Device or apparatus for manipulating matter

• US 5,632,746 A
• Filed: 02/28/1992
• Issued: 05/27/1997
• Est. Priority Date: 08/16/1989
• Status: Expired due to Term

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Buhler, Michael, Jervis, James E., Pyka, Walter R., Poncet, Philippe, Middleman, Lee M., Zadno, Reza, van Dyk, Karl
• Primary Examiner(s): Hilten, John S.
• Application Number:
  US07/843,775
• Time in Patent Office: 1,915 Days
• Field of Search: 606/78, 606/170, 606/174
• US Class Current: 606/78
• CPC Class Codes: A61B 10/02 Instruments for taking cell samples or for biopsy A61B10/0038 and A61B10/0045 take precedence; needle locating or guiding means A61B17/3403; samplers for enzymology or microbiology C12M1/26; sampling or preparing biological specimens G01N33/48
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• 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 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0625 the needle being specially adapted to interact with the manipulator, e.g. being ridged to snap fit in a hole of the manipulator A61B17/06109 takes precedence
• CPC Class Codes: A61B 17/08 Wound clamps or clips, i.e. not or only partly penetrating the tissue suture bridges A61B17/0466; Devices for bringing together the edges of a wound
• CPC Class Codes: A61B 17/10 for applying or removing wound clamps, e.g. containing only one clamp or staple A61B17/076 takes precedence; containing multiple wound clamps A61B17/068; Wound clamp magazines containers, packaging elements or packages specially adapted for particular articles or with special means for dispensing contents B65D83/00, B65D85/00
• CPC Class Codes: A61B 17/12013 for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/221 Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions surgical snare instruments A61B17/32056
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/295 combined with cutting implements
• CPC Class Codes: A61B 17/30 Surgical pincettes without pivotal connectionsfor holding suture needles or materials A61B17/0483; wound clamps A61B17/08 ; hand-held gripping tools without pivotal connections in general B25B9/02
• 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 17/32056 Surgical snare instruments for removing or smashing calculi A61B2017/2212; tonsillotomes A61B17/26
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 18/082 Probes or electrodes therefor
• CPC Class Codes: A61B 18/10 Power sources therefor
• CPC Class Codes: A61B 2017/00287 Bags for minimally invasive surgery
• CPC Class Codes: A61B 2017/00349 : Needle-like instruments having hook or barb-like gripping means, e.g. for grasping suture or tissue A61B17/06066 takes precedence
• CPC Class Codes: A61B 2017/00353 : one mechanical instrument performing multiple functions, e.g. cutting and grasping
• CPC Class Codes: A61B 2017/0038 : Simultaneous actuation of two tools by pushing one button or the like
• CPC Class Codes: A61B 2017/00455 : Orientation indicators, e.g. recess on the handle
• CPC Class Codes: A61B 2017/00867 : shape memory effect
• CPC Class Codes: A61B 2017/0409 : Instruments for applying suture anchors
• CPC Class Codes: A61B 2017/06052 : Needle-suture combinations in which a suture is extending inside a hollow tubular needle, e.g. over the entire length of the needle
• CPC Class Codes: A61B 2017/06171 : helically or spirally coiled
• CPC Class Codes: A61B 2017/22072 : with an instrument channel, e.g. for replacing one instrument by the other
• CPC Class Codes: A61B 2017/2905 : flexible
• 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 2017/2937 : with flexible part
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/303 : with four or more legs
• CPC Class Codes: A61B 2017/320064 : with tissue or sample retaining means
• CPC Class Codes: A61B 2017/32113 : with extendable or retractable guard or blade
• CPC Class Codes: A61B 2018/00642 : with feedback, i.e. closed loop control
• CPC Class Codes: A61B 2018/00791 : Temperature
• CPC Class Codes: A61B 2018/1407 : Loop
• CPC Class Codes: A61F 2002/30092 : using shape memory or superelastic materials, e.g. nitinol
• CPC Class Codes: A61F 2210/0019 : operated at only one temperature whilst inside or touching the human body, e.g. constrained in a non-operative shape during surgery, another temperature only occurring before the operation
• CPC Class Codes: B25B 9/00 : Hand-held gripping tools other than those covered by group B25B7/00 wrenches B25B13/00; specially adapted for watchmakers' or like use G04D
• CPC Class Codes: B26B 13/26 : with intermediate links between the grips and the blades, e.g. for remote actuation

Abstract

The present invention provides a device or apparatus for manipulating matter in a confined or inaccessible space, comprising manipulator means at least partly constructed of one or more bent or twisted elongate shape memory alloy members having pseudoelasticity at the intended manipulation temperature, and a hollow housing (preferably of elongate tubular form) or cannula capable of holding at least the shape memory alloy member(s) in a relatively straightened state, and actuating means for extending the shape memory alloy member(s) from the housing to manipulate matter within the said space and for withdrawing the shape memory alloy member(s) into the housing, the arrangement being such that the shape-memory alloy member(s) bend(s) or twist(s) pseudoelastically in a lateral or helical sense to manipulate the matter on extending from the housing at the said manipulation temperature, and become(s) relatively straightened on withdrawal into the housing at the said temperature.

