# US 11,304,769 B2 · Side looking minimally invasive surgery instrument assembly

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- Number: US 11,304,769 B2
- Document ID: US11304769B2
- Status: Granted
- Kind: B2
- Application number: 16/567,276
- Filed: 2019-09-11
- Published: 2020-01-02
- Granted: 2022-04-19
- Earliest claimed: 2006-06-13
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Thomas G. Cooper; David J. Rosa; Matthew R. Williams; Eugene F. Duval
- Web page: https://patentgrep.com/patent/US11304769B2

## CPC

- A61B 1/00149: {using articulated arms}
- A61B 1/00087: {Tools (A61B17/00234 takes precedence)}
- A61B 1/00154: {using guiding arrangements for insertion}
- A61B 1/0016: {using motor drive units}
- A61B 1/00165: {with light-conductive means, e.g. fibre optics (A61B1/07 takes precedence)}
- A61B 1/00193: {adapted for stereoscopic vision}
- A61B 1/002: having rod-lens arrangements (A61B1/055 takes precedence)
- A61B 1/0051: {with controlled bending of insertion part}
- A61B 1/018: for receiving instruments
- A61B 1/04: combined with photographic or television appliances
- A61B 1/05: characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B 1/06: with illuminating arrangements
- A61B 5/0086: {using infrared radiation}
- A61B 8/12: in body cavities or body tracts, e.g. by using catheters
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 34/30: Surgical robots
- A61B 34/32: operating autonomously
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- A61B 34/72: {Micromanipulators}
- A61B 90/10: for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B 1/0055: {Constructional details of insertion parts, e.g. vertebral elements}
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B 2017/00225: {Systems for controlling multiple different instruments, e.g. microsurgical systems}
- A61B 2017/00314: {Separate linked members}
- A61B 2017/00318: {Steering mechanisms}
- A61B 2017/00323: {Cables or rods}
- A61B 2017/0034: {adapted to be inserted through a working channel of an endoscope}
- A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/3447: {Linked multiple cannulas}
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2034/306: {Wrists with multiple vertebrae}
- A61B 2090/062: {penetration depth}
- G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
- G16H 40/67: for remote operation
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA

## Abstract

A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

## Claims

### Claim 1

A surgical instrument assembly comprising:
a guide tube comprising a proximal end, a distal end, and an intermediate position between the proximal and distal ends; and
a surgical instrument, wherein the surgical instrument is configured to pass through the guide tube, and wherein the surgical instrument is configured to exit the guide tube at the intermediate position;
wherein:
the surgical instrument comprises a parallel motion mechanism, the entire parallel motion mechanism of the surgical instrument being distal to the intermediate position in a first configuration; and
the parallel motion mechanism of the surgical instrument is configured to heave and sway a distal end of the parallel motion mechanism while preventing changing of a pitch or a yaw of the distal end of the parallel motion mechanism relative to a proximal end of the parallel motion mechanism.

### Claim 2 (depends on 1)

The surgical instrument assembly of claim 1, wherein the surgical instrument comprises an end effector.

### Claim 3 (depends on 1)

The surgical instrument assembly of claim 1, wherein the surgical instrument comprises an endoscopic image capture component.

### Claim 4 (depends on 1)

The surgical instrument assembly of claim 1, wherein:
the surgical instrument comprises a first body segment;
the parallel motion mechanism comprises a first joint, a second joint, and a rigid second body segment;
the first joint, the second body segment, and the second joint being connected in series;
the first joint comprises a first hinge and a second hinge, the first and second hinges being configured to pivot around orthogonal axes, the first hinge being coupled to a distal end of the first body segment, the second hinge being connected directly to the first hinge, and the second hinge being coupled to the rigid second body segment; and
the second joint comprises a third hinge, the first hinge being connected to the third hinge so that if the first hinge moves in one of yaw or pitch in a first direction, the third hinge moves in the one of yaw or pitch in a second direction opposite to the first direction.

### Claim 5 (depends on 4)

The surgical instrument assembly of claim 4, wherein the second joint further comprises a fourth hinge, the third and fourth hinges pivoting around orthogonal axes, wherein the second hinge is connected to the fourth hinge so that if the second hinge moves in an other of pitch or yaw in a third direction, the fourth hinge moves in the other of pitch or yaw in a fourth direction opposite to the third direction.

### Claim 6 (depends on 4)

The surgical instrument assembly of claim 4, further comprising:
a wrist joint coupled to the second joint of the parallel motion mechanism; and
a distal end component coupled to the wrist joint.

### Claim 7 (depends on 6)

The surgical instrument assembly of claim 6, further comprising a transmission mechanism positioned proximal to the first body segment, the transmission mechanism being configured to change a heave or a sway of the distal end component with reference to a longitudinal axis of the first body segment without changing pitch or yaw of the distal end component.

### Claim 8 (depends on 1)

The surgical instrument assembly of claim 1, further comprising a stereoscopic image capture component positioned on the guide tube between the intermediate position and the distal end of the guide tube, wherein a field of view of the image capture component is generally perpendicular to a longitudinal axis of the guide tube near the image capture component.

### Claim 9 (depends on 1)

The surgical instrument assembly of claim 1, wherein the guide tube comprises one or more channels extending from the proximal end of the guide tube to the distal end of the guide tube, the one or more channels being configured to allow one or more instruments to be passed through the distal end of the guide tube and extend beyond the distal end of the guide tube.

### Claim 10 (depends on 9)

The surgical instrument assembly of claim 9, wherein a first channel of the one or more channels is configured to provide suction or irrigation.

### Claim 11 (depends on 9)

The surgical instrument assembly of claim 9, wherein a first instrument of the one or more instruments comprises a second parallel motion mechanism, the entire second parallel motion mechanism being distal to the distal end of the guide tube in the first configuration.