End effector and instrument for endoscopic and general surgery needle control

• US 6,270,508 B1
• Filed: 10/25/1999
• Issued: 08/07/2001
• Est. Priority Date: 10/26/1998
• Status: Expired due to Term

• Current Assignee: David Needleman
• Original Assignee: David Needleman
• Inventors: Needleman, David, Stiggelbout, John M., Klieman, Charles H.
• Primary Examiner(s): Jackson, Gary
• Application Number:
  US09/426,207
• Time in Patent Office: 652 Days
• Field of Search: 606/205, 606/206, 606/207, 606/208, 606/147
• US Class Current: 606/147
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/062 Needle manipulators
• 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 for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of 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 2017/2944 Translation of jaw members

Abstract

A surgical instrument for use in laparoscopy is provided, comprising a tubular member having a proximal end and a distal end, a first end effector piece pivotably mounted to the tubular member near the distal end of the tubular member, a second end effector piece disposed near the distal end of the tubular member and being slidable relative to the tubular member, wherein a surgical item, such as a suture needle, may be received between the first end effector piece and the second end effector piece and may be rolled substantially axially by axial translation of the second end effector piece with respect to the first end effector piece. In one embodiment, the end effector pieces may be provided with depressions in their face surfaces. In another embodiment, the surgical instrument may also include a handle assembly having a control lever and a rotation actuator. The tubular member may also be rotatably mounted on the handle. In another embodiment, the handle assembly may comprise a number of servomotors for effecting motion in the tubular barrel and the end effector pieces.

Claims

1. A surgical instrument comprising:

a first linkage member having a proximal end and a distal end;

a first jaw operably connected to the distal end of the first linkage member;

a second linkage member having a proximal end and a distal end; and

a second jaw operably connected to the second linkage member and adjacent the first jaw, wherein the second jaw is slidable relative to the first jaw.

2. The surgical instrument of claim 1, wherein the first jaw is pivotable about a fixed axis.

3. The surgical instrument of claim 1, further comprising a pivot pin that is fixedly attached to the instrument, wherein the first jaw pivots about the pivot pin.

4. The surgical instrument of claim 1, wherein the first jaw is pivotable through an arc.

5. The surgical instrument of claim 1, wherein the second jaw is pivotable about a fixed axis.

6. The surgical instrument of claim 1, wherein the first jaw defines an internal recess.

7. The surgical instrument of claim 1, wherein the first jaw defines outer edges, and the first jaw is recessed along the outer edges.

8. The surgical instrument of claim 1, wherein the first jaw includes a first gripping surface and the second jaw includes a second gripping surface, the second gripping surface being textured.

9. The surgical instrument of claim 8, wherein the first gripping surface is textured.

10. The surgical instrument of claim 8, wherein the second gripping surface comprises a high-friction material.

11. The surgical instrument of claim 8, wherein the second gripping surface comprises a high-hardness material.

12. The surgical instrument of claim 11, wherein the second gripping surface comprises a tungsten carbide insert.

13. The surgical instrument of claim 8, wherein the first gripping surface defines an internal recess.

14. The surgical instrument of claim 8, wherein the first gripping surface defines outer edges, and the first gripping surface is recessed along the outer edges.

15. The surgical instrument of claim 1, further comprising a camming surface on the first linkage member and a camming surface on the first jaw, the camming surfaces being connected by contact with each other.

16. The surgical instrument of claim 1, wherein the first linkage member is pivotably connected to the first jaw.

17. The surgical instrument of claim 16, wherein the first linkage member and the first jaw are connected such that movement of the first linkage member in a direction toward its distal end causes the first jaw to pivot in a first direction, and movement of the first linkage member toward its proximal end causes the first jaw to pivot in an opposite direction.

18. The surgical instrument of claim 16, wherein the first linkage member and the first jaw are connected such that movement of the first linkage member toward its distal end causes the first jaw to pivot away from the second jaw, and movement of the first linkage member toward its proximal end causes the first jaw to pivot toward the second jaw.

19. The surgical instrument of claim 1, wherein the second linkage member is rigidly connected to the second jaw.

20. The surgical instrument of claim 19, wherein the second linkage member and the second jaw are connected such that movement of the second linkage member toward its distal end causes the second jaw to translate axially away from the distal end of the instrument, and movement of the second linkage member toward its proximal end causes the second jaw to translate toward the proximal end of the instrument.

21. The surgical instrument of claim 19, wherein the first linkage member is movable independent of the second linkage member.

