Surgical instrument

• US 20030050649A1
• Filed: 11/16/2001
• Published: 03/13/2003
• Est. Priority Date: 02/24/1998
• Status: Active Grant

• Current Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Brock, David L., Lee, Woojin
• Granted Patent: US 6,949,106 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0483 Hand-held instruments for holding sutures A61B17/0469 takes precedence; other holders for needles or sutures A61B17/06061; surgical forceps A61B17/28; surgical pincettes A61B17/30
• CPC Class Codes: A61B 17/0487 Suture clamps, clips or locks, e.g. for replacing suture knots; Instruments for applying or removing suture clamps, clips or locks suture anchors A61B17/0401; wound clamps or clips A61B17/08; ligaturing clamps or clips A61B17/122
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00088 using thermistors
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00331 with preformed bends
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/00986 Malecots, e.g. slotted tubes, of which the distal end is pulled to deflect side struts
• CPC Class Codes: A61B 2017/0409 Instruments for applying suture anchors for applying suture clamps, clips or locks A61B2017/0488
• CPC Class Codes: A61B 2017/0414 having a suture-receiving opening, e.g. lateral opening lateral eyelet for attaching suture to needle A61B2017/06019
• CPC Class Codes: A61B 2017/0437 the barbs being resilient or spring-like
• CPC Class Codes: A61B 2017/0464 : for soft tissue
• CPC Class Codes: A61B 2017/0645 : being elastically deformed for insertion
• CPC Class Codes: A61B 2017/0648 : threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2017/22069 : Immobilising; Stabilising
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• CPC Class Codes: A61B 2034/2051 : Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2034/301 : for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/715 : Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2034/744 : Mouse
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 : using ultrasound
• CPC Class Codes: A61B 2090/506 : using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0084 : for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/015 : By temperature mapping of body part
• CPC Class Codes: A61B 5/4893 : Nerves
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61F 2/2445 : Annuloplasty rings in direct contact with the valve annulus
• CPC Class Codes: A61F 2/2466 : Delivery devices therefor
• CPC Class Codes: B25J 3/04 : involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/104 : with cables, chains or ribbons

Abstract

A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, the master station comprising: a lower positioner assembly; upper positioner assembly supported over the lower positioner assembly and rotational relative to the lower positioner assembly to enable lateral side-to-side surgeon manipulation; and an arm assembly having a hard assembly at its distal end for engagement by the surgeon'"'"'s hand, and a proximal end pivotally supported from the upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation.

Claims

1. A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, said master station comprising:

a lower positioner assembly;

an upper positioner assembly supported over said lower positioner assembly and rotational relative to said lower positioner assembly to enable lateral side-to-side surgeon manipulation; and

an arm assembly having a hard assembly at its distal end for engagement by the surgeon'"'"'s hand, and a proximal end pivotally supported from said upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation.

2. A master station as claimed in claim 1 wherein said arm assembly includes a proximal arm member and a distal arm member coupled by a rotational joint.

3. A master station as claimed in claim 2 including a position encoder at said rotational joint to detect rotation of the distal arm member.

4. A master station as claimed in claim 3 including a pivotal joint connecting said hand assembly to a distal end of said distal arm member.

5. A master station as claimed in claim 4 including a position encoder at said pivotal joint to detect pivoting of the hand assembly.

6. A master station as claimed in claim 5 wherein said hand assembly includes a base piece and a pair of holders coupled from said base piece.

7. A master station as claimed in claim 6 wherein one of said holders is adapted to receive a thumb and the other holder is adapted to receive a forefinger.

8. A master station as claimed in claim 7 wherein said holders each comprise a metal bar and a Velcro loop.

9. A master station as claimed in claim 7 wherein said hand assembly further includes a pair of rotating elements pivotally supported from opposite ends of said base piece.

10. A master station as claimed in claim 9 wherein one of said holders is secured to one of said rotating elements so that the surgeon can move said one holder toward and away from the other holder.

11. A master station as claimed in claim 10 wherein the pivotal joint that connects the hand assembly to the distal end of the distal arm member is connected to the other rotating element of the pair of rotating elements.

12. A master station as claimed in claim 10 including a position encoder at each of said pair of rotating elements.

13. A master station as claimed in claim 1 including a pivotal joint connecting the hand assembly to a distal end of the arm assembly.

14. A master station as claimed in claim 13 wherein said hand assembly includes a base piece and a pair of holders coupled from said base piece.

15. A master station as claimed in claim 14 wherein one of said holders is adapted to receive a thumb and the other holder is adapted to receive a forefinger.

16. A master station as claimed in claim 15 wherein said hand assembly further includes a pair of rotating elements pivotally supported from opposite ends of said base piece.

17. A master station as claimed in claim 16 wherein one of said other holders is secured to one of said rotating elements so that the surgeon can move said one holder toward and away from the other holder.

18. A master station is claimed in claim 17 wherein the pivotal joint that connects the hand assembly to the distal end of the arm assembly is connected to the other rotating element of the pair of rotating elements.

19. A master station as claimed in claim 2 wherein said proximal arm member comprises a pair of parallel-disposed arms and a pair of support pieces for the arms, each of the arms being pivotally supported at respective ends thereof in said support pieces.

20. A master station as claimed in claim 19 wherein one of said support pieces forms part of said rotational joint between the proximal and distal arm members.

21. A master station as claimed in claim 20 wherein the other of said support pieces forms part of said pivotal support of said proximal end of said arm assembly about said lower positioner assembly.

22. A master station as claimed in claim 21 including a counter-weight on said other support piece.

23. A master station as claimed in claim 1 wherein the lower positioner assembly includes a motor and encoder.

24. A master station as claimed in claim 1 wherein the upper positioner assembly includes a substantially upright frame rotational relative to the lower positioner assembly, said substantially horizontal axis disposed at a top of said upright frame.

25. A master station as claimed in claim 24 wherein an upper shaft supported from said frame establishes said horizontal axis, and further including a second horizontal shaft below said upper shaft.

26. A master station as claimed in claim 25 including a belt and pulley arrangement for intercoupling said shafts.

27. A master station as claimed in claim 26 including position encoders engaged with said lower shaft.

28. A master station of a master/slave surgery system adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, said master station comprising:

a base;

an arm assembly pivotally supported from the base; and

a hand assembly pivotally supported from said arm assembly;

said hand assembly including a finger holder and a thumb holder, and wherein said holders are supported for relative movement therebetween.

29. A master station as in claim 28, wherein said hand assembly also includes a base piece for said holders.

30. A master station as in claim 29, wherein said thumb holder is fixed in position relative to said base piece and said finger holder rotates from said base piece.

31. A master station of a master/slave surgery system adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, said master station comprising:

a base;

an arm assembly pivotally supported from the base; and

a hand assembly pivotally supported from said arm assembly;

said hand assembly including a guide shaft adapted to be grasped by the surgeon, an actuator button or switch on said guide shaft, and a multiple rotation joint connecting said guide shaft to said arm assembly.

32. In a surgical instrument system having an instrument that is adapted to be inserted through an incision point into the patient for positioning a distal end of the instrument at an operative site within the patient, the system being adapted for operation by a surgeon from outside the patient, wherein the system includes a slave station having a support for the surgical instrument, the improvement comprising;

a template secured to the support for locating the position of said support, and subsequently said surgical instrument, relative to the incision point of the patient.