Handheld surgical system with one handed controller for simultaneous control of endoscope and robotic manipulator

Abstract

A system for independent control of an end effector and an endoscope. The system comprises: a) an actuation platform; b) an over-tube for inserting end effector and endoscope, comprising: i) a handheld junction comprising an endoscope inlet, an end-effector inlet; ii) an active bending section, comprising: 1) a first working channel for passing of endoscope; 2) a bending mechanism controlled by actuation platform; iii) a passive bendable section, comprising a second working channel for passing of end-effector; c) a handheld controller, comprising: i) an attachment mechanism for attaching to endoscope, comprising a fixed mode and an adjustable mode, wherein, under adjustable mode, handheld controller can move freely along endoscope; ii) a control interface for a user to control bending mechanism via actuation platform.

Description

HANDHELD SURGICAL SYSTEM WITH ONE HANDED CONTROLLER FOR SIMULTANEOUS CONTROL OF ENDOSCOPE AND ROBOTIC MANIPULATORFIELD OF THE INVENTION

[0001] The present invention relates to a handheld surgical system with one-handed controller for simultaneous control of endoscope and robotic manipulator.BACKGROUND OF THE INVENTION

[0002] This invention relates to a robotic platform to assist lower and upper gastrointestinal surgeries by manipulating the flexible over-tube and the end effector.

[0003] Gastric and colorectal cancers are prevalent worldwide and remain leading causes of cancer mortality. Minimally invasive surgery has become widely adopted for the evaluation of medical conditions and injuries, as it avoids the need for large surgical incisions. Within this context, the techniques of Endoscopic Submucosal Dissection (ESD) and Endoscopic Mucosal Resection (EMR) have emerged as effective methods for removing early-stage cancers and precancerous lesions in the gastrointestinal tract. These procedures utilize flexible endoscopes, leading to faster recovery times and reduced postoperative pain for patients.SUMMARY OF THE INVENTION

[0004] This invention provides a system for independent control of an end effector and an endoscope. In one embodiment, said system comprises: a) an actuation platform; b)an overtube for inserting said end effector and said endoscope, comprising: i) a handheld junction comprising an endoscope inlet, an end-effector inlet; ii) an active bending section, comprising: 1) a first working channel for passing of said endoscope; 2) a bending mechanism controlled by said actuation platform; iii) a passive bendable section, comprising a second working channel for passing of said end-effector; c) a handheld controller, comprising: i) an attachment mechanism for attaching to said endoscope, comprising a fixed mode and an adjustable mode, wherein, under said adjustable mode, said handheld controller can move freely along said endoscope; ii) a control interface for a user to control said bending mechanism via said actuation platform.

[0005] The foregoing and other aspects and advantages of the invention will appear from the following description. In the description, reference is made to the accompanying drawings that form a part hereof, and in which there is shown by way of illustration a preferred embodiment of the invention. Such embodiment does not necessarily represent the full scope of the invention, however, and reference is therefore made to the claims and herein for interpreting the scope of the invention.BRIEF DESCRIPTION OF THE FIGURES

[0006] FIG. 1 shows the various components of the handheld controller in an embodiment of this invention.

[0007] FIG. 2 shows the assembled handheld controller shown in Figure 1.

[0008] FIG. 3 shows the joystick in the assembled handheld controller shown in Figure 1.

[0009] FIG. 4 shows the various components of the proximal actuating platform in an embodiment of this invention.

[0010] FIG. 5 shows the assembled proximal actuating platform shown in Figure 4.DETAILED DESCRIPTION OF THE INVENTION

[0011] The system design of a one-handed controller for simultaneous control of endoscope and robotic manipulator is disclosed. The controller can be manipulated by one hand only. The motions of the endoscope and the motion of a robotic manipulator can be controlled simultaneously at which the operation does not need to freeze the motion at one side when he is controlling the other side. The robotic manipulator can be any motor controlled machine which contains the following range of motion, including but not limited to, pitch (up-and-down) motion, yaw (left-and-right motion), translation (in-and-out), gripping motion or distal end knife engagement mechanism. A quick release lock is located at the side of the controller such that an endoscope can be attached to the controller. Once the endoscope is attached to the controller, the operation can control the movement of the endoscope without leaving the control ability of the robotic manipulator. This feature enables the operator to control more than seven degree-of-freedom in total simultaneously.

[0012] This invention provides a system for independent control of an end effector and an endoscope. In one embodiment, said system comprises: a) an actuation platform; b)an overtube for inserting said end effector and said endoscope, comprising: i) a handheld junction comprising an endoscope inlet, an end-effector inlet; ii) an active bending section, comprising: 1) a first working channel for passing of said endoscope; 2) a bending mechanism controlled by said actuation platform; iii) a passive bendable section, comprising a second working channel for passing of said end-effector; c) a handheld controller, comprising: i) an attachment mechanism for attaching to said endoscope, comprising a fixed mode and an adjustable mode, wherein, under said adjustable mode, said handheld controller can move freely along said endoscope; ii) a control interface for a user to control said bending mechanism via said actuation platform.

