MINIMALLY INVASIVE SURGICAL INSTRUMENT

• US 20150032125A1
• Filed: 11/18/2011
• Published: 01/29/2015
• Est. Priority Date: 11/18/2010
• Status: Active Grant

• Current Assignee: Chang Wook Jeong, Hyungtae Kim
• Original Assignee: Chang Wook Jeong, Hyungtae Kim
• Inventors: Jeong, Chang Wook, Kim, Hyung Tae
• Granted Patent: US 10,010,310 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 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2946 Locking means
• 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

Abstract

A minimally invasive surgical instrument is provided, comprising a shaft and an end effector connected to the shaft, wherein the end effector operates in the pitch or yaw direction against the shaft when a first wire and a second wire conveyed through the shaft operate cooperatively according to a first aspect; and the end effector operates in the roll direction against the shaft when the first wire and the second wire operate cooperatively according to a second aspect, wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to one aspect of the first aspect and the second aspect; and the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the other aspect of the first aspect and the second aspect.

Claims

1. A minimally invasive surgical instrument comprising:

a shaft; and

an end effector connected to the shaft,

wherein the end effector operates in the pitch or yaw direction against the shaft when a first wire and a second wire conveyed through the shaft operate cooperatively according to a first aspect; and

the end effector operates in the roll direction against the shaft when the first wire and the second wire operate cooperatively according to a second aspect,

wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to one aspect of the first aspect and the second aspect; and

the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the other aspect of the first aspect and the second aspect.

2. A minimally invasive surgical instrument as claimed in claim 1,

wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to the first aspect;

and

the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the second aspect.

3. A minimally invasive surgical instrument as claimed in claim 1,

wherein the end effector comprises a roll gear, a first pinion, and a second pinion;

and

the roll gear operates the end effector in the pitch or yaw direction when the first pinion and the second pinion rotate in the same direction and the roll gear operates the end effector in the roll direction when the first pinion and the second pinion rotate in the opposite directions.

4. A minimally invasive surgical instrument as claimed in claim 3,

wherein the first pinion and the second pinion are combined with a first pulley and a second pulley, respectively;

and

the first pulley and the second pulley are wound with the first wire and the second wire, respectively.

5. A minimally invasive surgical instrument as claimed in claim 1, further comprising a first control unit comprising a third pulley wound with the first wire and a fourth pulley wound with the second wire,

wherein the end effector operates in the pitch or yaw direction when the third pulley and the fourth pulley cause the cooperative operation of the first wire and the second wire according to the first aspect in the first control unit.

6. A minimally invasive surgical instrument as claimed in claim 1, further comprising a second control unit comprising:

a pair of upper rack gears connected with the first wire;

a pair of lower rack gears connected with the second wire;

an upper pinion geared between the pair of upper rack gears;

a lower pinion geared between the pair of lower rack gears; and

a roll control gear commonly geared to the upper pinion and the lower pinion.

7. A minimally invasive surgical instrument as claimed in claim 5, further comprising a handling unit comprising the first control unit and a second control unit and being connected to the shaft,

wherein the second control unit comprises a pair of upper rack gears connected with the first wire, a pair of lower rack gears connected with the second wire, an upper pinion geared between the pair of upper rack gears, a lower pinion geared between the pair of lower rack gears, and a roll control gear commonly geared to the upper pinion and the lower pinion, and

wherein the first control unit further comprises a main control unit connected and fixed to the shaft, and

wherein the part of the handling unit except the main control unit rotates together with the third pulley and the fourth pulley against the main control unit.

8. A minimally invasive surgical instrument as claimed in claim 6, further comprising a roll sprocket to enable a user to rotate the roll control gear.

9. A minimally invasive surgical instrument as claimed in claim 7, further comprising a fixing gear to fix the rotating state of the part of the handling unit except the main control unit, the third pulley, and the fourth pulley.

10. A minimally invasive surgical instrument as claimed in claim 1, further comprising:

an operating unit and a control unit to operate the end effector in the yaw or pitch direction; and

at least one direction switch wire being connected and fixed to the operating unit and connecting the operating unit and the control unit.

11. A minimally invasive surgical instrument as claimed in claim 10, further comprising a handling unit connected to the shaft,

wherein the at least one direction switch wire is connected and fixed to the handling unit through the control unit.

12. A minimally invasive surgical instrument as claimed in claim 10,

wherein the operating unit and the control unit comprise at least one fixed pulley, respectively;

and

the at least one direction switch wire is hung around the at least one fixed pulley and pulled to switch the direction of the end effector.

13. A minimally invasive surgical instrument as claimed in claim 10,

wherein the direction switch wires are two separate wires;

and

the two wires are to operate the end effector in the opposite directions to each other.

14. A minimally invasive surgical instrument as claimed in claim 1, further comprising a handling unit connected to the shaft,

wherein the handling unit comprises an opening/closing handle connected with opening/closing wires to control the opening and closing of the end effector.

15. A minimally invasive surgical instrument as claimed in claim 14,

wherein the handling unit further comprises a fixing handle to fix the control states of the opening/closing handle, which may be grabbed together with the opening/closing handle.

16. A minimally invasive surgical instrument as claimed in claim 1, further comprising an electric driving device to push or pull the first wire and the second wire.

17. A minimally invasive surgical instrument as claimed in claim 5, further comprising an electric driving device to allow the third pulley and the fourth pulley to cause the cooperative operation of the first wire and the second wire according to the first aspect.

18. A minimally invasive surgical instrument as claimed in claim 6, further comprising an electric driving device to rotate the roll control gear.