ELECTROACTIVE POLYMER-BASED ACTUATION MECHANISM FOR GRASPER

• US 20060047303A1
• Filed: 09/30/2005
• Published: 03/02/2006
• Est. Priority Date: 07/28/2004
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Ortiz, Mark S., Shelton, Frederick E. IV, Swayze, Jeffrey S.
• Granted Patent: US 7,879,070 B2
• Time in Patent Office: Days
• US Class Current: 606/205
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00871 polymeric
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2946 Locking means

Abstract

Methods and devices are provided for actuating and/or articulating a grasping device. In one exemplary embodiment, a grasping device is provided having a shaft with an end effector having opposed jaws coupled to the shaft. An electrically expandable and contractible actuator, such as an electroactive polymer actuator, can be used to actuate the end effector to open and close the opposed jaws to grasp tissue or other objects. In another embodiment, an electroactive polymer actuator can be used to pivotally or angularly adjust a position of the end effector relative to the shaft by delivering energy to the electroactive polymer actuator.

Claims

1. A grasping device, comprising:

a shaft having opposed first and second jaws formed on a distal end thereof and movable between a closed position and an open position in which the first and second jaws can receive an object therebetween; and

at least one electroactive polymer actuator coupled to the first and second jaws and effective to move the first and second jaws between the open and closed positions.

2. The device of claim 1, wherein the at least one electroactive polymer actuator is configured to move the first and second jaws to the open position when energy is delivered thereto.

3. The device of claim 1, wherein the at least one electroactive polymer actuator is configured to move the first and second jaws to the closed position when energy is delivered thereto.

4. The device of claim 1, wherein the first and second jaws are coupled to one another at a pivot point formed between a proximal end and a distal end of each jaw, and wherein the at least one electroactive polymer actuator is coupled to each jaw at a location proximal to the pivot point.

5. The device of claim 4, wherein the at least one electroactive polymer actuator comprises a first electroactive polymer actuator extending between the proximal end of the first jaw and the shaft, and a second electroactive polymer actuator extending between the proximal end of the second jaw and the shaft.

6. The device of claim 5, wherein the first and second electroactive polymer actuators are adapted to axially contract when energy is delivered thereto to pull the proximal ends of the first and second jaws toward the shaft.

7. The device of claim 6, wherein the jaws are adapted to move from the open position to the closed position when energy is delivered to the first and second electroactive polymer actuators.

8. The device of claim 6, wherein the jaws are adapted to move from the closed position to the open position when energy is delivered to the first and second electroactive polymer actuators.

9. The device of claim 4, wherein the at least one electroactive polymer actuator is coupled to and extends between the proximal end of each jaw.

10. The device of claim 1, wherein the first and second jaws are biased to an open position, and the at least one electroactive polymer actuator is adapted to move the jaws to a closed position when energy is delivered thereto.

11. The device of claim 1, wherein the first and second jaws are biased to a closed position, and the at least one electroactive polymer actuator is adapted to move the jaws to an open position when energy is delivered thereto.

12. The device of claim 1, further comprising a handle formed on the proximal end of the shaft and including a control mechanism adapted to selectively deliver energy to the at least one electroactive polymer actuator.

13. The device of claim 1, further comprising an articulation joint formed on the shaft and adapted to allow the first and second jaws to articulate relative to a longitudinal axis of the shaft.

14. The device of claim 13, further comprising at least one electroactive polymer actuator coupled to the articulation joint and adapted to articulate the first and second jaws when energy is delivered to the at least one electroactive polymer actuator.

15. A grasping device, comprising:

a shaft having an end effector with opposed jaws formed thereon and pivotally movable relative to one another; and

at least one electroactive polymer actuator coupled to the end effector and effective to pivot at least one of the opposed jaws when energy is delivered to the at least one electroactive polymer actuator.

16. The device of claim 15, wherein the opposed jaws are biased to an open position, and wherein the at least one electroactive polymer actuator is effective to move the opposed jaws to a closed position when energy is delivered to the at least one electroactive polymer actuator.

17. The device of claim 15, wherein the opposed jaws are biased to a closed position, and wherein the at least one electroactive polymer actuator is effective to move the opposed jaws to an open position when energy is delivered to the at least one electroactive polymer actuator.

18. The device of claim 15, wherein the at least one electroactive polymer actuator comprises a first electroactive polymer actuator coupled to and extending between a proximal end of one of the opposed jaws and the shaft, and a second electroactive polymer actuator coupled to and extending between a proximal end of the other one of the opposed jaws and the shaft.

19. The device of claim 15, wherein an electroactive polymer actuator extends between a proximal end of each of the opposed jaws.

20. A surgical method for grasping objects, comprising:

inserting a grasping device into a body lumen; and

delivering energy to at least one electroactive polymer actuator coupled to first and second jaws formed on a distal end of the grasping device to cause the jaws to engage an object positioned therebetween.

21. The method of claim 20, wherein delivering energy to at least one electroactive polymer actuator moves the first and second jaws from an open position to a closed grasping position.

22. The method of claim 20, wherein delivering energy to at least one electroactive polymer actuator moves the first and second jaws from a closed position to an open position.

23. The method of claim 20, further comprising, prior to delivering energy, angularly adjusting a position of the first and second jaws to position an object between the jaws.

24. The method of claim 23, wherein the first and second jaws are angularly adjusted by delivering energy to a second electroactive polymer actuator that is coupled to the grasping device.