Claims

1. A device having a distal end and a proximal end for surgical manipulation of matter within a living body comprising:

(i) manipulator means having a distal end, said distal end at least partly constructed of at least one bent or twisted elongate metallic member having pseudoelasticity at a intended manipulation temperature,

(ii) a hollow housing or cannula which initially holds said distal end in a relatively straightened state, and

(iii) a proximal end and actuating means operable from said proximal end of the device for extending the distal end from the housing to manipulate matter within a living body and for withdrawing the distal end into the housing, wherein the distal end is deformable to bend or twist pseudoelastically in a lateral or helical sense so as to manipulate the matter on extension from the housing at the manipulation temperature, and said distal end becoming relatively straightened on withdrawal into the housing at the said temperature.

2. Apparatus according to claim 1, which is a surgical instrument comprising handle means, coupled to at least one of said cannula or housing and said at least one member, said means for manually inserting said member through said cannula or housing to distally extend said distal segment from a bore of said cannula or housing, and for withdrawing said distal segment into the bore.

3. Apparatus according to claim 1, wherein said proximal end and said distal end are of unitary construction.

4. Apparatus according to claim 1, wherein said distal end structure and said at least one member are of unitary construction.

5. Apparatus according to claim 1, wherein said distal end structure has a substantially blunted shape, and has a lateral dimension substantially equal to a lateral dimension of said cannula or housing, and is coupled to a distal end of said at least one member such that a curved surface of said distal end structure is distal facing.

6. Apparatus according to claim 5, wherein said distal end structure comprises a non-elastic structure separate from, and coupled to, said at least one member.

7. Apparatus according to claim 1, wherein said distal end structure is a pointed tip of said distal end.

8. Apparatus according to claim 1 wherein said at least one member is disposed within said cannula or housing and oriented such that said elastic distal end exits said cannula or housing in a predetermined lateral orientation;

and the apparatus further comprises means for indicating said predetermined lateral orientation.

9. Apparatus according to claim 8, further comprising means for preventing said at least one member from rotating within said cannula or housing.

10. An apparatus according to claim 1, wherein said distal segment is composed of a nickel-titanium based pseudoelastic alloy.

11. An apparatus according to claim 1, wherein at least a portion of the distal end is composed of a pseudoelastic ahoy which assumes a first shape h a substantially austenitic phase when extended from the housing or cannula, and assumes a second shape containing more martensite phase when withdrawn into the housing or cannula.

12. An apparatus according to claim 1 including means for indicating the orientation of the pseudoelastically deformable distal end when extended from the housing or cannula.

13. The device as defined in claim 1 wherein said manipulation is dissection.

14. The device as defined in claim 1 wherein the pseudoelasticity is linear pseudoelasticity.

15. A remotely operated surgical device comprising

(a) a substantially linear housing having a distal deployment opening;

(b) a curved pseudoelastic blade, said blade constrainable in a relatively straightened shape within the housing; and

(c) remote means for projecting and retracting the pseudoelastic blade relative to the distal deployment opening between a first position wherein the pseudoelastic blade is constrained in a relatively straightened shape within the housing, and a second position wherein the psendoelastic blade is not constrained by the housing and assumes a relatively curved shape.

16. A device according to claim 15 which comprises an endoscopic device, a catheter, or a laparoscopic device.

17. A device according to claim 15 wherein the pseudoelastic blade comprises at least one cutting edge.

18. A device according to claim 17 wherein said at least one cutting edge is constructed of a material which is different from that of the pseudoelastic blade.

19. An instrument device comprising

(a) a distal bladed element having a first pivoted blade, and a second opposing blade;

(b) an elastically deformable stem connected to the bladed element;

(c) a proximal blade actuator means for causing pivotal motion of the pivotable blade; and

(d) a stem deformation control means for controlling the deformation of the elastically deformable stem.

20. A device according to claim 19 wherein the elastically deformable stem comprises an elastic member which is substantially straight when it is constrained, and assumes a bent or curved shape when it is unconstrained;

and the stem deformation control means comprises a longitudinally slidable substantially straight constraining member.

