Endoscopic surgical gripping instrument with universal joint jaw coupler

• US 5,752,973 A
• Filed: 10/18/1994
• Issued: 05/19/1998
• Est. Priority Date: 10/18/1994
• Status: Expired due to Fees

• Current Assignee: Archimedes Surgical Incorporated
• Original Assignee: Archimedes Surgical Incorporated
• Inventors: Kieturakis, Maciej J.
• Primary Examiner(s): Dawson, Glenn K.
• Application Number:
  US08/324,998
• Time in Patent Office: 1,309 Days
• Field of Search: 606/1, 606/138-147, 606/151, 606/167, 606/170, 606/205-211, 128/749-754
• US Class Current: 606/207
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2825 Inserts of different material in jaws
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2918 flexible handles
• CPC Class Codes: A61B 2017/292 connection of actuating rod to handle, e.g. ball end in recess
• CPC Class Codes: A61B 2017/2922 toggle linkages
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2933 camming or guiding means
• CPC Class Codes: A61B 2017/2934 arcuate shaped guiding means
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A surgical instrument for gripping tissue in an endoscopic workspace. The instrument has an elongate introducer sleeve extending along a primary axis. An articulating jaw assembly is coupled to the distal end of the introducer sleeve with a ball and socket-type joint that provides jaws that open and close with around a secondary axis. Thus, the secondary axis of the jaw assembly is free to articulate and rotate relative to the primary axis of the introducer sleeve. When tissue is gripped by the jaws, lateral retraction forces cause the jaw assembly to align itself with the direction of retracting forces. A trigger within a proximal handle actuates the jaws in any articulated position. The instrument further provides a "flex jaw" feature by which is meant the jaw working faces are somewhat free to rotate relative to the jaw arms. Thus, as the jaw arms close to grip tissue, the jaw working faces rotate to accommodate tissue thickness and density thereby uniformly apply gripping pressure on tissue.

Claims

1. A surgical instrument comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

a universal joint at said distal end of said introducer member;

two opposing jaws each depending from said universal joint, said jaws defining a second axis and being movable between a closed position wherein said jaws converge toward said second axis and an open position wherein said jaws separate away from said second axis, whereby said universal joint allows said second axis to move relative to said first axis between parallel and non-parallel relationships in response to forces on said introducer member and said jaws; and

a jaw-actuating structure operatively connected to said jaws for causing said jaws to move between the open and closed positions with said jaws and said introducer member in a parallel or a non-parallel relationship;

wherein said universal joint includes a helically wound spring.

2. A surgical instrument comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

a universal joint at said distal end of said introducer member;

two opposing jaws each depending from said universal joint, said jaws defining a second axis and being movable between a closed position wherein said jaws converge toward said second axis and an open position wherein said jaws separate away from said second axis, whereby said universal joint allows said second axis to move relative to said first axis between parallel and non-parallel relationships in response to forces on said introducer member and said jaws; and

a jaw-actuating structure operatively connected to said jaws for causing said jaws to move between the open and closed positions with said jaws and said introducer member in a parallel or a non-parallel relationship;

a self-aligning mechanism operatively connected to said jaws, thereby maintaining said second axis as defined by said jaws in substantial alignment with said first axis when said jaws are in the open position;

wherein said universal joint comprises a ball and a socket, and said self-aligning mechanism comprises portions of said jaws symmetrically abutting an edge of an aperture in the socket of said ball and socket joint.

3. The instrument of claim 2, wherein said self-aligning mechanism comprises at least one spring disposed within said introducer member that urges said second axis, as defined by said jaws, into alignment with said first axis.

4. A surgical instrument comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

a universal joint at said distal end of said introducer member;

two opposing jaws each depending from said universal joint, said jaws defining a second axis and being movable between a closed position wherein said jaws converge toward said second axis and an open position wherein said jaws separate away from said second axis, whereby said universal joint allows said second axis to move relative to said first axis between parallel and non-parallel relationships in response to forces on said introducer member and said jaws;

a jaw-actuating structure operatively connected to said jaws for causing said jaws to move between the open and closed positions with said jaws and said introducer member in a parallel or a non-parallel relationship; and

a jaw self-aligning mechanism operatively connected to said jaws, thereby releasably maintaining said second axis defined by said jaws in substantial alignment with said first axis when said jaws are moved toward the closed position from the open position;

wherein said universal joint comprises a ball and a socket and said self-aligning mechanism comprises a plurality of spring elements incorporated into proximal portions of said jaws that releasably engage an edge portion of said socket.

5. A surgical instrument comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

a universal joint at said distal end of said introducer member;

two opposing jaws each depending from said universal joint, said jaws defining a second axis and being movable between a closed position wherein said jaws converge toward said second axis and an open position wherein said jaws separate away from said second axis, whereby said universal joint allows said second axis to move relative to said first axis between parallel and non-parallel relationships in response to forces on said introducer member and said jaws;

a jaw-actuating structure operatively connected to said jaws for causing said jaws to move between the open and closed positions with said jaws and said introducer member in a parallel or a non-parallel relationship; and

a locking mechanism operatively connected to said jaws for releasably locking said jaws in a position such that said second axis is in alignment with said first axis.

