Manually-operable surgical tool suitable for laparoscopic operations, readily adaptable for different functions by quick change of tissue-contacting operational elements

• US 6,086,606 A
• Filed: 05/06/1998
• Issued: 07/11/2000
• Est. Priority Date: 05/06/1998
• Status: Expired due to Fees

• Current Assignee: Bryan D. Knodel, Williams, John A.
• Original Assignee: Bryan D. Knodel, Williams, John A.
• Inventors: Knodel, Bryan D., Williams, John A.
• Primary Examiner(s): Thaler, Michael H.
• Application Number:
  US09/073,350
• Time in Patent Office: 797 Days
• Field of Search: 606/205, 606/207, 606/208, 606/174, 600/564, 81/345, 81/349, 81/383.5
• US Class Current: 606/208
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3201 Scissors for biopsy A61B10/02
• CPC Class Codes: A61B 2017/00362 Packages or dispensers for MIS instruments A61B2017/0479 takes precedence
• CPC Class Codes: A61B 2017/2931 with releasable head
• CPC Class Codes: A61B 2017/2933 camming or guiding means
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points

Abstract

A manually-operable surgical tool, suitable for laparoscopic operations, has separable parts which cooperate to move a pair of end effector elements which can be readily replaced by another pair of end effector elements. A handle portion enables controlled longitudinal movement of an elongate inner element relative to an outer surrounding tubular element. The tubular element has a distal end with a first cleft and a pair of parallel cantilevered inwardly-oriented opposed cam pins. The distal end of the elongate inner element is provided with a second cleft and a transverse force-application pin. The selected end effector elements rotatably fit inside the cleft of the inner element to receive an applied force via the force-application pin. Each end effector element has a blind-ended cutout having an open end for engaging at least with a corresponding one of the cam pins. As the inner element moves longitudinally of the tubular element, the cutouts of the end effector elements rotatably and slidably engage with corresponding cam pins and via the force-application pin have their force-applying portions driven towards each other or moved apart. In another aspect of this invention, pairs of cooperating end effector elements for performing specific surgical operations are stored in modular contamination-resistant containers from which they can be moved to engage directly with the inner and outer elements of the surgical instrument for use. Used end effector elements can be put in a disengagement position by movement of the inner element within the outer tubular element and may be removed.

Claims

1. An apparatus, comprising:

an elongate outer tubular element having a proximal end and a distal end formed to have a first cleft, the first cleft having a first cleft orientation defining a first plane;

an elongate inner element having a proximal end and a distal end formed to have a second cleft, the second cleft having a second cleft orientation defining a second plane;

a mechanism for controllably moving the inner element longitudinally within the tubular element;

a force-application pin mounted to the inner element to bridge the second cleft;

a pair of parallel cantilevered cam pins, each of the cantilevered cam pins having an elongate axis, the pair of cam pins being mounted on opposite sides of a central axis of the tubular element inside the first cleft and wherein the elongate axis of each cam pin is oriented in a direction transverse to the first plane and transverse to the second plane; and

a pair of cooperating end effector elements, each having a force-receiving portion and a force-applying portion, each force-receiving portion being formed to pivotally engage with the force-application pin and to simultaneously engage with a respective one of the cam pins, so that relative longitudinal motion between the tubular element and the inner element when in a first direction causes forcible rotations of the end effector elements about the force-application pin to drive the force-applying portions toward each other and when in a second direction causes opposite forcible rotations of the end effector elements about the force-application pin to drive the force-applying portions apart.

2. The apparatus according to claim 1, wherein:

the force-application pin is removably fitted to the inner element.

3. The apparatus according to claim 1, wherein:

the force-receiving portion of each end effector element is provided with a through-aperture sized for receiving the force-application pin therein and is also provided with a blind cutout sized to receive therein the corresponding cam pin.

4. The apparatus according to claim 3, wherein:

each end effector element has a corresponding force-application side, with the force-application sides of the pair of end effector elements facing each other, and

the cutout in each end effector element is oriented to have an open end facing away from the force-application side and a closed end between the open end and the through-aperture,

whereby a pushing force applied to the proximal end of the inner element provides motion thereof relative to the tubular element in said first direction.

5. The apparatus according to claim 4, wherein:

the cutout in each of the end effector elements has an elongate axis which extends through a center of the corresponding through-aperture.

