Endoscopic instrument with detachable end effector

• US 5,792,165 A
• Filed: 06/06/1995
• Issued: 08/11/1998
• Est. Priority Date: 07/21/1993
• Status: Expired due to Term

• Current Assignee: Charles H. Klieman
• Original Assignee: Charles H. Klieman
• Inventors: Stiggelbout, John M., Klieman, Charles H., Schena, Bruce M.
• Primary Examiner(s): Thaler, Michael H.
• Application Number:
  US08/471,988
• Time in Patent Office: 1,162 Days
• Field of Search: 606/205-208, 606/174, 606/170, 128/751
• US Class Current: 606/170
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/2909 Handles
• 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/2923 Toothed members, e.g. rack and pinion
• 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 2017/2931 with releasable head
• CPC Class Codes: A61B 2017/2932 Transmission of forces to jaw members
• CPC Class Codes: A61B 2017/2937 with flexible part
• CPC Class Codes: A61B 2017/2938 Independently actuatable jaw members, e.g. two actuating rods
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A surgical instrument having a handle, barrel and detachable end effector is provided. The barrel is generally tubular, with one end being connected to the handle. The end effector is releasably attached to the other end of the barrel, with jaws which may be pivoted, rotated and operated independently through multiple linkage members connected to a motive power source housed in or attached to the handle. The instrument is operated and controlled by a microprocessor and multidimensional controller or electrical contacts included in the handle. In the preferred embodiment, closing of jaws is manual with locking means; also, the end effector is scissor-like, but other end effectors such as graspers, clamps, dissectors or needle drivers, with appropriate operating and linkage members, may be attached to the handle.

Claims

1. A surgical instrument for use in endoscopy comprising:

a tubular member comprising a proximal portion and a distal portion, the two portions having coupling means for attaching and detaching the distal portion to and from the proximal portion;

an end effector comprising a first piece and a second piece, each piece being pivotally attached directly to a distal end of the distal portion of the tubular member;

linkage extending through the tubular member, the linkage comprising a first elongated member and a second elongated member, each elongated member comprising a proximal section and a distal section, each of the distal sections being operably coupled at their distal end to one of the end effector pieces, each of the elongated member sections having mating means for attaching and detaching the respective distal section to and from its respective proximal section, the tubular member coupling means and elongated member mating means thereby allowing for detachment and replacement of an assembly comprising the end effector from and to the remainder of the surgical instrument; and

a handle attached to the proximal end of the proximal portion of the tubular member, the handle comprising;

a first control means for causing translational movement of the first elongated member relative to the second elongated member, thereby causing the end effector piece coupled to the first elongated member to pivot relative to the other end effector piece; and

a second control means independent of the first control means, the second control means for causing relative translational movement between the tubular member and both the first and second elongated members without significant relative translational movement between the first and second elongated members, thereby causing the first and second end effector pieces to pivot simultaneously in the same direction.

2. The surgical instrument of claim 1, wherein:

the distal section of the first elongated member has a first rack disposed at its distal end;

the distal section of the second elongated member has a second rack disposed at its distal end;

the first end effector piece has a first gear matable with the first rack; and

the second end effector piece has a second gear matable with the second rack.

3. The surgical instrument of claim 2, wherein:

the simultaneous pivoting of the two end effector pieces away from the longitudinal axis of the tubular member is accomplished by moving the first and second control members simultaneously in the distal direction;

the simultaneous pivoting of the two end effector pieces toward the longitudinal axis of the tubular member is accomplished by moving the first and second elongated members simultaneously in the proximal direction; and

the pivoting of one end effector piece relative to the other end effector piece is accomplished by moving the first elongated member relative to the second elongated member.

4. The surgical instrument of claim 1 wherein:

the first and second elongated members are concentric with one another and are concentric with, and internal to, the tubular member;

the tubular member coupling means comprises a twistlock fitting lockable and unlockable upon the rotation of the proximal portion of the tubular member relative to the distal portion of the tubular member; and

each of the elongated member mating means comprises a twistlock fitting lockable and unlockable upon the rotation of the respective proximal section relative to the respective distal section.

5. The surgical instrument of claim 4 wherein:

the coupling of the proximal and distal portions of the tubular member is achieved by rotating, in a given direction, the proximal portion relative to the distal portion; and

the mating of the elongated member proximal sections with their respective distal sections is achieved by rotating, in the opposite direction of the given direction, each of the proximal sections relative to their respective distal sections.

6. The surgical instrument of claim 5 wherein:

the proximal portion of the tubular member can be rotated independent of the proximal sections of the first and second elongated members; and

each of the elongated member distal sections is constrained to rotate with the distal portion of the tubular member, such that when the tubular member proximal portion is rotated so as to couple the proximal and distal portions of the tubular member with one another, continued rotation of the tubular member proximal portion induces the rotation of each of the elongated member distal sections and thus allows each of the elongated member distal sections to be mated with its respective proximal section.

