TOOL FOR MINIMALLY INVASIVE SURGERY

• US 20110106146A1
• Filed: 05/28/2009
• Published: 05/05/2011
• Est. Priority Date: 05/30/2008
• Status: Active Grant

• Current Assignee: Chang Wook Jeong
• Original Assignee: Chang Wook Jeong
• Inventors: Jeong, Chang Wook
• Granted Patent: US 8,801,731 B2
• Time in Patent Office: Days
• US Class Current: 606/208
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2941 Toggle linkages
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• 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: Y10T 74/184 Cranks, link connected
• CPC Class Codes: Y10T 74/20238 Interlocked

Abstract

The present invention relates to an easy-to-control tool for minimally invasive surgery. In accordance with an aspect of the present invention, there is provided a tool for minimally invasive surgery comprising, an elongated shaft having a predetermined length, an adjustment handle manually controllable by a user, a pitch direction handling part and a yaw direction handling part positioned around one end of the elongated shaft for transferring motions in pitch and yaw directions following the actuation of the adjustment handle, a pitch direction actuating part and a yaw direction actuating part positioned around the other end of the elongated shaft for operating corresponding to the operations from the pitch direction handling part and the yaw direction handling part, respectively, an end effector controllable by the pitch direction actuating part and the yaw direction actuating part, and a plurality of cables for transferring the from the pitch direction handling part and the yaw direction handling part to the pitch direction actuating part and the yaw direction actuating part, respectively.

Claims

1. Tool for minimally invasive surgery comprising,

an elongated shaft having a predetermined length,

an adjustment handle manually controllable by a user,

a pitch direction handling part and a yaw direction handling part positioned around one end of the elongated shaft for transferring motions in pitch and yaw directions following the actuation of the adjustment handle,

a pitch direction actuating part and a yaw direction actuating part positioned around the other end of the elongated shaft for operating corresponding to the operations from the pitch direction handling part and the yaw direction handling part, respectively,

an end effector controllable by the pitch direction actuating part and the yaw direction actuating part, and

a plurality of cables for transferring the from the pitch direction handling part and the yaw direction handling part to the pitch direction actuating part and the yaw direction actuating part, respectively.

2. The tool as claimed in claim 1, wherein at least one space is formed inside the elongated shaft.

3. The tool as claimed in claim 2, wherein the plurality of cables are formed in the space of the elongated shaft.

4. The tool as claimed in claim 1, further comprising,

an opening and closing cable for transferring the opening and closing operation of the adjustment handle to the end effector.

5. The tool as claimed in claim 1, wherein the pitch direction handling part comprises,

a pair of plates spaced apart from each other and disposed substantially parallel to each other,

at least two adjustment gears disposed onto the pair of plates,

a joint rotation axis inserted in a middle point between the at least two adjustment gears, and

a link for enabling the at least two adjustment gears to intermesh.

6. The tool as claimed in claim 1, wherein the yaw direction handling part comprises,

a pair of plates spaced apart from each other and disposed substantially parallel to each other,

at least two adjustment gears disposed onto the pair of plates,

a joint rotation axis inserted in a middle point between the at least two adjustment gears, and

a link for enabling the at least two adjustment gears to intermesh.

7. The tool as claimed in claim 5, wherein the pair of plates has a plurality of cable insert holes formed therethrough.

8. The tool as claimed in claim 5, wherein the link comprises,

a body in a substantially cuboid shape, and

at least two rotation rings, each being formed at either end of the body and configured to enable the joint rotation axis to rotate.

9. The tool as claimed in claim 8, wherein the body has a through hole formed along its central axis of a length direction.

10. The tool as claimed in claim 1, wherein the pitch direction actuating part comprises,

a pair of plates spaced apart from each other and disposed substantially parallel to each other,

at least two adjustment gears disposed onto the pair of plates,

a joint rotation axis inserted in a middle point between the at least two adjustment gears, and

a link for enabling the at least two adjustment gears to intermesh.

11. The tool as claimed in claim 1, wherein the yaw direction actuating part comprises,

a pair of plates spaced apart from each other and disposed substantially parallel to each other,

at least two adjustment gears disposed onto the pair of plates,

a joint rotation axis inserted in middle point between the at least two adjustment gears, and

a link for enabling the at least two adjustment gears to intermesh.

12. The tool as claimed in claim 10, wherein the pair of plates has a plurality of cable insert holes formed therethrough.

13. The tool as claimed in claim 10, wherein the link comprises,

a body in a substantially cuboid shape, and

at least two rotation rings, each being formed at either end of the body and configured to enable the joint rotation axis to rotate.

14. The tool as claimed in claim 13, wherein the body has a through hole formed along its central axis of a length direction.

15. The tool as claimed in claim 1, wherein the plurality of cables comprise,

a pitch cable for transferring the operation from the pitch direction handling part to the pitch direction actuating part, and

a yaw cable for transferring the operation from the yaw direction handling part to the yaw direction actuating part.

16. The tool as claimed in claim 15, wherein the pitch cable is connected and fixed to cable insert holes formed on either of the pitch direction handling part and the pitch direction actuating part.

17. The tool as claimed in claim 15, wherein the yaw cable is connected and fixed to cable insert holes formed on either of the yaw direction handling part and the yaw direction actuating part.

18. The tool as claimed in claim 6, wherein the pair of plates has a plurality of cable insert holes formed therethrough.

19. The tool as claimed in claim 6, wherein the link comprises,

a body in a substantially cuboid shape, and

at least two rotation rings, each being formed at either end of the body and configured to enable the joint rotation axis to rotate.

20. The tool as claimed in claim 11, wherein the pair of plates has a plurality of cable insert holes formed therethrough.

21. The tool as claimed in claim 11, wherein the link comprises,

a body in a substantially cuboid shape, and

at least two rotation rings, each being formed at either end of the body and configured to enable the joint rotation axis to rotate.