Manipulable hand for laparoscopy

• US 5,441,494 A
• Filed: 07/29/1993
• Issued: 08/15/1995
• Est. Priority Date: 07/29/1993
• Status: Expired due to Term

• Current Assignee: Ethicon Incorporated (Johnson & Johnson)
• Original Assignee: Ethicon Incorporated (Johnson & Johnson)
• Inventors: Ortiz, Mark
• Primary Examiner(s): ASCHENBRENNER, PETER
• Application Number:
  US08/099,675
• Time in Patent Office: 747 Days
• Field of Search: 294/19.1, 294/22, 294/24, 606/1, 606/205, 604/280
• US Class Current: 606/1
• 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 2017/2938 Independently actuatable jaw members, e.g. two actuating rods
• 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: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 3/00 Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Abstract

A manipulable hand for use in laparoscopic surgery is disclosed, having a master or control hand with clamps for attaching the master hand to that of an operator, the master hand having at least one finger, the finger having at least one hinge corresponding to an interphalangeal joint in a human hand. The manipulable hand further includes a slave or controlled hand, distally disposed from the operator, the slave hand having at least one finger, the finger having at least one hinge corresponding to an interphalangeal joint of a human finger. Both the master and slave hinges are capable of movement corresponding to flexion and extension of a human finger. The master hand and the slave hand are connected by motion transmission rods or cables, and the movements of the slave hand corresponds one-for-one to the movements of the master hand. The preferred embodiment of the manipulable hand has two fingers and a thumb, the thumb of both the master and slave hands is capable of movements corresponding to palmar adduction and abduction, and the fingers of both the master and slave hands are capable of coplanar spreading away from each other and moving back toward each other, moving from a substantially aligned position to a V-shaped configuration. The rods are enclosed within a hollow shaft, and the master and slave hands are mounted with parallel connections therebetween forming wrists at the ends of the shaft.

Claims

1. A manipulable surgical hand for performing laparoscopic surgical techniques comprising at least one master control finger, means for releasably attaching said master control finger to a finger of a human hand, said master control finger having at least one interphalangeal joint hinge dividing said control finger into first and second phalanges, all of which correspond to an interphalangeal joint and phalanges of a human hand, said control finger being articulable between extended and flexed positions corresponding to extended and flexed positions of a human finger, an elongated tube having base means for mounting said master control finger at a proximal end thereof, at least one controlled slave finger mounted on finger mounting means mounted on a distal end of said tube, said tube having means for mounting said controlled slave finger at the distal end thereof, said controlled slave finger having at least one interphalangeal joint hinge dividing said slave finger into first and second phalanges, said slave finger being articulable between extended and flexed positions corresponding to the extended and flexed positions of said control finger, motion transmission means carried by said tube connecting said master control finger to said controlled slave finger and being responsive to movement of the phalanges of the control finger to independently transmit movements of each of the phalanges of the control finger to each of the phalanges of the controlled finger with a one-for-one correspondence of movements between the control finger phalanges and the controlled finger phalanges.

8. A manipulable surgical hand according to claim 1 including flexible cable means fixed at one end to the second phalange of a control finger and fixed at another end to a proximal end of second rod means, said second rod means extending through said tube to said distal end adjacent said finger mounting means, guide means for said cable means adapted to guide said cable for axial movement and to thereby cause axial reciprocation of said second rod means upon articulation of said control finger between extended and flexed positions, flexible cable means extending from a distal end of said second rod means and to the second phalange of said slave finger, whereby axial reciprocation of said second rod means causes articulation of said slave finger between extended and flexed positions with said one-for-one correspondence of movements.

11. A manipulative surgical hand according to claim 1 wherein said tube includes coupling means permitting a portion of said tube having said base means to be connected to and disconnected from a portion of said tube having said finger mounting means mounted thereon.

12. A manipulable surgical hand according to claim 11 wherein said coupling means includes means to connect and disconnect a portion of said motion transmitting means connected to said master control finger from a portion of said motion transmitting means connected to said controlled slave finger.

