Source: https://patents.google.com/patent/US9757856B2/en
Timestamp: 2018-09-19 06:13:37
Document Index: 38149444

Matched Legal Cases: ['Application No. 61', 'art 42', 'art 44', 'art 42', 'art 180', 'art 180', 'art 120', 'Application No. 2012308731', 'Application No. 231331', 'Application No. 2014', 'application No. 231331']

US9757856B2 - Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures - Google Patents
US9757856B2
US9757856B2 US14343915 US201214343915A US9757856B2 US 9757856 B2 US9757856 B2 US 9757856B2 US 14343915 US14343915 US 14343915 US 201214343915 A US201214343915 A US 201214343915A US 9757856 B2 US9757856 B2 US 9757856B2
US14343915
US20140371764A1 (en )
This application claims the benefit of U.S. Provisional Application No. 61/534,032, filed Sep. 13, 2011, the content of which is incorporated herein by reference in its entirety.
The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting of the inventive concepts. As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises,” “comprising,” “includes” and/or “including,” when used herein, specify the presence of stated, features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
As mentioned above, a feeding mechanism 16 can be used to control the probe 10. One type of feeding mechanism 16, shown in FIGS. 14A and 14B, inserts and retracts the probe 10 into and out of respectively, a region of interest such as the esophagus, the peritoneal space, the pericardial cavity, or another internal space of a patient. The feeder 16 has two movable carts. A first cart 42, carried in a first fixed tray 43, advances and retracts the outer sleeve 14 while a second cart 44 carried in a second fixed tray 45 advances and retracts the inner core 12. Each cart 42, 44, and hence, each of the inner core 12 and outer sleeve 14, is driven independently by separate linear actuators 46, 48 respectively. The linear actuators 46, 48 may carry shaft encoders (not shown) used for position control as is known to those of skill in the art. Alternatively or additionally, motor current may be monitored to determine a value for tension in a cable used to control position. Cable tension may be monitored with one or more sensors such as a load cell. Numerous positioning and other sensors may be included to provide information relative to cable tension; cart position; probe orientation and configuration; and other system parameters. Typical sensors include but are not limited to: optical sensors; magnetic sensors such as Hall effect sensors; force and pressure sensors such as accelerometers, strain gauges and mechanical switches; and combinations of these. One or more sensors may be positioned in multiple locations including but not limited to: feeding mechanism 16, inner core 12 and outer sleeve 14.
An anti-twist member 942 is positioned in at least one of the working channels 125. In some embodiments, the anti-twist member comprises a tube-shaped member that is hollow or solid in cross-section. In other embodiments, the anti-twist member 942 comprises a flexible material that permits articulation of neighboring inner links and articulation of neighboring outer links. At the same time, the tube can exhibit strength or rigidity when subjected to a twisting motion between neighboring links. In some embodiments, the anti-twist member 942 can be configured to extend along an entire length, or nearly the entire length, of the working channel 125 of the articulating probe, from its proximal to distal end.
In some embodiments, the anti-twist member 942 can be segmented so that it extends through portions of the working channel 125. In some embodiments, the anti-twist member 942 can be affixed to a recess 724 of the inner link 700 s or a recess 124 of the outer link 100 r. In some embodiments, the anti-twist member 942 can be affixed to both a recess 724 of the inner link 700 s and a recess 124 of the outer link 100 r.
a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element, the first link having a shoulder about a lower portion of the first articulation surface, the shoulder of the first link extending in an outward direction away from the first articulating surface relative to the first longitudinal axis;
a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element, the second link having an abutting surface about the second articulation surface, the abutting surface of the second link extending in an outward direction away from the second articulating surface relative to the second longitudinal axis;
a motion resisting assembly comprising the first motion limiting element and the second motion limiting element,
wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link and to further allow the two degree-of-freedom articulation of the second link about two articulation axes different than the second longitudinal axis, and
wherein the shoulder of the first link communicates with the abutting surface of the second link external to the articulation joint to limit the articulation of the second link relative to the first link.
2. The articulating probe of claim 1 wherein the first articulation surface comprises a convex surface and wherein the second articulation surface comprises a concave surface.
3. The articulating probe of claim 2 wherein the convex, first articulation surface comprises a semi-spherical surface.
4. The articulating probe of claim 2 wherein the concave, second articulation surface comprises a semi-spherical surface.
5. The articulating probe of claim 1 wherein the first motion-limiting element comprises a pin and wherein the second motion-limiting element comprises a slot and wherein the pin of the first link engages the slot of the second link.
6. The articulating probe of claim 5 wherein the first articulation surface comprises a semi-spherical surface and wherein the pin is positioned to extend from an equatorial plane of the semi-spherical surface.
7. The articulating probe of claim 5 wherein at least one of first and second ends of the slot is open-ended.
8. The articulating probe of claim 5 wherein the slot at least partially covers an outer end of the pin over at least a portion of a range of the articulation of the second link relative to the first link.
