SURGICAL METHODS USING A SURGICAL DEVICE HAVING A FIXED ANGULAR ORIENTATION

• US 20130144274A1
• Filed: 12/02/2011
• Published: 06/06/2013
• Est. Priority Date: 12/02/2011
• Status: Active Grant

• Current Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Stefanchik, David, Vakharia, Omar J.
• Granted Patent: US 9,179,927 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 17/2909 Handles
• 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 2017/2946 Locking means
• CPC Class Codes: A61B 2017/2947 Pivots
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.

Claims

1. A surgical method, comprising:

inserting a slave component of a surgical device into a body cavity;

fixing an angular orientation of a body portion of the surgical device relative to the body cavity; and

while said angular orientation remains fixed, heaving and swaying a master component of the surgical device relative to the body portion, thereby causing corresponding heaving and swaying movement of the slave component relative to the body portion.

2. The method of claim 1, further comprising surging the body portion to surge the slave component.

3. The method of claim 1, further comprising rolling the body portion to roll the slave component.

4. The method of claim 1, further comprising yawing the master component relative to the body portion to yaw the slave component relative to the body portion.

5. The method of claim 1, further comprising pitching the master component relative to the body portion to pitch the slave component relative to the body portion.

6. The method of claim 1, further comprising squeezing first and second handle levers of the master component together to cause first and second jaws of the slave component to move towards one another.

7. The method of claim 1, wherein movement of the master component induces scaled movement of the slave component.

8. The method of claim 1, further comprising articulating a wrist joint of the master component to control pitching and yawing movement of the slave component.

9. The method of claim 1, further comprising articulating an elbow joint of the master component to control heaving and swaying movement of the slave component.

10. The method of claim 1, further comprising applying a pulling force to at least one wrist cable extending through the surgical device to induce yaw movement of the slave component.

11. The method of claim 1, further comprising applying a pulling force to at least one wrist cable extending through the surgical device to induce pitch movement of the slave component.

12. The method of claim 1, further comprising applying a pulling force to at least one elbow cable extending through the surgical device to induce heave movement of the slave component.

13. The method of claim 1, further comprising applying a pulling force to at least one elbow cable extending through the surgical device to induce sway movement of the slave component.

14. The method of claim 1, further comprising applying a pulling force to at least one wrist cable extending through the surgical device to actuate the slave component.