear pushing actuator and wherein the first portion of the reverse linkage is provided with a sliding joint between the pivot and a point of engagement with the pushing actuator, adapted to adjust to a changing radius between the pushing actuator and the pivot through a range of motion of the pushing actuator.
  8. 8. The force transmission system of claim 1 , further comprising a base, the pushing actuator extending through the base and the pivot secured by the base.
  9. 9. The force transmission system of claim 1, comprising at least two reverse motion devices associated with each of at least two respective control wires, adapted and configured to antagonistically operate a first motion and a second opposing motion of a function of the robotically controlled medical device.
  10. 10. The force transmission system of claim 9, wherein the function is bending of a bending joint or operation of an end effector. Attorney Docket No. 1569633.110WO22 CBMX0015D01
  11. 11. A robotically controlled medical device comprising: an elongate shaft having a proximal end and a distal end; an end effector at the distal end of the elongate shaft; at least one bending joint along the elongate shaft, between the proximal end and the distal end; a force transmission system at a proximal end of the elongate shaft, comprising: a pushing actuator adapted and configured to be pushed distally by a robotic instrument controller; a pivot; and a reverse linkage rotatable about the pivot, the reverse linkage having: a first portion extending between the pivot and the pushing actuator, and operably engaged with the pushing actuator; a second portion extending from the pivot away from the first portion, adapted to engage a control wire of the robotically controlled medical device and pull the control wire proximally in response to distal movement of the pushing actuator; and a distal surface of the second portion having an arcuate surface adapted to maintain an axial position of the control wire throughout a range of motion thereof.
  12. 12. A control system for a robotically controlled medical device, comprising: a physician console having at least one hand control device; a system controller; Attorney Docket No. 1569633.110WO22 CBMX0015D01 a patient cart having at least one instrument controller adapted and configured to operably engage the robotically controlled medical device, the robotically controlled medical device comprising: an elongate shaft having a proximal end and a distal end; an end effector at the distal end of the elongate shaft; at least one bending joint along the elongate shaft, between the proximal end and the distal end; a force transmission system at a proximal end of the elongate shaft, comprising: a pushing actuator adapted and configured to be pushed distally by a robotic instrument controller; a pivot; and a reverse linkage rotatable about the pivot, the reverse linkage having: a first portion extending between the pivot and the pushing actuator, and operably engaged with the pushing actuator; a second portion extending from the pivot away from the first portion, adapted to engage a control wire of the robotically controlled medical device and pull the control wire proximally in response to distal movement of the pushing actuator; and a distal surface of the second portion having an arcuate surface adapted to maintain an axial position of the control wire throughout a range of motion thereof.
  13. 13. A method of controlling a robotic surgical system, the method comprising: receiving a control input signal from a hand controller; processing the control input signal by a system controller to produce an output control signal; and Attorney Docket No. 1569633.110WO22 CBMX0015D01 outputting the output control signal to a robotic instrument controller having a pair of linear actuators arranged in an antagonistic push-push configuration, wherein each linear actuator of the pair of linear actuators is adapted and configured to push a respective reverse motion mechanism, each reverse motion mechanism adapted to convert push actuation into pull actuation of a respective control wire of a robotically controlled medical device, wherein the force transmission linkage includes an arcuate surface adapted to maintain an axial position of the control wire throughout a range of motion thereof.
  14. 14. The method of claim 13, wherein the processing step includes a scaling calculation.
  15. 15. The method of claim 13, wherein the processing step includes correlation of input control signal and output control signal.
  16. 16. The method of claim 15, wherein the input control signal is based on a position of hand control device relative to its mechanical range.
  17. 17. The method of claim 15, wherein output control signal based on mechanical range of a function of the robotically controlled medical device.
  18. 18. The method of claim 13, further comprising: calculating a movement of a respective control wire based on an actuation distance of the linear actuator according to the formula: AL= R 2 * tan 1 (z\Z/ Ri) Attorney Docket No. 1569633.110WO22 CBMX0015D01 wherein AL is a change in length of the control wire, R2 is a distance between a pivot of the force reverse linkage and the control wire, AZ a change in the position of the linear actuator, and Ri is a linear distance between the pivot and a translation axis of the linear actuator.
  19. 19. The method of claim 13, further comprising: calculating a tensile force applied to a control wire based on a pushing force applied by the linear actuator, according to the formula: T = (F* RI)/R 2 wherein T is the tensile force applied to a control wire, F is the pushing force applied by the linear actuator, Ri is a linear distance between the pivot and a translation axis of the linear actuator, and R 2 is a distance between a pivot of the reverse linkage and the control wire.
