Symbiosis Corporation

Anthony I Mazzeo

Kevin W Smith

Charles R Slater

Thomas O Bales, Jr

Juergen Andrew Kortenbach

Theodore C Slack, Jr

Matthew A Palmer

George A Nunez

John R Whittier

Sergio Rodriguez

The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human-chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing. The robotic instrument preferably comprises two arms mounted at the distal end of a multi-lumen tube. Each arm has rotational and flexional joints corresponding to the shoulder, elbow, and wrist of the practitioner. Tendons are coupled to the pulleys of the servo motors and are fed through the multi-lumen tube to the joints of the two arms.

Endoscopic robotic surgical tools and methods

The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing. The robotic instrument preferably comprises two arms mounted at the distal end of a multi-lumen tube. Each arm has rotational and flexional joints corresponding to the shoulder, elbow, and wrist of the practitioner. Tendons are coupled to the pulleys of the servo motors and are fed through the multi-lumen tube to the joints of the two arms.

A low friction sheath for endoscopic instruments is made from an extrusion grade of high density polyethylene (HDPE). The sheath is formed as an extruded polyethylene tube having an inner diameter slightly smaller than the outer diameter of the instrument it will cover. In order to place the sheath over the instrument, a containment sleeve is placed over the sheath and a source of pressurized gas is coupled to one end of the sheath. The endoscopic instrument tube is sealed and inserted into the other end of the sheath. The polyethylene sheath is filled with gas so that it expands against the containment sleeve and the endoscopic instrument tube is pushed into the expanded polyethylene sheath. The gas is released from the polyethylene sheath and it contracts against the outer surface of the endoscopic instrument tube. The sheath is preferably made from a HDPE having a microfractured surface with 10-20 micron fractures.

Endoscopic instruments having low friction sheath

Remote control actuators for endoscopic tools are provided. Each remote control actuator includes a driver, a coupler which couple the endoscopic tool to the driver, a power source which power the driver, and a controller coupled to the power source and/or the driver for controlling the power applied to the driver. In conjunction with the controller, a user interface is preferably provided for user control of the remote control actuator which actuates the endoscopic tool. In addition, a sensing/feedback mechanism is preferably provided between the driver and the endoscopic tool and is coupled to the controller and/or the power source. The sensing/feedback mechanism senses the amount of tension or compression on the pull wire(s) of the endoscopic tool and provides a related signal to the controller so that the force applied to the endoscopic tool may be regulated. Various types of power sources are disclosed including electric, mechanical, hydraulic, and pneumatic. Various types of drivers are disclosed, including a motor/linear actuator, a hydraulic or pneumatic piston, and a motor with or without reduction gears coupled to a pulley and belt or a sprocket and chain or a rack and pinion. In addition, several couplers, controllers, user interfaces, and sensing/feedback mechanisms are disclosed.

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Ft. Lauderdale, FL, United States of America

Anthony I Mazzeo