6. The apparatus of claim 5, wherein the cutout in each of the end effector elements engages with a respective one of the cam pins within the cutout.

7. The apparatus of claim 6, wherein the cutout in each of the end effector elements slidably engages with a respective one of the cam pins within the cutout in a direction along the elongate axis of the cutout.

8. The apparatus of claim 7, wherein the forcible rotations of the end effector elements about the force-application pin provides a mechanical advantage upon each cam pin.

9. The apparatus according to claim 4, wherein:

the cutout in each of the end effector elements has a longitudinal axis offset relative to a center of the corresponding through-aperture.

10. The apparatus according to claim 3, wherein:

each end effector element has a corresponding force-application side, with the force-application sides of the end effector elements facing each other, and

the cutout in each end effector element is oriented to have an open end facing toward the corresponding force-application side and a closed end between the open end and the through-aperture,

whereby a pulling force applied by said mechanism to the proximal end of the inner element provides motion thereof relative to the tubular element in said first direction.

11. The apparatus according to claim 10, wherein:

the cutout in each end effector element has a longitudinal axis which extends through a center of the corresponding through-aperture.

12. The apparatus according to claim 10, wherein:

the cutout in each end effector element has a longitudinal axis offset relative to a center of the corresponding through-aperture.

13. The apparatus according to claim 1, wherein:

the force-receiving portion of each end effector element is provided with a single blind cutout formed to receive therein both the force-application pin and the corresponding cam pin.

14. The apparatus according to claim 13, wherein:

each end effector element has a corresponding force-application side, with the force-application sides of the pair of end effector elements facing each other, and

the cutout in each end effector element is oriented to have an open end facing away from the force-application side,

whereby a pushing force applied by said mechanism to the proximal end of the inner element provides motion thereof relative to the tubular element in said first direction.

15. The apparatus according to claim 13, wherein:

each end effector element has a corresponding force-application side, with the force-application side of the pair of effector elements facing each other, and the cutout in each end effector elements is oriented to have an open end facing towards the force-application side,

whereby a pulling force applied by said mechanism to the proximal end of the inner element provides motion thereof relative to the tubular element in said first direction.

16. The apparatus according to claim 13, wherein:

additional pairs of cooperating end effector elements are respectively retained in contamination-resistant modular storage containers with the respective single blind cutouts mutually aligned to facilitate selective engagement of said additional end effector elements to the tubular and inner elements.

17. The apparatus according to claim 13, wherein:

the force-receiving portion of each end effector element comprises a first surface facing to a corresponding first surface of the other cooperating end effector element;

the force-receiving portion of each end effector element has a second surface disposed to make contact with a corresponding surface of the first cleft of the tubular element; and

the force-receiving portions of the cooperating end effector elements and the first cleft are sized to provide a close fit during use of the apparatus, such that any tendency of the force-applying portions of the cooperating end effector elements to deflect laterally will be resisted by the tubular element at said first cleft.

18. The according to claim 17, wherein:

said mechanism for moving the inner element relative to the tubular element comprises a first handle element detachably connected to the proximal end of the tubular element, and a second handle element detachably connected to the proximal end of the inner element;

the tubular element is rotatable relative to the first handle element, and the inner element is correspondingly rotatable relative to the second handle element;

the first and second handle elements pivot relative to each other about a pivot axis; and

said mechanism further comprises a positional detent disposed to inform a user of the apparatus when additional pivoting movement of the first handle element relative to the second handle element to cause relative movement of the tubular element relative to the inner element will move the end effector elements into in a position where the end effector elements may be disengaged from the corresponding cam pins.

19. The apparatus according to claim 18, wherein:

the pivot axis is disposed such that pivoting movement between the first handle element and second handle element will cause the second handle element to apply a pulling force to the proximal end of the inner element.

20. The apparatus according to claim 18, wherein:

the pivot axis is disposed such that pivoting movement between the first handle element and second handle element will cause the second handle element to apply a pushing force to the proximal end of the inner element.

21. An apparatus according to claim 1, wherein:

the end effector elements consist of a pair of scissors blades which have respective sharp edges maintained to be forcibly pressed to each other to cooperatively provide a shearing action.

22. The apparatus according to claim 1, wherein:

the cooperating end effector elements have respective force-applying portions facing to each other to provide a grasping action therebetween when relative longitudinal motion between the tubular element and the inner element occurs in said first direction.