9. The articulating probe of claim 5 wherein the pin has a circular cross-section.
10. The articulating probe of claim 1 wherein the first motion-limiting element comprises first and second pins and wherein the second motion-limiting element comprises first and second corresponding slots and wherein over a range of articulation motion of the second link relative to the first link, at least one of the first and second pins is at least partially engaged with at least one of the corresponding first and second slots.
11. The articulating probe of claim 10 wherein, at an articulation angle of zero of the second link relative to the first link, both of the first and second pins are partially engaged with the first and second corresponding slots.
12. The articulating probe of claim 10 wherein the first and second pins are angularly spaced apart 180 degrees about the first longitudinal axis relative to the first articulation surface.
13. The articulating probe of claim 10 wherein the first and second slots are angularly spaced apart 180 degrees about the second longitudinal axis relative to the second articulation surface.
14. The articulating probe of claim 1 wherein the first motion-limiting element comprises a single pin and wherein the second motion-limiting element comprises a single slot and wherein over a range of articulation angles of the second link relative to the first link, the pin is at least partially engaged with the slot.
15. The articulating probe of claim 14 wherein the pin is positioned on the first articulation surface and wherein the slot is positioned on the second articulation surface.
16. The articulating probe of claim 14 wherein the slot is positioned on the first articulation surface and wherein the pin is positioned on the second articulation surface.
17. The articulating probe of claim 14 wherein the first articulation surface comprises a convex, semi-spherical surface and wherein the pin is positioned on the first articulation surface between an equator and a pole of the first articulation surface and wherein the slot is positioned on the second articulation surface.
18. The articulating probe of claim 14 wherein the first articulation surface comprises a convex, semi-spherical surface and wherein the slot is positioned on the semi-spherical first articulation surface between an equator and a pole of the first articulation surface and wherein the pin is positioned on the second articulation surface.
19. The articulating probe of claim 1 wherein the first motion-limiting element comprises a single slot and wherein the second motion-limiting element comprises a single pin and wherein over a range of articulation angles of the second link relative to the first link, the pin is at least partially engaged with the slot.
20. The articulating probe of claim 19 wherein the first articulation surface comprises a convex, semi-spherical surface and wherein the slot is positioned on the semi-spherical first articulation surface and extends from an equator of the first articulation surface in a direction toward a pole of the first articulation surface of the first link and wherein the pin is positioned below the second articulation surface of the second link.
21. The articulating probe of claim 19 wherein the pin is positioned on the second link at a position that aligns with an equator of the semi-spherical first articulation surface of the first link, when the second link is at an articulation angle of zero relative to the first link.
22. The articulating probe of claim 19 wherein the second link further comprises a third motion-limiting element comprising a single slot that is spaced apart 120 degrees in position relative to the pin, the third motion limiting element comprising a second motion limiting assembly that is constructed and arranged to resist rotation of a third link having a mating pin about a third longitudinal axis relative to the second link about the second longitudinal axis.
23. The articulating probe of claim 1 wherein the first articulation surface comprises convex and concave regions and wherein the second articulation surface comprises concave and convex regions that correspond to the convex and concave regions of the first articulation surface.
24. The articulating probe of claim 23 wherein:
the first articulation surface of the first link comprises the first motion limiting element; and
the second articulation surface of the second link comprises the second motion limiting element.
25. The articulating probe of claim 23 wherein an outermost surface of the first and second links is circular in cross section about the respective first and second longitudinal axes.
26. The articulating probe of claim 23 wherein the first and second links comprise outer links of the articulating probe, and wherein the articulating probe further comprising a plurality of inner links that pass through openings in the outer links.
27. The articulating probe of claim 1
wherein the first motion-limiting element comprises a pin;
wherein the second motion-limiting element comprises a slot;
28. The articulating probe of claim 1 wherein the first and second links comprise outer links of the articulating probe, and wherein the articulating probe further comprising a plurality of inner links that pass through openings in the outer links.
29. The articulating probe of claim 1 wherein the motion limiting assembly limits rotation of the second link to about 1 degree of rotation about its longitudinal axis.
30. The articulating probe of claim 1 further comprising at least one steering cable opening through the first link and the second link extending in a direction that is parallel to the respective first and second longitudinal axes.
31. The articulating probe of claim 30 further comprising at least one steering cable corresponding to the first and second links that is selectively tensioned to retain the first and second articulation surfaces of the first and second links in physical contact and selectively released to allow for selective motion of the second link relative to the first link.
32. The articulating probe of claim 31 wherein the at least one steering cable opening comprises multiple steering cable openings and wherein the at least one steering cable comprises multiple steering cables.
33. The articulating probe of claim 32 wherein the multiple steering cable openings and the multiple steering cables comprise at least one of:
two steering cable openings and two steering cables;
three steering cable openings and three steering cables; or
four steering cable openings and four steering cables.
34. The articulating probe of claim 1 wherein the first motion limiting element comprises at least one projecting member and the second motion limiting element comprises at least one receiving region constructed and arranged to receive the at least one projecting member.
