Modular interfaces and drive actuation through barrier
AssigneeHansen Medical, Inc.
InventorsGene Reis, Gregory F. Hirth, Enrique Romo
Life of this patent
Estimating the term…
Abstract
The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics are also disclosed herein.
Claims21
1-73. (canceled)
A surgical barrier for use with a medical positioning system having a medical tool, where the medical positioning system includes at least a driver mechanism to affect a position of the medical tool, the surgical barrier comprising:
- a sterilizable drape portion having a surgical side and a working side, where the working side is adapted to contact a portion of the medical positioning system preserving a sterile surgical field on the surgical side;
- at least one flexible pouch in the drape portion wherein a working side of the flexible pouch is configured to couple to a portion of the driver mechanism and at least a portion of a surgical side of the flexible pouch couples to the medical tool;
- wherein the flexible pouch is configured to deform and transfer motion from the driver mechanism of the medical positioning system to the medical tool.
A surgical barrier for use with a medical positioning system having a medical tool, where the medical positioning system includes at least a driver mechanism to affect a position of the medical tool, the surgical barrier comprising:
- a sterilizable drape portion having a surgical side and a working side, where the working side is adapted to contact a portion of the medical positioning system preserving a sterile surgical field on the surgical side;
- at least one flexible encasement in the drape portion wherein a working side of the flexible encasement is coupled to the driver mechanism and at least a portion of a surgical side of the flexible encasement is coupled to the medical tool;
- wherein the flexible encasement is configured to deform and transfer motion from the driver mechanism of the medical positioning system to the medical tool.
A flexible gear adapted to transfer motion from at least one driver mechanism of a surgical system to a gear drive of a medical tool, the flexible gear comprising:
- at least one flexible pouch having an interior working surface and a continuous exterior surgical surface, the flexible pouch having a shape such that the interior working surface of the flexible pouch is configured to receive a driver of the driver mechanism and the exterior surgical surface of the flexible pouch nests within the gear drive, where motion of the driver deforms the exterior surgical surface of the flexible pouch such that continued deformation of the surgical surface engages the gear drive resulting movement of the gear drive;
- and
- a drape section extending from the flexible pouch.
Dependencies are inferred from the claim text.