  20. 20. A computer-readable medium for a robotic surgical system, the computer-readable medium storing instructions that, when executed by a computer, cause the computer to: receive a control input signal from a hand controller; process the control input signal to produce an output control signal; and output the output control signal to a robotic instrument controller having a pair of linear actuators arranged in an antagonistic a push-push configuration, wherein each linear actuator of the pair of linear actuators is adapted and configured to correspond to a respective reverse motion mechanism, adapted to convert push actuation into pull actuation of a control wire of a robotic surgical instrument, wherein the force transmission mechanism includes an arcuate surface adapted to maintain an axial position of the control wire throughout a range of motion thereof.

Description

Attorney Docket No. 1569633.110WO22 CBMX0015D01 ROBOTIC SYSTEMS AND INSTRUMENTS CROSS-REFERENCE TO RELATED APPLICATIONS [0001] This application claims to and the benefit of U.S. Patent Application No. 18/933,901, filed October 31, 2024, which is a continuation-in-part of U.S. Patent Application No. 18/134,689 filed April 14, 2023, which is a continuation of International Patent Application No. PCT/US2022/051265 filed November 29, 2022, which claims priority to and the benefit of U.S. Provisional Application No. 63/284,298, filed November 30, 2021. The entire contents of each of the foregoing are incorporated by reference herein, in their entirety. TECHNICAL FIELD [0002] This disclosure is directed to various aspects of surgical robots utilizing a flexible access port or steerable overtube, which are particularly suited for use in endoluminal (endolumenal) surgical procedures. More particularly, this disclosure relates to robotically assisted transoral, transesophageal, transumbilical, intragastric, transanal and transvaginal endoscopic surgical procedures, techniques, and treatments, sometimes referred to as Natural Orifice Translumenal Endoscopic Surgery (NOTES). This disclosure also relates to Single Incision Laparoscopic Surgery (SILS), Single Port Access (SPA) surgery, Natural Orifice Trans-Umbilical Surgery (NOTUS), Laparo-Endoscopic Single-site Surgery (LESS). One Port Umbilical Surgery (OPUS), Single Port Incisionless Conventional Equipmentutilizing Surgery (SPICES), and Single Access Site Surgical Endoscope (SASSE) procedures. Attorney Docket No. 1569633.110WO22 CBMX0015D01 [0003] Additionally, this disclosure is directed to various aspects of robots designed for performing functions in confined spaces, including industrial applications. Specifically, the systems, devices and related methods of the present invention can advantageously be applied to various nonmedical fields, such as industrial robots and remotely operated vehicles, including those used in outer space or deep-sea environments, for example in oil and gas exploration. The invention is particularly advantageous to fields requiring precise control in performing complex tasks in confined and/or difficult-to-reach structures (such as within long conduits), or in situations where access requires navigation around or through existing structures, including curved structures. BACKGROUND OF THE INVENTION [0004] Minimally invasive surgical procedures such as endoluminal surgery and single-site laparoscopic surgery are known in the art and provide many benefits over traditional open or multi-port laparoscopic surgical procedures. Endoluminal surgical procedures are performed endoscopically within hollow organs using typical surgical techniques, such as dissection, suturing, cutting, and stapling. These procedures may be performed trans-orally within the upper gastrointestinal (GI) tract, trans-anally within the lower GI tract, or trans-vaginally within the abdominal cavity. A significant benefit of endoluminal surgery is that no skin incision is needed to access to the surgical site within a patient’s natural lumen. This can dramatically reduce patient recovery time and can improve procedural safety. Similarly, single-site or single incision laparoscopic surgical procedures are typically performed within a patient’ s abdominal cavity or thoracic cavity through a single incision. This can also reduce Attorney Docket No. 1569633.110WO22 CBMX0015D01 patient recovery time and trauma, as multiple incisions are avoided, providing greater flexibility in incision location. [0005] Robotic systems are also known in the art and have been used to perform industrial tasks. Moreover, robotic surgical systems are also known in the art and have been used to perform medical and surgical procedures, such as endoluminal and single site surgical procedures. An example of such a system is disclosed, for example, in commonly assigned U.S. Patent Application Publication 2023/0285098. This flexible robotic system includes a patient cart or console with a multi-axis positioning system, and it employs a steerable overtube assembly having a plurality of working channels for introducing surgical devices to a surgical site. The overtube assembly is disclosed in commonly assigned U.S. Patent Application Publication 2023/0210618, which is also incorporated herein by reference in its entirety. Exemplary surgical devices and end effectors or tools that can be introduced to a surgical site through a working channel of the steerable overtube assembly are disclosed in commonly assigned U.S. Patent Application Publication 2023/0248419, the disclosure of which is incorporated herein by reference in its entirety. [0006] Systems, devices and methods in accordance with the invention can incorporate or utilize aspects of devices, systems and methods disclosed in the following, each of which is incorporated herein by reference in its entirety: Master Control Systems for Robotic Surg