6. A surgical instrument comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

a universal joint at said distal end of said introducer member;

two opposing jaws each depending from said universal joint, said jaws defining a second axis and being movable between a closed position wherein said jaws converge toward said second axis and an open position wherein said jaws separate away from said second axis, whereby said universal joint allows said second axis to move relative to said first axis between parallel and non-parallel relationships in response to forces on said introducer member and said jaws;

a jaw-actuating structure operatively connected to said jaws for causing said jaws to move between the open and closed positions with said jaws and said introducer member in a parallel or a non-parallel relationship; and

a reciprocating sleeve slidably mounted around said introducer member, wherein a slidable disposition of said reciprocating sleeve over said universal joint locks said universal joint.

7. A surgical instrument comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

a universal joint at said distal end of said introducer member;

two opposing jaws each depending from said universal joint, said jaws defining a second axis and being movable between a closed position wherein said jaws converge toward said second axis and an open position wherein said jaws separate away from said second axis, whereby said universal joint allows said second axis to move relative to said first axis between parallel and non-parallel relationships in response to forces on said introducer member and said jaws; and

a jaw-actuating structure operatively connected to said jaws for causing said jaws to move between the open and closed positions with said jaws and said introducer member in a parallel or a non-parallel relationship;

each said jaw further including a hinge located intermediate its distal end and said universal joint, thereby allowing each jaw to articulate at said hinge.

8. A surgical instrument comprising:

an introducer member carrying one element of a ball and socket joint at a distal end thereof;

a first jaw having a proximal portion and a distal working end, said first jaw being rotatable at the distal end of said introducer member, said proximal portion having a first face with a first cam surface disposed therein;

a second jaw having a proximal portion and a distal working end, said second jaw being rotatable at the distal end of said introducer member, and said proximal portion of said second jaw having a second face with a second cam surface disposed therein and the proximal portions of said first and second jaws each being connected to the other element of the ball and socket joint; and

a cam engaging said first and second cam surfaces, wherein axial movement of said cam causes bearing contact on both said first and second cam surfaces starting at a first point and moving to a second point spaced apart from said first point to rotate said first and second jaws, said distal working ends of said first and second jaws thereby moving toward or apart from one another.

9. The device of claim 8, wherein said first and second cam surfaces have portions extending in arcs having similar radii.

10. A surgical instrument for engaging tissue, comprising:

an elongate member defining a longitudinal axis;

two opposing jaw structures both being movable between an open and a closed position, each said jaw structure having an opposing working face adapted for engaging tissue,

a universal pivotal coupling connecting each of said jaw structures to an end of said elongate member, wherein said jaw structures each conjointly pivot relative to said longitudinal axis at least when in said closed position, wherein said universal pivotal coupling is a ball and socket joint; and

a jaw structure self-aligning mechanism in said ball and socket joint.

11. The instrument of claim 10, further comprising a jaw actuating mechanism operatively connected to each of said two opposing jaw structures and to said elongate member, thereby moving said jaw structures between said open and closed positions.

12. The instrument of claim 10, further comprising a jaw locking mechanism operatively connected to said jaw structures.

13. The instrument of claim 10, further comprising a jaw actuating structure including:

a cam surface disposed on each of said two jaw structures; and

a cam engaging said cam surfaces, thereby rotating said two opposing jaw structures by movement of said cam.

14. A surgical instrument for engaging tissue, comprising:

an elongated member defining a longitudinal axis;

two opposing jaw structures both being movable between an open and a closed position, each said jaw structure having an opposing working face adapted for engaging tissue, and

a universal pivotal coupling connecting each of said jaw structures to an end of said elongate member, wherein said jaw structures each conjointly pivot relative to said longitudinal axis at least when in said closed position;

each said jaw structure including a hinge located intermediate a distal end of said jaw structure and said universal pivotal coupling.

15. A surgical instrument comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

a universal joint at said distal end of said introducer member;

two opposing jaws each depending from said universal joint, said jaws defining a second axis and being movable between a closed position wherein said jaws converge toward said second axis and an open position wherein said jaws separate away from said second axis, whereby said universal joint allows said second axis to move relative to said first axis between parallel and non-parallel relationships in response to forces on said introducer member and said jaws;

a jaw-actuating structure operatively connected to said jaws for causing said jaws to move between the open and closed positions with said jaws and said introducer member in a parallel or a non-parallel relationship; and

a locking mechanism operatively connected to said jaws for releasably locking said universal point in any angular position relative to said introducer member.

16. The instrument of claim 15, wherein said universal joint further allows said second axis defined by said jaws to turn relative to said first axis with said second axis being in a parallel or non-parallel position relative to said first axis.