[0013] In one embodiment, said passive bendable section comprises: a) an inner spring coil; b) an outer elastic shielding; wherein said inner spring coil and said outer elastic shielding are connected to said handheld junction and said active bending section.

[0014] In one embodiment, said bending mechanism comprises continuum joints (132) connected with cables that are pulled by said actuation platform.

[0015] In one embodiment, said continuum joints are in pairs and each pair of said continuum joints comprises: a) yaw-oriented joints wherein comprises: i) two pins for rotation around yaw axis (139); ii) two hinges for rotation around pitch axis (140); iii) fours holes for said cables to pass through (141); b) pitch -oriented joints wherein comprises: i) two pins for rotation around pitch axis (142); ii) two hinges for rotation around yaw axis (143); c) four holes for said cables to pass through (144).

[0016] In one embodiment, said control interface comprises one or more selected from a joystick (119), a rotary wheel (112) and push buttons (115, 116).

[0017] In one embodiment, said joystick or said rotary wheel is a type selected from the group consisting of variable resistance type, hall effect type, and optical encoder type.

[0018] In one embodiment, said attachment mechanism comprises: a) a first handle pivoting at a first hinge, comprising an upper member (103) and a lower member (107), wherein said upper member and said lower member engage to form a space for holding said endoscope; and b) a lock that engages with said lower member (107) automatically when said lower member contacts said upper member; wherein, when said first handle is pressed, said lower member (107) disengages from said upper member for said handheld controller to attach to said endoscope; said lock engages with said lower member (107) automatically when said lower member re-engages said upper member.

[0019] In one embodiment, said attachment mechanism further comprises a second handle pivoting at a second hinge wherein said second handle provides a moment arm about said second hinge to increase said space to allow room for movement of said endoscope without unmounting.

[0020] In one embodiment, said first hinges or said second hinge comprises torsional springs (130) and (131) for restoring position of said first handle or said second handle when said first handle or said second handle is released respectively.

[0021] In one embodiment, said actuating platform comprises: a) a driving unit for manipulation of said over- tube (145); b) a driving unit for manipulation of said surgical instrument (146); c) a driving unit for forward-backward translation of said surgical instrument (147).

[0022] This invention provides a handheld controller for the manipulation of robotic endeffectors. In one embodiment, said handheld controller comprises: a) a joystick (119); b) a rotary wheel (112); c) push buttons (115, 116); d) toggleable quick release mechanism comprising: i) two hinges (111, 109); ii) corresponding handle for each hinge (110, 108); iii) a lock (129).

[0023] In one embodiment, said joystick and said rotary wheel comprises but not limited to: a) variable resistance type; b) hall effect type; c) optical encoder type.

[0024] In one embodiment, said hinge (111) comprises: a) an upper member (103); b) a lower member (107); wherein said handle (110) is pressed to disengage said lower member(107) from said upper member (103) thereby allowing the controller to be attached on endoscope.

[0025] In one embodiment, said quick release mechanism wherein: a) position of said controller relative to endoscope switches between fixed and adjustable mode; b) said lock (129) is engaged with said lower member (107) automatically after the operator closes said lower member with said upper member; c) said handle (108) provides a moment arm with the said hinge (109) such that the inner diameter is increased; d) after the increment of the inner diameter, the endoscope is free to move inside the lock, without unmounting the endoscope.

[0026] In one embodiment, said hinges (111) and (109), comprise torsional springs (130) and (131) wherein: a) said spring (130) restores the said handle (110) to the original position after the operator’s hand is removed from the handle; b) said spring (131) restores the said handle (108) to the original position after the operator’s hand is removed from the handle,

[0027] This invention also provides a flexible robotic over-tube for carrying the endoscope and surgical instruments. In one embodiment, said flexible robotic over-tube comprises: a) an active bending section: i) continuum joints (132); ii) a distal end comprising outlets for endoscope and surgical instrument (133); iii) a stretchable shielding (134); b) cables anchored at the said bending section and are pulled by motors located at the proximal actuating platform; c) a passive bendable section (135); d) internal working channels for endoscope and instrument (136); e) a handheld junction of endoscope and instrument (137).

[0028] In one embodiment, said passive bendable section comprises inseparable elements: a) an inner spring coil; b) an outer biocompatible elastic shielding; wherein said spring coil and elastic shielding are connected to said handheld junction and said active bending section.

[0029] In one embodiment, said handheld junction comprises: a) an inlet for endoscope (138); b) an inlet for surgical instrument; c) a handle comprising ergonomic holding feature and control interfaces.

