System for support and actuation with vertebrae in particular for surgical and diagnostic instruments

• US 5,916,146 A
• Filed: 08/21/1997
• Issued: 06/29/1999
• Est. Priority Date: 12/22/1995
• Status: Expired due to Fees

• Current Assignee: Medacta USA, Inc. (Medacta International SA)
• Original Assignee: Bieffe Medital SpA (Baxter International Inc.)
• Inventors: Allotta, Benedetto, Passaggio, Luca
• Primary Examiner(s): FLANAGAN, BEVERLY MEINDL
• Application Number:
  US08/894,514
• Time in Patent Office: 677 Days
• Field of Search: 600/139, 600/140, 600/141, 600/142, 600/143, 600/144, 138/118, 138/120, 138/155
• US Class Current: 600/141
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• 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 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A system to actuate and support surgical diagnostic flexible and orientable instruments of the endoluminal and/or endoscopic type, comprising at least a distal part, a proximal part and a medial part, characterized in that at least the distal part consists of vertebrae-like elements formed of portions of two dihedrals, delimited by a cylindrical surface, one of the dihedrals being convex with a projecting edge and belonging to a preceding vertebra, the other dihedral being concave, namely with a reentering edge, belonging to the successive vertebra.

Claims

1. System for support and actuation of endoluminal and/or endoscopic surgical and diagnostic instruments, the system comprising:

a distal part;

a proximal part; and

a medial part connectively disposed between the distal and proximal parts,

the distal part including a plurality of vertebral elements, each vertebral element being formed by vertebra portions having opposed ends formed in the shape of two solid dihedral angles, wherein;

one of the two ends has a dihedral angle which is convex, has a protruding edge, a width 2 β

, and is connected flexibly with a proximally adjacent one of the plurality of vertebral elements; and

the other end has a dihedral angle which is concave, a width equal to 2 (α

+β

), and is connected flexibly to a distally adjacent one of the plurality of vertebral elements.

2. System according to claim 1, wherein the vertebral elements have through-holes or channels so as to accept flexible cables.

3. System according to claim 1, wherein one of the vertebral elements forms, together with the proximally adjacent vertebrae, a rotational joint with a stroke θ

which is symmetric and in the range of between -α and

+α

.

4. System according to claim 1, wherein a pair of vertebral elements forms an elementary module in which following flexibly connected vertebral elements can rotate with respect to two mutually orthogonal axes P and Y, both orthogonal to the axis of the preceding vertebral element and passing through the edge of the preceding vertebrae and the edge of the same preceding vertebra.

5. System according to claim 2, wherein each one of the holes machined in the vertebral elements has a cylinder-shaped part and a cone-shaped one, a conicity and a depth of the cone-shaped part depending upon the angles of minimum and maximum stroke of -α

and +α

.

6. System according to claim 1, wherein each vertebral element is crossed, in addition to the holes, by at least one more hole devoted to the housing of fiber optics and/or hydraulic or pneumatic tubes, and/or actuation cables for tools mounted on the distal part of the system.

7. System according to claim 1, further comprising a stapling tool disposed on the distal part.

8. System according to claim 7, further comprising a brake to maintain the desired steering of the distal end, according to an operator intention.

9. System according to claim 7, including a handle to actuate the distal tool.

10. System according to claim 8, wherein the stapler is steerable, the stapler steering being actuated by means of a single transmission cable having a mechanism to execute both tissue closure and staples ejection.

11. System according to claim 10 wherein the cartridge is changeable in order to execute multiple sutures by means of the same reusable multifiring monopatient instrument in the same intervention.

12. System according to claim 7, further comprising a double safety mechanism ensuring that the firing of staples is possible only if the tissue has been correctly closed and the operator has intentionally enabled firing.

13. System according to claim 9, wherein the motorized handle is equipped with a local or remote actuator.

14. System according to claim 8, wherein the handle is motorized, and has a local or remote actuator, both the handle and the actuator being reusable in multipatient interventions after sterilization replacement of a disposable sterile cover, the motorized handle being attached to the brake by means of a fast mounting device.

15. System according to claim 9, in which the medial part comprises a flexible or rigid shaft.

16. System according to claim 9, where the distal end can be removed resulting in a rigid motorized stapling tool and the rigid shaft is made to rotate with respect to its longitudinal axis.