13. A manipulative surgical hand according to claim 12 wherein said coupling means includes releasable locking means.

14. A manipulable surgical hand according to claim 12 wherein said motion transmission means includes rod means extending through said tube, said coupling means comprising a hollow cylindrical sleeve mounted fixed to one end of said portions of said tube, another one of said portions of said tube having a cylindrical block thereon, said cylindrical block having a cup-shaped open end having an outside cylindrical surface adapted to slidably fit within said cylindrical sleeve, arcuate wall portions of said cup-shaped open end having radially extending detent tabs formed thereon, said detent tabs including cam means to bias said tabs radially inwardly to clear an inside surface of said cylindrical sleeve, a locking sleeve slidably mounted within said cylindrical sleeve and having an outside diameter adapted to be received within said cup-shaped open end and adapted to interfere with said radially inwardly biased tabs, pocket means in the inside surface of said sleeve adapted to receive said detent tabs, said rod means comprising a first rod portion slidably extending through an aperture in said cylindrical block, said first rod portion having a bullet-shaped end portion extending into said cup-shaped open end, said rod means further comprising a second rod portion mounted in a cylindrical plug said cylindrical plug being mounted within and fixed with respect to said cylindrical sleeve and having an axially extending peripheral slot slidably mounting said second rod portion, said second rod portion having a socket at its end adapted to radially expand out of said slot to receive said bullet shaped end portion, a spring biased sleeve having an inside surface surrounding said cylindrical plug to prevent radial expansion of said socket, said spring biased sleeve having an outside surface adapted to be received in said cup-shaped open end, and means biasing said sleeve toward said cup-shaped open end.

2. A manipulable surgical hand for performing laparoscopic surgical techniques comprising at least one master control finger, means for releasably attaching said master control finger of a human hand, said master control finger having at least one interphalangeal joint hinge dividing said control finger into first and second phalanges, all of which correspond to an interphalangeal joint and phalanges of a human hand, said control finger being articulable between extended and flexed positions corresponding to extended and flexed positions of a human finger, an elongated tube having base means for mounting said master control finger at a proximal end thereof, at least one controlled slave finger mounted on finger mounting means mounted on a distal end of said tube, said tube having means for mounting said controlled slave finger at the distal end thereof, said controlled slave finger having at least one interphalangeal joint hinge dividing said slave finger into first and second phalanges, said slave finger being articulable between extended and flexed positions corresponding to the extended and flexed positions of said control finger, motion transmission means carried by said tube connecting said master control finger to said controlled slave finger and being responsive to movement of the phalanges of the control finger to independently transmit movements of each of the phalanges of the control finger with a one-for-one correspondence of movements between the control finger phalanges and the controlled finger phalanges wherein two master control fingers and two controlled slave fingers are provided and wherein each control finger is separately connected to its own one of said controlled slave fingers by said motion transmission means.

3. A manipulable surgical hand according to claim 2 wherein said control fingers are spreadable between a first substantially aligned position and a second, angularly related, V-shaped position, linkage means connecting said control fingers for planar movement between said first and second positions, wherein said controlled slave fingers are spreadable between a corresponding first substantially aligned position and a corresponding second angularly related V-shaped position, said motion transmitting means including means responsive to movement of said control fingers between said first aligned position and said second V-shaped position to move said controlled slave fingers between said corresponding first aligned position and said second angularly related position.

4. A manipulable surgical hand according to claim 3 wherein said linkage means provides a one-for-one correspondence between the positions of said control fingers.

5. A manipulable surgical hand according to claim 4 wherein said means responsive to movement of said control fingers provides a one-for-one correspondence between the position of said controlled slave fingers.

6. A manipulable surgical hand according to claim 4 wherein each said control finger is pivotally connected at a first pivot point to a base plate by a pivot pin, a pair of links pivotally connected to each control finger at second pivot points spaced from said first pivot points, said links being further pivotally connected to a slide block slidably mounted on said base plate for rectilinear motion toward and away from said distal end of said tube, said means responsive to movement of said control fingers including said slide block.

7. A manipulable surgical hand according to claim 6 wherein said means responsive to movement of said control fingers further includes first rod means connected to said slide block and extending through said tube to said distal end adjacent said finger mounting means, each said controlled slave finger being pivotally connected to said finger mounting means, flexible connecting means extending from said first rod means to each said controlled slave finger.