[0030] In one embodiment, each pair of said continuum joints comprising: a) yaw-oriented joints wherein comprises: i) two pins for rotation around yaw axis (139); ii) two hinges for rotation around pitch axis (140); iii) fours holes for said cables to pass through (141); b) yaw- oriented joints wherein comprises: i) two pins for rotation around pitch axis (142); ii) two hinges for rotation around yaw axis (143); iii) four holes for said cables to pass through (144).

[0031] This invention also provides a proximal actuating platform. In one embodiment, said proximal actuating platform comprises: a) a driving unit for manipulation of said over-tube (145); b) a driving unit for manipulation of said surgical instrument (146); c) a driving unit for forward-backward translation of said surgical instrument (147).

[0032] In one embodiment, said driving unit for manipulation of said over-tube comprises: a) 2 motors for manipulating said bending section of said over-tube around yaw axis (148); b) 2 motors for manipulating said bending section of said over-tube around pitch axis (149); c) a dock for housing the tool coupler of over-tube wherein comprises: i) a spring-loaded compliantlocking mechanism to keep the tool coupler in position (150); ii) a press button to disengage said locking mechanism (151); iii) 4 pin-shaft -holders with gear-teeth profile for transmission of torque from said motors to said tool coupler (152).

[0033] In one embodiment, said driving unit for manipulation of said surgical instruments comprises: a) a motor for manipulating said bending section of said over-tube around yaw axis(153); b) a motor for manipulating said bending section of said over-tube around pitch axis(154); c) at least one motor for adjusting the opening angle of surgical tissue gripper (155); d) a dock for housing the tool coupler of over- tube wherein comprises: i) a spring-loaded compliant locking mechanism to keep the tool coupler in position; ii) a press button to disengage said locking mechanism; iii) 4 pin-shaft-holders with gear-teeth profile for transmission of torque from said motors to said tool coupler.

[0034] In one embodiment, said driving unit for forward-backward translation of said surgical instrument comprises: a) a motor to actuate the surgical instrument along the forwardbackward axis (156); b) a linkage to convert rotation of said motor into linear translation along forward backward axis (157); c) a compliant member to connect said linkage with said surgical instrument (158).

Claims

What is claimed is:

1. A system for independent control of an end effector and an endoscope, comprising: a. An actuation platform; b. An over-tube for inserting said end effector and said endoscope, comprising: i. A handheld junction comprising an endoscope inlet, an end-effector inlet; ii. An active bending section, comprising:

1. A first working channel for passing of said endoscope;2. a bending mechanism controlled by said actuation platform; iii. A passive bendable section, comprising a second working channel for passing of said end-effector; c. A handheld controller, comprising: i. An attachment mechanism for attaching to said endoscope, comprising a fixed mode and an adjustable mode, wherein, under said adjustable mode, said handheld controller can move freely along said endoscope; ii. A control interface for a user to control said bending mechanism via said actuation platform.

2. The system of claim 1, wherein said passive bendable section comprises: a. an inner spring coil; b. an outer elastic shielding; wherein said inner spring coil and said outer elastic shielding are connected to said handheld junction and said active bending section.

3. The system of claim 1, wherein said bending mechanism comprises continuum joints (132) connected with cables that are pulled by said actuation platform.

4. The system of claim 3, wherein said continuum joints are in pairs and each pair of said continuum joints comprises: a. yaw-oriented joints wherein comprises: i. two pins for rotation around yaw axis (139); ii. two hinges for rotation around pitch axis (140); iii. fours holes for said cables to pass through (141);b . pitch-oriented j oints wherein comprises : i. two pins for rotation around pitch axis (142); ii. two hinges for rotation around yaw axis (143); c. four holes for said cables to pass through (144).

5. The system of claim 1, wherein said control interface comprises one or more selected from a joystick (119), a rotary wheel (112) and push buttons (115, 116).

6. The system of claim 5, wherein said joystick or said rotary wheel is a type selected from the group consisting of variable resistance type, hall effect type, and optical encoder type.

7. The system of claim 1, wherein said attachment mechanism comprises: a. A first handle pivoting at a first hinge, comprising an upper member (103) and a lower member (107), wherein said upper member and said lower member engage to form a space for holding said endoscope; and b. A lock that engages with said lower member (107) automatically when said lower member contacts said upper member; wherein, when said first handle is pressed, said lower member (107) disengages from said upper member for said handheld controller to attach to said endoscope; said lock engages with said lower member (107) automatically when said lower member re-engages said upper member.

8. The system of claim 7, said attachment mechanism further comprises a second handle pivoting at a second hinge wherein said second handle provides a moment arm about said second hinge to increase said space to allow room for movement of said endoscope without unmounting.

9. The system of claim 8, wherein said first hinges or said second hinge comprises torsional springs (130) and (131) for restoring position of said first handle or said second handle when said first handle or said second handle is released respectively.

10. The system of claim 1, wherein said actuating platform comprises:a. a driving unit for manipulation of said over-tube (145); b. a driving unit for manipulation of said surgical instrument (146); c. a driving unit for forward-backward translation of said surgical instrument (147).

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