7. The surgical instrument of claim 6 wherein the handle further comprises:

means for rotating the proximal portion of the tubular member; and

means for restraining the rotation of the proximal sections of each elongated member while the proximal portion of the tubular member is being rotated.

8. The surgical instrument of claim 4 wherein each of all twistlock fittings are of bayonet-type design.

9. The surgical instrument of claim 8 wherein the slots of the bayonet fittings are tapered to facilitate connection and to minimize looseness in the connection.

10. The surgical instrument of claim 1, wherein the end effector is a scissors.

11. The surgical instrument of claim 1, wherein the end effector is a grasper.

12. The surgical instrument according to claim 1 wherein:

the first and second elongated members each have on a proximal end of their proximal sections a threaded portion; and

the handle further comprises;

a first screw rotatably mounted in the handle, the first screw for receiving the threaded portion of the first elongated member; and

a second screw operably coupled to the first screw for rotational movement therewith and movable axially by movement of the first control means.

13. The surgical instrument of claim 12 wherein the first and second control means are actuated by hand.

14. The surgical instrument of claim 1 wherein:

the first control means comprises a trigger;

the second control means comprises a slide operator; and

the handle further comprises a third control means operably connected to the tubular member, the third control means for rotating the tubular member and attached end effector and comprising a rotatable knob, the rotation of the tubular member and end effector being about the axis of the tubular member and relative to the handle.

15. The surgical instrument of claim 1 wherein:

the first control means comprises a trigger;

the handle further comprises a third control means operably connected to the tubular member, the third control means for rotating the tubular member and attached end effector about the longitudinal axis of the tubular member and relative to the handle; and

the second and third control means comprise a touchsensitive switch operator for controlling the rotation and the simultaneous pivoting of both pieces of the end effector.

16. The surgical instrument of claim 15 wherein the rotation and the simultaneous pivoting of both pieces of the end effector are motor-driven.

17. The surgical instrument of claim 15 wherein the second and third control means include a microprocessor.

18. The surgical instrument of claim 17 wherein the microprocessor is part of an electrical circuit including drive motors connected to and controlled by the microprocessor.

19. The surgical instrument of claim 18 wherein the first and second control means uses stored electrical energy in the form of a battery.

20. The surgical instrument of claim 1 further comprising an electrocautery cord so as to provide a conduction path through the handle and the tubular member to the end effector.

21. The surgical instrument of claim 1 wherein the handle further comprises a rack and pinion mechanism provided for translating the elongated members within the tubular member.

22. The surgical instrument of claim 21 wherein the rack and pinion mechanism comprises:

a pinion attached to the proximal end of each elongated member;

a first rack fixed in the handle and engaging the pinion of one of the elongated members;

a second rack movable relative to the first rack and engaging the pinions of both elongated members; and

a third rack movable relative to the first rack and engaging the pinion of the elongated member not engaged by the first rack.

23. The surgical instrument of claim 22 wherein:

the second control means moves the second rack, thereby translating both elongated members and pivoting both end effector pieces simultaneously in the same direction; and

the first control means moves the third rack, thereby translating one elongated member relative to the other resulting in the pivoting of one end effector piece relative to the other.

24. The surgical instrument of claim 23 wherein:

the first control means comprises a trigger for moving the third rack; and

the second control means comprises a slide operator for moving the second rack.

25. The surgical instrument of claim 1 wherein the second control means comprises means for translating the tubular member relative to the first and second elongated members.

26. The surgical instrument of claim 25 wherein the tubular member translating means comprises:

a hollow screw disposed around, and fixably attached to, the tubular member near the proximal end of the tubular member; and

a rotatable pivot knob disposed around the hollow screw, the pivot knob having internal threads matable with the threads of the hollow screw, whereby manual rotation of the pivot knob causes longitudinal movement of the tubular member relative to the first and second elongated members and thereby causes the end effector to pivot.

27. The surgical instrument of claim 26 wherein the first control means comprises a lever member attached to the first elongated member such that manual operation of the lever member causes the first elongated member to move longitudinally relative to the second elongated member, thereby causing the end effector piece coupled to the first elongated member to move relative the other end effector piece.

28. The surgical instrument of claim 27 further comprising a rotation knob disposed around, and rotatable with and around, the tubular member, the rotation knob attached to the tubular member and the first and second elongated members so as to constrain the tubular member to rotate with the rotation knob yet to allow the longitudinal movement of the tubular member and the first elongated member, whereby manual rotation of the rotation knob causes rotation of the end effector about the longitudinal axis of the tubular member.