23. The apparatus according to claim 22, wherein:

each force-applying portion has a non-slip surface disposed to face a corresponding non-slip surface of the other end effector element.

24. The apparatus according to claim 23, wherein:

the non-slip surfaces of the end effector elements are matchingly shaped.

25. The apparatus according to claim 24, wherein:

the matching shape is substantially curved.

26. An apparatus according to claim 1, wherein:

said mechanism for moving the inner element relative to the tubular element comprises

a first handle element, detachably connected to the proximal end of the tubular element, and

a second handle element, detachably connected to the proximal end of the inner element.

27. The apparatus according to claim 26, wherein:

the tubular element is rotatable relative to the first handle element, and the inner element is correspondingly rotatable relative to the second handle element.

28. The apparatus according to claim 26, wherein:

the first and second handle elements pivot relative to each other about a pivot axis, and

said mechanism further comprises a positional detent disposed to inform a user of the apparatus when additional pivoting movement of the first handle element relative to the second handle element to cause relative movement of the tubular element relative to the inner element will move the end effector elements into a position where the end effector elements may be disengaged from the corresponding cam pins.

29. The apparatus according to claim 28, wherein:

the pivot axis is disposed such that pivoting movement between the first handle element and second handle element will cause the second handle element to apply a pulling force to the proximal end of the inner element.

30. The apparatus according to claim 28, wherein:

the pivot axis is disposed such that pivoting movement between the first handle element and second handle element will cause the second handle element to apply a pushing force to the proximal end of the inner element.

31. The apparatus according to claim 1, wherein:

the force-receiving portion of each end effector element comprises a first surface facing to a corresponding first surface of the other cooperating end effector element, and

the force-receiving portion of each end effector element has a second surface disposed to make contact with a corresponding surface of the first cleft of the tubular element.

32. The apparatus according to claim 31, wherein:

the force-receiving portions of the cooperating end effector elements and the first cleft are sized to provide a close fit during use of the apparatus, such that any tendency of the force-applying portions of the cooperating end effector elements to deflect laterally will be resisted by the tubular element at said first cleft.

33. The apparatus according to claim 1, wherein:

at least one of the tubular element, the inner element, the first handle element and the second handle element comprises a plastics material.

34. The apparatus of claim 1, wherein the forcible rotations of the cooperating end effector elements occur in a rotation plane, and wherein the forcible rotations of the cooperating end effector elements produces a pair of forces oppositely extending from the cooperating end effector elements, each of the pair of forces being oriented in a direction transverse to the rotation plane.

35. The apparatus of claim 34, wherein the first cleft comprises a pair of parallel arms, wherein the pair of parallel arms retains the pair of cooperating end effector elements, each of the pair of parallel arms being springably flexible, wherein the pair of parallel arms are springably biased opposite the direction of each of the pair of forces.

36. The apparatus of claim 1, wherein each of the cooperating end effector elements includes a cutout, and wherein each of the cooperating end effector elements engages with a respective one of the cam pins within the cutout.

37. The apparatus of claim 36, wherein each cutout includes at least one edge, and wherein each of the cooperating end effector elements slidably cams upon the at least one edge.

38. The apparatus of claim 37, wherein the slidable camming of each of the cooperating end effector elements upon the cam pins provides a mechanical advantage throughout the forcible rotations of the end effector elements about the force-application pin.

39. The apparatus of claim 1, wherein each of the pair of cam pins has a cam pin length, wherein the first cleft has a width of opening, and wherein the cam pin length of each of the pair of cam pins is not more than one half the width of opening of the first cleft.

40. An improved hand-held surgical instrument comprising an elongate outer tubular element having a proximal end and a distal end, an elongate inner element disposed longitudinally within the tubular element and having a proximal end and a distal end, and a mechanism for controllably moving the inner element longitudinally within the tubular element to actuate a pair of cooperating end effector elements which engage with both the tubular element and the inner element, wherein the improvement comprises:

a first cleft formed in the distal end of the tubular element, the first cleft having a first cleft orientation defining a first plane;

a second cleft formed in the distal end of the inner element, the second cleft having a second cleft orientation defining a second plane;

a force-application pin mounted to the inner element to bridge the second cleft therein; and