17. The instrument of claim 15, wherein said universal joint comprises a ball and socket joint.

18. The instrument of claim 15, wherein said universal joint comprises a flexible joint made at least partly of a resilient material.

19. The instrument of claim 15, wherein said universal joint includes a cooperating ball element and a socket element.

20. The instrument of claim 19, wherein said locking mechanism comprises means for reducing an internal dimension of said socket element to frictionally engage said ball element.

21. A surgical instrument for engaging tissue, comprising:

a handle;

an elongate introducer member defining a first axis and having proximal and distal ends, a proximal end of said introducer member extending from said handle;

opposing first and second jaws, said first jaw having a first proximal jaw arm and a first distal working end, said first working end pivotably connected to said first jaw arm, said second jaw having a second proximal jaw arm and a second distal working end, said second working end pivotably connected to said second jaw arm, said first and second jaw arms pivotably connected to said distal end of said introducer member; and

a jaw-actuating structure operatively connecting said handle and said jaws, moving said jaws between a closed position wherein said working ends converge and an open position wherein said working ends separate, and whereby said first and second working ends when engaging tissue apply pressure on the tissue over a length of said working end, thereby engaging the tissue without damage.

22. The instrument of claim 21 wherein the pivotable connection between each said jaw arm and its respective working end is a unitary resilient hinge.

23. A surgical instrument for engaging tissue, comprising:

an elongate introducer member defining a longitudinal first axis;

two opposing jaws each coupled to a distal end of said introducer member, each said jaw having a working face adapted to engage tissue, said jaws each being moveable between a closed position wherein said working faces converge toward a second axis defined by said two jaws and an open position wherein said working faces separate away from said second axis;

a jaw actuating structure operatively connected to said jaws, thereby causing said working faces to move between the open and closed positions; and

an articulating structure connecting said introducer member to said jaws, thereby allowing said jaws to articulate together relative to said first axis, wherein said articulating structure comprises a universal joint including a helically wound spring.

24. A surgical instrument for engaging tissue, comprising:

an elongate introducer member defining a longitudinal first axis;

two opposing jaws each coupled to a distal end of said introducer member, each said jaw having a working face adapted to engage tissue, said jaws each being moveable between a closed position wherein said working faces converge toward a second axis defined by said two jaws and an open position wherein said working faces separate away from said second axis;

a jaw actuating structure operatively connected to said jaws, thereby causing said working faces to move between the open and closed positions;

an articulating structure connecting said introducer member to said jaws, thereby allowing said jaws to articulate together relative to said first axis; and

a jaw self-aligning mechanism operatively connected to said jaws structures, thereby releasably maintaining said jaws in substantial alignment with said first axis when said jaws are moved toward the closed position from the open position;

wherein said articulating structure comprises a ball and socket joint and said self-aligning mechanism comprises a plurality of spring elements incorporated into proximal portions of said jaws that releasably engage an edge portion of said socket.

25. A surgical instrument for engaging tissue, comprising:

an elongate introducer member defining a longitudinal first axis;

two opposing jaws each coupled to a distal end of said introducer member, each said jaw having a working face adapted to engage tissue, said jaws each being moveable between a closed position wherein said working faces converge toward a second axis defined by said two jaws and an open position wherein said working faces separate away from said second axis;

a jaw actuating structure operatively connected to said jaws, thereby causing said working faces to move between the open and closed positions;

an articulating structure connecting said introducer member to said jaws, thereby allowing said jaws to articulate together relative to said first axis;

wherein said articulating structure comprises a universal-type joint; and

a reciprocating sleeve slidably mounted around said introducer member, wherein a slidable disposition of said reciprocating sleeve over said universal-type joint locks said universal-type joint.

26. A surgical instrument for engaging tissue, comprising:

an elongate introducer member defining a longitudinal first axis;

two opposing jaws each coupled to a distal end of said introducer member, each said jaw having a working face adapted to engage tissue, said jaws each being moveable between a closed position wherein said working faces converge toward a second axis defined by said two jaws and an open position wherein said working faces separate away from said second axis;

a jaw actuating structure operatively connected to said jaws, thereby causing said working faces to move between the open and closed positions; and

an articulating structure connecting said introducer member to said jaws, thereby allowing said jaws to articulate together relative to said first axis;

each said jaw further including a hinge located intermediate its distal end and said articulating structure, thereby allowing each said jaw to further articulate at said hinge.

27. A surgical instrument for engaging tissue, comprising:

an elongate member defining a longitudinal axis;

two opposing jaw structures both being movable between an open and a closed position, each said jaw structure having an opposing working face; and

a pivotal coupling connecting each of said jaw structures to an end of said elongate member, wherein said jaw structures each conjointly pivot relative to said longitudinal axis at least when in said closed position;

each said jaw including a hinge located intermediate a distal end of said jaw and said pivotal coupling.