21. A device according to claim 20, comprising an elongate housing and wherein the elastic member is moveable between a first position wherein the elastic member is constrained within the housing, and a second position wherein the elastic member is deployed from the housing and assumes an unconstrained shape.

22. A device according to claim 21 wherein said elongate housing comprises a rigid elongate tube.

23. A device according to claim 19 further comprising an elongate housing including a flexible polymeric tube.

24. A device according to claims 19 wherein at least one of the first blade and the second blade includes a grasping surface which can be used to grasp an object, or wherein at least one of the first blade and the second blade includes a cutting edge which can be used to cut an object.

25. A device according to claim 19, wherein the first blade is moveable between a closed position wherein the axes of the blades are substantially parallel, and an open position, wherein the axes of the blades are deflected from the parallel.

26. A device according to claim 19 in which at least the bladed element is readily removable from the device and wherein said bladed element is capable of integrating with the blade actuator means, and wherein the elastically deformable stem is capable of integrating with the stem deformation control means.

27. An apparatus according to claim 19 wherein the elastically deformable distal stem is composed of pseudoelastic material or superelastic material under the intended conditions of use.

28. A device for dissecting an object comprising at least two elongate elements, positioned alongside one another, each having a body portion and an end portion:

i. means for splaying the end portions apart from one another when free of transverse constraint to dissect the object from surrounding material; and

ii. said end portions being movable toward one another,

wherein a portion of at least one of the elements is formed from a pseudoelastic material.

39. A device as claimed in claim 28, claim 29, claim 32, claim 30, claim 34, or claim 31, in which the end portions of the elements are pivotally connected to one another towards their free ends.

40. A device as claimed in claim 28, claim 29, claim 32, claim 30, claim 34 or claim 31, which includes a flexible component that extends between the end portions of the elements so as, together with the end portions of the elements, to form a closed loop.

41. A device as claimed in claim 28, claim 29, claim 32, claim 30, claim 34, or claim 31, in which the body portions of the elements are attached to one another, so that they are moved together in the longitudinal direction.

29. A device for gasping or cutting an object comprising at least two elongate elements, positioned alongside one another, each having a body portion and an end portion:

i. means for splaying the end portions apart from one another when free of transverse constraint and presenting grasping or cutting surfaces to an object to be grasped or cut that is placed between them; and

ii. said end portions being movable toward one another to grasp or cut said object;

wherein a portion of at least one of the elements is formed from a pseudoelastic material.

33. A device as claimed in claim 29, claim 30, or claim 31, which further comprises at least one of (i) a cutting edge of a material other than a pseudoelastic alloy, and (ii) a grasping surface.

30. A device for grasping or cutting an object comprising:

a. at least two elongate elements, positioned alongside one another, each having a body portion and an end portion;

i. means for splaying the end portions apart from one another when free of transverse constraint and presenting grasping or cutting surfaces to an object to be grasped or cut that is placed between them; and

ii. said end portions being movable towards one another to grasp or cut said object; and

b. actuating means for said elongate elements;

wherein a portion of at least one of the elements and/or said actuating means is formed from a pseudoelastic material.

31. A device for grasping or cutting an object comprising:

a. a hollow elongate component; and

b. at least two elongate elements, at least part of which are positioned within said component, said elements being positioned alongside one another, each having a body portion and an end portion;

i. means for slaying the end portions apart from one another when free of transverse constraint and presenting grasping or cutting surfaces to an object to be grasped or cut that is placed between them; and

ii. said end notions being movable towards one another to grasp or cut said object;

wherein the elements and the component are longitudinally slideable relative to one another so that at least a portion of the elements can be slid into and out of said component and wherein a portion of at least one of the elements is formed from a pseudoelastic material.

35. A device as claimed in claim 34 or claim 31, wherein one or both of (i) said elongate elements and (ii) the end portions thereof splay apart when they are not deformed within the hollow component and said elongate elements are moved toward one another when they are drawn into the hollow component, or when the hollow component is passed over said elongate elements.

36. A device as claimed in claim 34 or claim 31, wherein the end portion of at least one of said elements is formed from a pseudoelastic material and is curved at a predetermined angle with respect to the hollow component when said end portion is extruded from the component.

37. A device according to claim 34 or 31 which includes an actuating means which (i) actuates a linkage to splay apart the elongate elements and (ii) extrudes the elongate elements from, and withdraws the elongate elements into, the component.

38. A device as claimed in claim 34 or 31, wherein each elongate member is attached to a longitudinal member and which can be rotated relative to each other.