a pair of parallel cantilevered cam pins, each of the cantilevered cam pins having an elongate axis, the pair of cam pins being mounted on opposite sides of a central axis of the tubular element inside the first cleft, wherein the elongate axis of each of the cam pins is oriented in a direction transverse to the first plane and transverse to the second plane;

wherein each end effector element is provided with a force-receiving portion and a force-applying portion, each force-receiving portion being formed to pivotally engage with the force-application pin and to simultaneously engage with a respective cam pin, so that longitudinal motion between the tubular element and the inner element when in a first direction causes forcible rotations of the end effector elements about the force-application pin to drive the force-application portions toward each other and when in a second direction causes opposite forcible rotations of the end effector elements about the force-application pin to drive the force-applying portions apart.

41. The improved apparatus according to claim 40, wherein:

the force-receiving portion of each end effector element is provided with a through-aperture sized for receiving the force-application pin therein and is also provided with a blind cutout sized to receive therein the corresponding cam pin.

42. The improved apparatus according to claim 40, wherein:

each end effector element has a corresponding force-application side, with the force-application sides of the pair of end effector elements facing each other; and

the cutout in each end effector element is oriented to have an open end facing away from the force-application side and a closed end between the open end and the through-aperture,

whereby a pushing force applied to the proximal end of the inner element provides motion thereof relative to the tubular element in said first direction.

43. The improved apparatus according to claim 42, wherein:

each end effector element has a corresponding force-application side, with the force-application sides of the end effector elements facing each other; and

the cutout in each end effector element is oriented to have an open end facing toward the corresponding force-application side and a closed end between the open end and the through-aperture,

whereby a pulling force applied by said mechanism to the proximal end of the inner element provides motion thereof relative to the tubular element in said first direction.

44. The improved apparatus according to claim 40, wherein:

the force-receiving portion of each end effector element is provided with a single blind cutout formed to receive therein both the force-application pin and the corresponding cam pin.

45. The improved apparatus according to claim 44, wherein:

additional pairs of cooperating end effector elements are respectively retained in contamination-resistant modular storage containers with the respective single blind cutouts mutually aligned to facilitate selective engagement of said additional end effector elements to the tubular and inner elements.

46. The apparatus of claim 44, wherein each of the pair of cam pins has a cam pin length, wherein the first cleft has a width of opening, and wherein the cam pin length of each of the pair of cam pins is not more than one half the width of opening of the first cleft.

47. The apparatus of claim 46, wherein the first cleft has an opening defined thereby, and wherein each of the pair of cam pins extends inwardly within the first cleft opening.

48. A method of mounting a pair of cooperating end effector elements to a hand-held surgical instrument which comprises an elongate outer tubular element having a proximal end and a distal end formed to have a first cleft, the first cleft having a first cleft orientation defining a first plane, an elongate inner element having a proximal end and a distal end formed to have a second cleft, and a mechanism for controllably moving the inner element longitudinally within the tubular element, the second cleft having a second cleft orientation defining a second plane, comprising the steps of:

providing a force-application pin mounted to the inner element so as to bridge the second cleft therein;

providing a pair of parallel cantilevered cam pins, each of the cantilevered cam pins having an elongate axis, the pair of cam pins being mounted on opposite sides of a central axis of the tubular element inside the first cleft, wherein the elongate axis of each of the cam pins is oriented in a direction transverse to the first plane and transverse to the second plane;

providing a pair of cooperating end effector elements each having a force-receiving portion and a force-applying portion, each force-receiving portion being formed to have a single blind cutout formed to receive therein both the force-application pin and a corresponding cam pin, each force-receiving portion also being formed to pivotally engage with the force-application pin and to simultaneously engage with a respective cam pin so that relative longitudinal motion between the tubular element and the inner element when in a first direction causes forcible rotations of the end effector elements about the force-application pin to drive the force-applying portions toward each other and when in a second direction causes opposite forcible rotations of the end effector elements about the force-application pin to drive the force-applying portions apart.

49. The method according to claim 48 comprising the further steps of:

moving the inner element relative to the tubular element to a first relative position in which the pair of end effector elements can be slidably removed and a replacement pair of end effector elements slidably fitted simultaneously to the tubular element and the inner element, and

thereafter moving the inner element longitudinally of the tubular element to rotate the mounted pair of end effector elements as the inner element and the tubular element are moved further relative to each other.