MULTIFUNCTIONAL TOOL AND METHOD FOR MINIMALLY INVASIVE SURGERY

• US 20070179525A1
• Filed: 04/11/2007
• Published: 08/02/2007
• Est. Priority Date: 08/06/2001
• Status: Abandoned Application

• Current Assignee: Penn State Research Foundation (Pennsylvania State University)
• Original Assignee: Penn State Research Foundation (Pennsylvania State University)
• Inventors: FRECKER, MARY, DZIEDZIC, RYAN, SCHADLER, JEREMY, HALUCK, RANDY
• Application Number:
  US11/734,039
• Publication Number:
  US 20070179525A1
• Time in Patent Office: Days
• US Class Current: 606/205
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 17/3201 Scissors for biopsy A61B10/02
• CPC Class Codes: A61B 2017/00353 one mechanical instrument performing multiple functions, e.g. cutting and grasping
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points

Abstract

An apparatus and method for minimally invasive surgery. The apparatus can comprise a tool which includes a multi-functioning end effector for insertion into a patient, a user control adapted for use by the surgeon external of the patient, and an intermediate section between the end effector and the user control to translate control instructions from the user control through an actuating mechanism to operate the end effector in one of at least two different functioning states. No instrument exchange is necessary to change between states. The actuation mechanism could be a manually operated mechanical mechanism. Alternatively, it could be partially or fully electromechanical or electrical or electronic. According to one aspect, the end effector is a rigid link mechanism. According to another aspect, the end effector could be a compliant mechanism, at least in part. Another aspect of the invention includes the ability of the end effector to have at least some articulation in addition to grasping and cutting functions.

Claims

1. An end-effector for utilization at a surgical site on or in a patient comprising:

(a) a working end adapted for surgical functioning and including an interface adapted for operative connection to an actuating mechanism;

(b) said working end being configurable to

(1) a first state capable of a first surgical function by translation of one portion of the working end towards another portion of the working end in a first direction;

(2) a second state capable of a second surgical function by translation of the one portion of the working end towards another portion of the working end in a second direction;

(3) wherein selection of said first or second state is effected through said interface.

2. The end-effector of claim 1 wherein said interface comprises a non-compliant mechanism.

3. The end-effector of claim 1 wherein said interface comprises a compliant mechanism.

4. The end-effector of claim 1 wherein said one portion comprises a first grasping surface moveable in a first plane.

5. The end-effector of claim 4 wherein said another portion is a second grasping surface having a section in said first plane and having a section that is moveable outside of said first plane.

6. The end-effector of claim 1 wherein said one portion is a first jaw pivotable in a first plane and said another portion is a second jaw positionable in said first plane.

7. The end-effector of claim 6 wherein said portion of said second jaw is pivotable in a second plane.

8. The end-effector of claim 1 wherein said first surgical function is grasping and said second surgical function is cutting action.

9. The end-effector of claim 1 further comprising a third state for a third surgical function.

10. The end-effector of claim 9 wherein the third surgical function is articulation of the working end.

11. The end-effector of claim 1 in combination with an actuating mechanism.

12. The end-effector of claim 9 wherein said first surgical function comprises grasping and said third state comprises articulation of said grasping function relative to a reference position.

13. The end-effector of claim 1 wherein the end-effector is adapted for minimally invasive surgery.

14. A method of providing multiple surgical functioning at a surgical site on or in a patient comprising:

(a) configuring a working end of a surgical tool for a first surgical function by translation of the one portion of the working end towards another portion of the working end in a first direction;

(b) reconfiguring the working end for a second surgical function without exchange of said working end by translation of the one portion of the working end towards another portion of the working end in a second direction.

15. The method of claim 14 wherein selection of said first or second surgical functions is effected through an interface.

16. The method of claim 14 wherein said interface comprises a non-compliant mechanism.

17. The method of claim 14 further comprising a third surgical function.

18. The method of claim 17 wherein the third surgical function is articulation of the working end.

19. A multifunction end-effector tool for use in minimally invasive surgery, comprising:

(a) a mechanism adapted to be inserted through an incision in a patient'"'"'s body, the mechanism comprising;

(b) a tool head, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function; and

(c) an interface adapted for operative communication with a control external of the patient'"'"'s body and to an actuator operatively connected to the tool head to move the jaws in response to user input from a control.

20. The tool of claim 19 wherein the jaws each have a grasping surface and a cutting edge.

21. The tool of claim 19 wherein each jaw includes an inner end pivotal about the first axis and an outer end pivotal about the second axis.

22. The tool of claim 21 wherein the outer ends of the jaws are pivotable in opposite directions for the cutting action.

23. The tool of claim 21 wherein the outer ends of the jaws are pivotable in the same direction about the second axis to provide for articulated grasping and cutting.

24. The tool of claim 19 further comprising an actuator which comprises a non-compliant mechanism.

25. A surgical instrument for performing multiple surgical tasks comprising:

(a) a shaft having a proximal portion and a distal portion;

(b) a handle positioned on the proximal portion of the shaft;

(c) jaws pivotable relative to each other, positioned on the distal portion of the shaft; and

(d) an actuation system for imparting articulation motion to the jaws.

26. The surgical instrument of claim 25 wherein the pivotable jaws comprise multifunctional scissors, a grasper, a dissector, a cauterizer, or an irrigator.

27. The surgical instrument of claim 25 wherein the actuation system comprises a mechanical actuator, an electrical actuator, a pneumatic actuator, a hydraulic actuator, an electroactive material, or a combination thereof.

28. The surgical instrument of claim 25 wherein said instrument is configured for minimally invasive surgical tasks.

29. The surgical instrument of claim 25 wherein multifunctionality of the pivotable jaws is enabled by a non-compliant mechanism.

30. The surgical instrument of claim 25 further comprising two-part jaws pivotable relative to each other, mounted on the distal portion of the shaft, said jaws having a proximal portion and a distal tip, wherein the tips of said jaws are able to articulate in a plane perpendicular to a plane of jaw opening and closing.

31. The surgical instrument of claim 30 wherein the jaw actuation system is electrically linked to an electroactive material embedded within, bonded to, or connected to the two-part jaws for effecting movement of the jaws from a closed position to an actuated position;

for retaining the jaws in the actuated position; and

for enabling the jaws to return to the closed position.

32. The surgical instrument of claim 25 wherein the actuated system comprises a cutting, dissecting, or grasping configuration.

33. The surgical instrument of claim 26 wherein the jaws are able to be articulated simultaneously or independently.

34. The surgical instrument of claim 26 wherein multifunctionality of the pivotable jaws is enabled by a compliant mechanism.

35. The surgical instrument of claim 34 further comprising a static balance mechanism to the actuating mechanism for the compliant mechanism.