9. A manipulable surgical hand for performing laparoscopic surgical techniques comprising at least one master control finger, means for releasably attaching said master control finger of a human hand, said master control finger having at least one interphalangeal joint hinge dividing said control finger into first and second phalanges, all of which correspond to an interphalangeal joint and phalanges of a human hand, said control finger being articulable between extended and flexed positions corresponding to extended and flexed positions of a human finger, an elongated tube having base means for mounting said master control finger at a proximal end thereof, at least one controlled slave finger mounted on finger mounting means mounted on a distal end of said tube, said tube having means for mounting said controlled slave finger at the distal end thereof, said controlled slave finger having at least one interphalangeal joint hinge dividing said slave finger into first and second phalanges, said slave finger being articulable between extended and flexed positions corresponding to the extended and flexed positions of said control finger, motion transmission means carried by said tube connecting said master control finger to said controlled slave finger and being responsive to movement of the phalanges of the control finger to independently transmit movements of each of the phalanges of the control finger with a one-for-one correspondence of movements between the control finger phalanges and the controlled finger phalanges wherein two master control fingers and two controlled slave fingers are provided, a pair of flexible cables, each of said cables being fixed at one end to the second phalange of a control finger and fixed at another end to a proximal end of second and third rod means, said second and third rod means extending through said tube to said distal end adjacent said finger mounting means, guide means for each of said cables adapted to guide each cable for axial movement and to thereby cause independent axial reciprocation of said second and third rod means upon articulation of said control fingers between extended and flexed positions, flexible cable means extending from the distal end of each of said second and third rod means to the second phalange of a pair of controlled slave fingers, whereby independent axial reciprocation of said second and third rod means causes independent articulation of said slave fingers between extended and flexed positions with said one-for-one correspondence of movements.

10. A manipulable surgical hand for performing laparoscopic surgical techniques comprising at least one master control finger, means for releasably attaching said master control finger of a human hand, said master control finger having at least one interphalangeal joint hinge dividing said control finger into first and second phalanges, all of which correspond to an interphalangeal joint and phalanges of a human hand, said control finger being articulable between extended and flexed positions corresponding to extended and flexed positions of a human finger, an elongated tube having base means for mounting said master control finger at a proximal end thereof, at least one controlled slave finger mounted on finger mounting means mounted on a distal end of said tube, said tube having means for mounting said controlled slave finger at the distal end thereof, said controlled slave finger having at least one interphalangeal joint hinge dividing said slave finger into first and second phalanges, said slave finger being articulable between extended and flexed positions corresponding to the extended and flexed positions of said control finger, motion transmission means carried by said tube connecting said master control finger to said controlled slave finger and being responsive to movement of the phalanges of the control finger to independently transmit movements of each of the phalanges of the control finger with a one-for-one correspondence of movements between the control finger phalanges and the controlled finger phalanges including a master control thumb, means for releasably attaching said master control thumb to a thumb of a human hand, said master control thumb having a joint hinge connecting said master control thumb to a mounting plate, said control thumb being articulable toward and away from said master control finger corresponding to the palmar adduction and palmar abduction of a human hand, means for mounting said master control thumb at said proximal end of said tube, a controlled slave thumb mounted on said mounting means at said distal end of said tube, said controlled slave thumb having a joint hinge, said slave thumb being articulable about slave thumb pivot means toward and away from said controlled slave finger corresponding to the palmar adduction and palmar abduction of a human hand, said motion transmission means including fourth rod means extending through said rod and connecting said master control thumb to the controlled slave thumb with a one-for-one correspondence of movements between the control thumb and the controlled thumb.

15. In a surgical instrument for performing laparoscopic surgical techniques through a cannula defined port in a patient, said surgical instrument having a tube adapted to pass through said cannula for access to a surgical procedure site, said tube having manually controlled means at one end thereof adapted to be controlled by a human operator and having a controlled device at another end adapted to perform a surgical technique at said site, in combination therewith the improvement comprising a quick disconnect coupling carried by and dividing said tube into first and second portions to permit separation of said manually controlled means from said controlled device to thereby permit said manually controlled means to be employed with a variety of controlled devices.

16. A surgical instrument according to claim 15 wherein said controlled device is responsive to motion transmission means passing through said tube and connected to said manually controlled means.

17. A surgical instrument according to claim 16 wherein said motion transmission means includes rod means mounted in said tube.