35. The articulating probe of claim 34 wherein the at least one projecting member comprises a pin and the at least one receiving region comprises a slot.
36. The articulating probe of claim 34 wherein the at least one projecting member comprises multiple projecting members and the at least one receiving member comprises multiple receiving regions.
37. The articulating probe of claim 36 wherein the multiple projecting members are distributed evenly about the first link at equal angular intervals.
38. The articulating probe of claim 1 wherein:
39. The articulating probe of claim 1
wherein the first link and second link comprise a first mechanism; and
wherein the articulating probe further comprises a second mechanism comprising:
a fourth link comprising a fourth longitudinal axis and a fourth articulation surface; and
an articulation joint comprising the third articulation surface and the fourth articulation surface and constructed and arranged to allow at least two degree of freedom articulation of the fourth link relative to the third link,
wherein the first mechanism and the second mechanism extend in a longitudinal direction,
wherein a link of the first mechanism has an opening having an inner width greater than a greatest outer width of a link of the second mechanism, and
wherein the link of the second mechanism extends through the opening of the link of the first mechanism and an entire length of the link of the second mechanism is movable in a longitudinal direction through the opening of the link of the first mechanism.
40. The articulating probe of claim 39
41. The articulating probe of claim 1 wherein the shoulder of the first link is of an outer width that is greater than a greatest width of the first articulation surface.
42. The articulating probe of claim 1 wherein the abutting surface of the second link is of an outer width that is greater than a greatest inner width of the second articulation surface.
43. An articulating probe, comprising:
a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element, the first link having a shoulder about a lower portion of the first articulation surface, the shoulder of the first link extending in an outward direction away from the first articulating surface relative to the first longitudinal axis the first link further comprising a recess in the shoulder;
a second link comprising a second longitudinal axis, a second articulation surface, and a second motion-limiting element, the second link having an abutting surface about the second articulation surface, the abutting surface of the second link extending in an outward direction away from the second articulating surface relative to the second longitudinal axis, the second link further comprising a tab extending from a surface of the second link proximal the abutting surface, the tab constructed and arranged to communicate with the recess in the shoulder of the first link;
wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link, and
44. The articulating probe of claim 43 wherein the first motion-limiting element comprises a pin and wherein the second motion-limiting element comprises a slot, and wherein the pin of the first link engages the slot of the second link.
45. The articulating probe of claim 44, wherein the pin is integral with the first link.
46. The articulating probe of claim 44, wherein the slot extends along an interior surface of the tab in a direction of the second longitudinal axis of the second link.
47. The articulating probe of claim 46, wherein the slot includes parallel walls that extend along the interior surface in the second longitudinal axis of the second link, the pin articulating between the parallel walls in one of the two degrees of freedom.
48. The articulating probe of claim 5, wherein the pin is integral with the first link.
49. The articulating probe of claim 5, wherein the slot extends along an interior surface of the tab in a direction of the second longitudinal axis of the second link.
50. The articulating probe of claim 5, wherein the slot includes parallel walls that extend along the interior surface in the second longitudinal axis of the second link, the pin articulating between the parallel walls in one of the two degrees of freedom.
US14343915 2011-09-13 2012-09-12 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures Active US9757856B2 (en)
US201161534032 true 2011-09-13 2011-09-13
US201161578582 true 2011-12-21 2011-12-21
US201261656600 true 2012-06-07 2012-06-07
US201261681340 true 2012-08-09 2012-08-09
US14343915 US9757856B2 (en) 2011-09-13 2012-09-12 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
PCT/US2012/054802 WO2013039999A3 (en) 2011-09-13 2012-09-12 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
PCT/US2012/054802 A-371-Of-International WO2013039999A3 (en) 2011-09-13 2012-09-12 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
US15064043 Continuation US9572628B2 (en) 2011-09-13 2016-03-08 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
US20140371764A1 true US20140371764A1 (en) 2014-12-18
US9757856B2 true US9757856B2 (en) 2017-09-12
US14343915 Active US9757856B2 (en) 2011-09-13 2012-09-12 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
US15064043 Active US9572628B2 (en) 2011-09-13 2016-03-08 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
US15684268 Pending US20170368681A1 (en) 2011-09-13 2017-08-23 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
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US20140371764A1 (en) 2014-12-18 application
CA2848041A1 (en) 2013-03-21 application
EP2755805A2 (en) 2014-07-23 application
EP2755805A4 (en) 2015-07-08 application
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:OYOLA, ARNOLD;ZUBIATE, BRETT;WHIPPLE, DALE;AND OTHERS;SIGNING DATES FROM 20121119 TO 20130305;REEL/FRAME:030512/0174
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:OYOLA, ARNOLD;ZUBIATE, BRETT;WHIPPLE, DALE;AND OTHERS;SIGNING DATES FROM 20121119 TO 20130305;REEL/FRAME:042225/0483