Surgery – Diagnostic testing – Detecting nuclear – electromagnetic – or ultrasonic radiation
Reexamination Certificate
1997-08-29
2001-05-22
Casier, Brian L. (Department: 3737)
Surgery
Diagnostic testing
Detecting nuclear, electromagnetic, or ultrasonic radiation
C600S146000, C600S437000, C600S459000, C600S462000, C600S434000, C600S444000, C600S445000, C600S114000, C600S149000
Reexamination Certificate
active
06236876
ABSTRACT:
FIELD OF THE INVENTION
The invention relates to controls for moving a navigable probe, for example, a medical probe.
BACKGROUND OF THE INVENTION
A navigable probe may comprise, for example, a gastroscope and transesophagel type medical imaging probe as described in U.S. Pat. No. 5,445,154. The probe contains an ultrasound imaging transducer at the end of a flexible cable. The probe is used for medical diagnosis, for example, by inserting the probe inside a body cavity of a patient, and acquiring an ultrasound image by using an ultrasonic transducer. A tip of the probe is adapted to flex to a curved shape in different directions of flexure. Individual torque and articulation control cables extend through the probe. By pulling on individual cables, the probe tip can be flexed or extended to a curved shape, thus, to traverse the probe along bends of a body cavity, and to point the imaging transducer in different directions. The probe cable may contain a torque control cable capable of transmitting a twisting force or twisting motion through the probe and its articulating section while the section is flexed into a curved shape. The torque control cable may be used for transducer rotation to allow imaging along different planes. Adjusting the probe to a curved shape and rotating the torque control cable, currently requires careful hand operation, and hand operation is required to start and stop the movement of the probe to avoid injuring a patient with the robe.
SUMMARY OF THE INVENTION
The invention relates to motorized, controlled movement of a navigable probe actuated by one or more tension adjusting cables. For example, an ultrasound imaging transducer on a tip of a medical imaging probe is articulated by applying tension to the cable.
The invention further relates to a motor control apparatus capable of limiting the force exerted by a navigable probe.
The invention further relates to a motor control apparatus that is capable of limiting the tension applied to one or more articulation control cables, by a limiting system that limits the tension.
The invention further relates to a motor control apparatus that restricts the articulation of a navigable probe to prevent farther articulation of the probe in response to resistance by the surface of that which is being probed, whereby endangering surfaces sensitive to pressure is avoided.
The invention further relates to a motor control apparatus with a slender configuration, which can be operated by one person.
The invention relates further to a motor control apparatus with a slender configuration to hold and manipulate the motor control apparatus with a single hand of a person.
The invention relates further to a motor control apparatus with a slender configuration suitable for mounting in a slender housing.
The invention further relates to a multiposition switch or variable switch of a motor control apparatus to activate reversible motor(s).
The invention further relates to a switch of a motor control apparatus to activate a reversible motor mounted on a housing attached to a probe, to be operated by digits on one hand of a person grasping the housing.
The invention further relates to a medical imaging probe having one or more articulation control cables to flex the probe in variable degrees of flexure of the probe.
The invention further relates to a medical imaging probe wherein an output shaft of a reversible articulation control motor is in-line with a corresponding longitudinal axis of each of one or more articulation control cables, to provide a slender configuration.
The invention further relates to a medical imaging probe wherein, a reversible articulation control motor is parallel to a corresponding longitudinal axis of each of one or morte articulation control cables, to provide a slender configuration.
The invention further relates to a medical imaging probe wherein, a reversible probe articulation control motor has a limited torque output to restrict the articulation of one or more articulation control cables in response to farther movement of the probe being resisted by the surface of that which is being probed.
According to an embodiment, the motor is constructed or governed to provide limited torque output.
According to an embodiment, a reversible motor is provided with a limited torque output to prevent the probe from farther flexure or extension by the reversible motor when such articulation of the probe is resisted.
According to an embodiment, the output shaft of an articulation control motor is parallel with the longitudinal axis of each of one or more articulation control cables, to provide a slender configuration.
According to an embodiment, the output shaft of an articulation control motor is oriented non-parallel to the longitudinal axis of the articulation control cables.
According to an embodiment, one or more multiposition or continuously variable control switches, or rheostats, are provided and are moveable in different directions to actuate reversible torque motors in reversible directions.
According to an embodiment, the control motors are detached from a housing to be activated from a remote location.
According to an embodiment, the articulation control cables are actuated by a gear to gear drive mechanism.
According to an embodiment, the articulation control cables are actuated by a gear to pulley mechanism.
According to an embodiment, the articulation control cables are actuated by a sprocket and chain mechanism.
According to an embodiment, the articulation control cables are actuated by a pulley to pulley drive mechanism.
According to an embodiment, the position of the probe relative to the longitudinal axis of the motor control housing, is indicated by dials mounted on the housing.
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Bell Marlan James
Gruner George Paul
Letourneau Guy Louis
Casier Brian L.
Leonardo Mark S.
The Whitaker Corporation
Zale Lawrence P.
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