29. The surgical instrument of claim 1 wherein:

the handle further comprises a rack-and-pinion mechanism for translating the elongated members within the tubular member, the rack-and-pinion mechanism comprising;

a first pinion attached to the proximal end of the first elongated member;

a second pinion attached to the proximal end of the second elongated member;

a pivot rack slidable longitudinally within the handle and having teeth that engage the teeth of the first and of the second pinions; and

at least one opposed rack within the handle, the at least one opposed rack having teeth which engage the teeth of the pinion at the side opposite that side which the pivot rack engages; and

the second control means comprises a slide operator operably attached to the pivot rack, whereby the manual operation of the slide operator causes the pivot rack to move longitudinally thereby causing the first and second elongated members attached to the pinions to move longitudinally and thereby causing the end effector to pivot.

30. The surgical instrument of claim 29 wherein:

the at least one opposed rack comprises;

a stationary rack whose teeth engage either the first or the second pinion;

a longitudinally slidable operator rack whose teeth engage the pinion not engaged by the stationary rack; and

the first control means comprises a trigger attached to the operator rack, whereby the manual operation of the trigger causes the operator rack to move longitudinally thereby causing the associated elongated member likewise to move longitudinally and thereby causing one of the end effector pieces to move relative to the other piece.

31. The surgical instrument of claim 30 further comprising a rotation knob disposed around, and rotatable with and around, the tubular member, whereby the manual rotation of the rotation knob causes the rotation of the end effector.

32. In a surgical instrument for use in endoscopy comprising a tubular member having a proximal end and a distal end;

an end effector comprising a first piece and a second piece, each piece being pivotally attached directly to the distal end of the tubular member;

linkage extending through the tubular member, the linkage comprising a first elongated member operably connected to the first end effector piece, the linkage further comprising a second elongated member operably connected to the second end effector piece; and

a handle attached to the proximal end of the tubular member, the handle comprising a first control means for causing translational movement of the first elongated member relative to the second elongated member, thereby causing the end effector piece operably coupled to the first elongated member to pivot relative to the other end effector piece, the handle further comprising a second control means independent of the first control means, the second control means for causing relative translational movement between the tubular member and both the first and second elongated members without significant relative translational movement between the first and second elongated members, thereby causing the first and second end effector pieces to pivot simultaneously in the same direction;

an end effector detachment means wherein;

the tubular member comprises a proximal portion and a distal portion, the end effector being pivotally attached to the distal end of the distal portion, the two portions having coupling means for attaching and detaching the proximal and distal portions; and

each of the first and second elongated members comprises a proximal section and a distal section, the end effector being operably coupled to the distal end of the distal sections, each of the sections having mating means for attaching and detaching each of the proximal sections to its respective distal section, the tubular member coupling means and first and second elongated member mating means thereby allowing for detachment and replacement of an assembly comprising the end effector from and to the remainder of the surgical instrument.

33. The end effector detachment means of claim 32 wherein:

the first and second elongated members are concentric with one another and are concentric with, and internal to, the tubular member;

the tubular member coupling means comprises a twistlock fitting lockable and unlockable upon the rotation of the proximal portion of the tubular member relative to the distal portion of the tubular member; and

each of the elongated member mating means comprises a twistlock fitting lockable and unlockable upon the rotation of the respective proximal section relative to the respective distal section.

34. The end effector detachment means of claim 33 wherein:

the coupling of the proximal and distal portions of the tubular member is achieved by rotating, in a given direction, the proximal portion relative to the distal portion; and

the mating of the elongated member proximal sections with their respective distal sections is achieved by rotating, in the opposite direction of the given direction, each of the proximal sections relative to their respective distal sections.

35. The end effector detachment means of claim 34 wherein:

the proximal portion of the tubular member can be rotated independent of the proximal sections of the first and second elongated members; and

each of the elongated member distal sections is constrained to rotate with the distal portion of the tubular member, such that when the tubular member proximal portion is rotated so as to couple the proximal and distal portions of the tubular member with one another, continued rotation of the tubular member proximal portion induces the rotation of each of the elongated member distal sections and thus allows each of the elongated member distal sections to be mated with its respective proximal section.

36. The end effector detachment means of claim 35 wherein the handle further comprises:

means for rotating the proximal portion of the tubular member; and

means for restraining the rotation of the proximal sections of each elongated member while the proximal portion of the tubular member is being rotated.

37. The end effector detachment means of claim 33 wherein each of all twistlock fittings are of bayonet-type design.

38. The end effector detachment means of claim 37 wherein the slots of the bayonet fittings are tapered to facilitate connection and to minimize looseness in the connection.