# US 2018/0021095 A1 · Introduction devices for highly articulated robotic probes and methods of production and use of such probes > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0021095 A1 - Document ID: US20180021095A1 - Status: Published application - Kind: A1 - Application number: 15/587,832 - Filed: 2017-05-05 - Published: 2018-01-25 - Earliest claimed: 2011-09-13 - Assignees: Medrobotics Corporation - Applicants: Medrobotics Corporation - Inventors: Ian J. Darisse; Arnold E. Oyola; Joseph A. Stand; Robert A. DiDomenico; Samuel F. Straface; J. Christopher Flaherty - Web page: https://patentgrep.com/patent/US20180021095A1 ## CPC - A61B 34/30: Surgical robots - A61B 1/0011: {Manufacturing of endoscope parts} - A61B 1/00154: {using guiding arrangements for insertion} - A61B 1/0016: {using motor drive units} - A61B 1/0055: {Constructional details of insertion parts, e.g. vertebral elements} - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 1/0053: {using distributed actuators, e.g. artificial muscles} - A61B 1/0057: {Constructional details of force transmission elements, e.g. control wires} - A61B 2017/00314: {Separate linked members} - A61B 2017/3445: {used as instrument channel for multiple instruments} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/715: {Cable tensioning mechanisms for removing slack} - A61B 2034/742: {Joysticks} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/3614: {using optical fibre} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest. ## Claims ### Claim 1 An introduction assembly, comprising: an articulated probe including: at least one channel for receiving an elongated member; an inner core; and an outer sleeve about at least a portion of the inner core, the inner core having a plurality of inner links, the outer sleeve having a plurality of outer links, wherein the plurality of outer links includes at least one distal link; a feeding mechanism having at least one actuator for controlling the articulated probe; and an introduction device having a proximal end fixed in a positional relationship to the feeding mechanism, wherein the introduction device comprises a support member configured to receive and provide a supporting force to the articulated probe, wherein the support member is curved along a longitudinal axis, and wherein the at least one distal link includes at least one probe side port that extends radially from the at least one distal link and is constructed and arranged to prevent the at least one distal link from entering the support member of the introduction device. ### Claim 2 (depends on 1) The introduction assembly of claim 1, wherein the support member further comprises: an entrance positioned at a proximal end of the support member configured to guide the articulated probe into proximity with the support member; and an exit positioned at a distal end of the support member configured to guide the articulated probe from the support member into a region of interest. ### Claim 3 (depends on 1) The introduction assembly of claim 1, further comprising a first tool shaft guide. ### Claim 4 (depends on 3) The introduction assembly of claim 3, wherein the introduction device comprises a first side channel tool port constructed and arranged to receive the first tool shaft guide. ### Claim 5 (depends on 3) The introduction assembly of claim 3, further comprising a collar attaching the first tool shaft guide to the introduction device. ### Claim 6 (depends on 3) The introduction assembly of claim 3, wherein the first tool shaft guide is rotatably attached to the introduction device. ### Claim 7 (depends on 6) The introduction assembly of claim 6, wherein the first tool shaft guide is rotatably attached to the introduction device with one degree of freedom. ### Claim 8 (depends on 6) The introduction assembly of claim 6, wherein the first tool shaft guide is rotatably attached to the introduction device with multiple degrees of freedom. ### Claim 9 (depends on 3) The introduction assembly of claim 3, further comprising a second tool shaft guide. ### Claim 10 (depends on 9) The introduction assembly of claim 9, wherein the introduction device further comprises a second side channel tool port constructed and arranged to receive the second tool shaft guide. ### Claim 11 (depends on 1) The introduction assembly of claim 1, wherein the introduction device further comprises at least one channel extending at least partially along the support member. ### Claim 12 (depends on 11) The introduction assembly of claim 11, wherein the at least one channel of the introduction device comprises two or more channels. ### Claim 13 (depends on 12) The introduction assembly of claim 12, wherein the two or more channels of the introduction device are positioned equidistantly apart on the introduction device. ### Claim 14 (depends on 11) The introduction assembly of claim 11, wherein the at least one channel of the introduction device is constructed and arranged to slidingly receive a shaft of at least one tool. ### Claim 15 (depends on 11) The introduction assembly of claim 11, wherein the at least one channel of the introduction device comprises a curvilinear channel ### Claim 16 (depends on 1) The introduction assembly of claim 1, wherein the introduction device comprises at least one side channel on an outer surface of the support member, configured to guide a tool into the at least one probe side port. ### Claim 17 (depends on 16) The introduction assembly of claim 16, wherein the at least one side channel comprises a closed ring configured to slidingly receive the tool. ### Claim 18 (depends on 16) The introduction assembly of claim 16, wherein the at least one side channel comprises a ring and a slot in the ring, wherein the slot is configured to receive the tool. ### Claim 19 (depends on 18) The introduction assembly of claim 18, wherein the slot is further configured to release the tool. ### Claim 20 (depends on 1) The introduction assembly of claim 1, wherein the articulated probe comprises a plurality of proximal links and a plurality of distal links. ### Claim 21 (depends on 20) The introduction assembly of claim 20, wherein the plurality of proximal links and plurality of distal links are at least one of the inner links or outer links. ### Claim 22 (depends on 20) The introduction assembly of claim 20, wherein at least one of the plurality of proximal links comprises a first width, and at least one of the plurality of distal links comprises a second width, wherein the first width is less than the second width. ### Claim 23 (depends on 20) The introduction assembly of claim 20, wherein the plurality of distal links is constructed and arranged to remain external to the introduction device. ### Claim 24 (depends on 20) The introduction assembly of claim 20, wherein the introduction device comprises a distal end, and wherein one or more of the plurality of proximal links are constructed and arranged to pass through the introduction device distal end. ### Claim 25 (depends on 20) The introduction assembly of claim 20, wherein at least one of the plurality of distal links includes multiple probe side ports. ### Claim 26 (depends on 25) The introduction assembly of claim 25 wherein a width of the at least one of the plurality of distal links that includes the multiple probe side ports is greater than a width of an inner lumen of the introduction device. ### Claim 27 (depends on 1) The introduction assembly of claim 1 wherein the at least one distal link has a width that is greater than a width of a lumen of the support member through which the articulated probe extends. ### Claim 28 An introduction device for an articulated probe comprising: a support member providing a rigid unitary structure from an input end to an output end and configured to provide a supporting force to the articulating probe; an entrance positioned at a proximal end of the support member configured to guide the articulated probe into proximity with the support member; and an exit positioned at a distal end of the support member configured to guide the articulated probe from the support member into a surrounding environment, and wherein the introduction device includes a lumen between the entrance and the exit that is curved and smooth, wherein the articulated probe includes at least one distal outer link having a width that prevents the at least one distal outer link from retracting into the lumen of the introduction device.