32. A device for dissecting an object comprising:

a. at least two elongate elements, positioned alongside one another, each having a body portion and an end portion;

i. means for splaying the end portions apart from one another when free of transverse constraint for dissecting the object from surrounding material; and

ii. said end portions being movable toward one another; and

b. actuating means for said elongate elements;

wherein a portion of at least one of the elements and/or said actuating means is formed from a pseudoelastic material.

34. A device for dissecting an object comprising:

a. a hollow elongate component; and

b. at least two elongate elements, at least part of which are positioned within said component, said elements being positioned alongside one another, each having a body portion and an end portion;

i. means for splaying the end portions apart from one another when free of transverse constraint to dissect said object from surrounding material; and

ii. said end portions being movable toward one another;

wherein the elements and the component are longitudinally slideable relative to one another so that at least a portion of the elements can be slid into and out of said component and wherein a portion of at least one of the elements is formed from a pseudoelastic material.

42. A method of dissecting an object from surrounding material, comprising:

A. providing a device which comprises at least two elongate elements, positioned alongside one another, each having a body portion and an end portion, the end portions of the elements splaying apart from one another when free of transverse constraint to dissect said object from surrounding material; and

wherein a portion of at least one of the elements is formed from a pseudoelastic material;

B. positioning end portions adjacent the object; and

C. causing said end portions to splay apart so as to dissect said object from surrounding material.

43. A method of dissecting an object from surrounding material, which comprises:

A. providing a device which comprises

a. at least two elongate elements, positioned alongside one another, each having a body portion and an end portion, the end portions of the elements slaying apart from one another when free of transverse constraint; and

b. actuating means for said end portions;

wherein a portion of at least one of the elements and/or said actuating means is formed from a pseudoelastic material;

B. positioning said end portions adjacent said object; and

C. causing said end portions to splay apart so as to dissect said object from surrounding material.

44. A method of dissecting an object from surrounding material, comprising;

A. providing a device which comprises;

a. a hollow elongate component; and

b. at least two elongate elements, at least part of which are positioned within said component, said elements being positioned alongside one another, each having a body portion and an end portion, the end portions of the elements slaying apart from one another when free of transverse constraint; and

wherein the elements and the component are longitudinally slideable relative to one another so that at least a portion of the elements can be slid into and out of said component and wherein at least a portion of at least one of the elements is formed from a pseudoelastic material;

B. positioning said end portions adjacent said object; and

C. causing said end portions to splay apart so as to dissect said object from surrounding material.

45. A method of grasping or cutting an object, comprising:

A. providing a device which comprises;

a. at least two elongate elements, positioned alongside one another, each having a body portion and an end portion, the end portions of the elements;

i. means for splaying the end portions apart from one another when free of transverse constraint and presenting gasping or cutting surfaces to an object to be grasped or cut that is placed between them; and

ii. said end portions being movable toward one another to grasp or cut said object;

wherein at least a portion of at least one of the elements is formed from a pseudoelastic material;

B. positioning the object between the splayed apart end portions of the elements; and

C. causing said end portions to move toward one another so as to grasp or cut said object.

46. A method of grasping or cutting at, object, comprising:

A. providing a device which comprises;

a. at least two elongate elements, positioned alongside one another, each having a body portion and an end portion, the end portions of the elements;

i. means for splaying the end portions apart from one another when free of transverse constraint and presenting grasping or cutting surfaces to an object to be grasped or cut that is placed between them; and

ii. said end portions being movable toward one another to grasp or cut said object; and

b. actuating means for said end portions;

wherein at least a portion of at least one of the elements and/or said actuating means is formed from a pseudoelastic material;

B. positioning said object between the splayed apart end portions of the elements; and

C. causing said end portions to move toward one another so as to gasp or cut said object.

47. A method of grasping or cutting an object, comprising:

A. providing a device which comprises;

a. a hollow elongate component; and

b. at least two elongate elements, at least part of which are positioned within said component, said elements being positioned alongside one another, each having a body portion and an end portion;

i. means for splaying the end portions apart from one another when free of transverse constraint and presenting grasping or cutting surfaces to an object to be grasped or cut that is placed between them; and

ii. said end portions being movable toward one another to grasp or cut said object;

wherein the elements and the component axe longitudinally slideable relative to one another so that at least a portion of the elements can be slid into and out of said component and where, at least a portion of at least one of the elements is formed from a pseudoelastic material;

B. positioning said object between the splayed apart end portions of the elements; and

C. causing said end portions to move toward one another so as to grasp or cut said object.