18. A surgical instrument according to claim 17 wherein said coupling means comprises a hollow cylindrical sleeve fixed to said second portion of said sleeve, said first portion of said tube having a cylindrical block thereon, said cylindrical block having a cup-shaped open end having an outside cylindrical surface received within an inside surface of said cylindrical sleeve, arcuate wall portions of said cup-shaped open end having radially extending detent tabs formed thereon, said detent tabs being releasably locked in an annular recess in said inside surface of said cylindrical sleeve, a locking sleeve slidably mounted within said cylindrical sleeve and having a first cylindrical portion extending into said cup-shaped open end and a second cylindrical portion slidably engaging the inside surface of said cylindrical sleeve, spring means biasing said locking sleeve toward said cylindrical block, said rod means comprising a first rod portion slidably extending through an aperture in said cylindrical block, said first rod portion having a bullet-shaped end portion extending into said cup-shaped open end, said rod means further comprising a second rod portion mounted in a cylindrical plug, said cylindrical plug being mounted within and fixed with respect to said cylindrical sleeve and having an axially extending peripheral slot slidably mounting said second rod portion, said second rod portion having a socket at its end receiving said bullet-shaped end portion and adapted to expand out of said slot upon connection to and disconnection from said bullet-shaped end portion, an inside cylindrical surface of said locking sleeve closely surrounding said socket at its end to prevent such expansion and to lock said rod portions in a connected condition.

19. A surgical instrument according to claim 18 wherein said motion transmission means includes a plurality of rods.

20. A manipulable hand for laparoscopic surgery, comprising

at least one mechanical master finger, said master finger having means for releasably holding the finger of a human operator and being movable in response to movements of the finger of the operator;

a mechanical master thumb, said master thumb having means for releasably holding the thumb of the human operator and being movable in response to movements of the human thumb, said master thumb and finger being on a master control hand, said master fingers and master thumb being movably attached to a base plate of a mechanical master hand, whereby movements of each said master finger and master thumb are controlled by movements of homologous digits of the human operator hand;

motion transmission means attached to each of said master fingers and said master thumb for transmitting movements of said master finger and master thumb to a controlled slave hand,

at least one mechanical slave finger connected to and responsive to movements of said motion transmission means, said slave finger being mounted on said slave hand;

a mechanical slave thumb connected to and responsive to movements of said motion transmission means, said slave thumb being mounted on said slave hand, said movements of said motion transmission means being actuated and responsive to movements of said master fingers and said master thumb, whereby each master finger and each master thumb are connected by said motion transmission means to a homologous slave finger and slave thumb, said slave fingers and said slave thumb being mounted on a base plate of said slave hand;

a hollow elongated shaft having a longitudinal axis and proximal and distal ends, said proximal end attached to said master hand by means of a first wrist, said distal end attached to said slave hand by means of a second wrist, said wrists being hingedly movable in response to movements of said operator hand, said wrists having parallel interconnections via another of said motion transmission means,

said motion transmission means passing through the hollow portion of said shaft to connect said master hand to said slave hand, said shaft having an outside diameter commensurate with insertion of said slave hand and a portion of said shaft into a cannula for use in laparoscopic surgery.

21. A manipulable hand according to claim 20, wherein each of said master fingers has at least one movable hinge and each of said slave fingers has at least one movable hinge, said hinges corresponding to interphalangeal joints of a human finger, and said slave fingers are capable of bending around an object to be grasped by movement of said hinges.

22. A manipulable hand according to claim 21, wherein said master thumb has two movable hinges and said slave thumb has two movable hinges, at least one each of said master and slave hinges corresponding to an interphalangeal joint of a human thumb, and said slave thumb is capable of bending around an object to be grasped by movement of said hinges.

23. A manipulable hand according to claim 22, wherein said master fingers have means for spreading away from and moving back towards each other, said slave fingers have means for spreading away from and moving back towards each other, and said master fingers and said slave fingers are operatively interconnected by said motion transmission means for transmittal of said spreading away from and moving back towards therebetween.

24. A manipulable hand according to claim 23, wherein said master thumb is swivelably mounted to said base plate of said master hand, whereby said master thumb is laterally swivelable for use by operators using either a right or left hand.

25. A manipulable hand according to claim 24, wherein said master hand base plate has a longitudinal axis and comprises a palm plate, said palm plate being adjustable along said longitudinal axis for varying sizes of operator hand.

26. A manipulable hand according to claim 25, wherein said shaft includes a quick connect coupling device for coupling and uncoupling a distal portion of said shaft and said slave hand from a proximal portion of said shaft and said master hand, said coupling device including means for coupling and uncoupling said motion transmission means passing through said shaft.

27. A manipulable hand according to claim 26, wherein said wrists each comprise a pivot point offset from a central axis of said shaft and an articulation point, said motion transmission means being operably attached to said articulation point for movement of said wrist, said slave wrist movable in parallel response to movement of said master wrist transmitted by said motion transmission means.