22. The surgical instrument of claim 1, further comprising a control actuator operably connected to the first linkage member, wherein movement of the control actuator in a first direction causes the first linkage member to move the first jaw in a first direction, and movement of the control actuator in another direction causes the first linkage member to move the first jaw in a second direction.

23. The surgical instrument of claim 1, further comprising a rolling actuator operably connected to the second linkage member, wherein movement of the rolling actuator in a first direction causes the second linkage member to move the second jaw in a first direction, and movement of the rolling actuator in another direction causes the second linkage member to move the second jaw in a second direction.

24. The surgical instrument of claim 1, further comprising a tubular member having a proximal end and a distal end, wherein the first linkage member and the second linkage member are slidably disposed substantially inside the tubular member.

25. The surgical instrument of claim 24, further comprising a rotation actuator coupled to the tubular member, whereby operation of the rotation actuator transmits rotational force to the tubular member, the first jaw, and the second jaw.

26. The surgical instrument of claim 25, wherein the rotation actuator comprises a servomotor.

27. The surgical instrument of claim 23, further comprising a housing connected to the proximal end of the tubular member.

28. The surgical instrument of claim 27, wherein the tubular member is detachably connected to the housing.

29. The surgical instrument of claim 28, further comprising a first threaded portion on the tubular member and a second threaded portion on the housing, whereby the first threaded portion may be operably connected to the second threaded portion.

30. The surgical instrument of claim 27, further comprising a control actuator attached to the housing and operably connected to the first linkage member, whereby operation of the control actuator produces axial translation of the first linkage member.

31. The surgical instrument of claim 30, wherein the control actuator comprises a servomotor.

32. The surgical instrument of claim 30, wherein movement of the control actuator in a first direction causes the first linkage member to translate in a direction toward the distal end of the tubular member, and movement of the control actuator in another direction causes the first linkage member to translate in a direction toward the proximal end of the tubular member.

33. The surgical instrument of claim 32, wherein the control actuator comprises a thumb trigger lever.

34. The surgical instrument of claim 33, further comprising a trigger lock in operable connection with the thumb trigger lever.

35. The surgical instrument of claim 27, further comprising a rolling actuator attached to the housing and operably connected to the second linkage member, whereby operation of the rolling actuator produces axial translation of the second linkage member.

36. The surgical instrument of claim 35, wherein operation of the rolling actuator causes an object held between the first jaw and the second jaw to rotate about its own axis.

37. The surgical instrument of claim 35, wherein rotation of the rolling actuator in a first direction causes the second linkage member to move the second jaw toward the distal end of the instrument, and rotation of the rolling actuator in a second direction causes the second linkage member to move the second jaw toward the proximal end of the instrument.

38. The surgical instrument of claim 37, wherein the rolling actuator comprises a fingerwheel.

39. The surgical instrument of claim 38, wherein the fingerwheel is operable by a user'"'"'s index finger.

40. The surgical instrument of claim 38, further comprising a first mating surface attached to the fingerwheel and a second mating surface attached to the second linkage member, whereby the first mating surface contacts the second mating surface and rotation of the fingerwheel results in axial translation of the second linkage member.

41. The surgical instrument of claim 40, wherein the first mating surface is located on the top surface of the fingerwheel.

42. The surgical instrument of claim 41, wherein the first mating surface comprises a helical gear.

43. The surgical instrument of claim 41, wherein the first mating surface comprises a spiral gear and the second mating surface comprises a rack having a gear pattern that mates with the spiral gear.

44. The surgical instrument of claim 35, wherein the rolling actuator comprises a finger loop, whereby motion of the finger loop in a first direction causes the second linkage member to move the second jaw toward the distal end of the instrument, and motion of the finger loop in a second direction causes the second linkage member to move the second jaw toward the proximal end of the instrument.

45. The surgical instrument of claim 44, further comprising a first ratchet surface attached to the fingerloop and a second ratchet surface attached to the second linkage member, wherein motion of the fingerloop causes the first ratchet surface to move relative to the second ratchet surface.

46. The surgical instrument of claim 35, wherein the rolling actuator comprises a servomotor.

47. A surgical instrument comprising:

a first linkage member and a second linkage member;

a first jaw operably connected to the first linkage member;

a second jaw operably connected to the second linkage member; and

a gripping surface coupled to the second jaw, wherein the gripping surface is slidable relative to the first jaw, and the jaws may be moved toward each other and away from each other.

48. A surgical instrument comprising:

a tubular member having a proximal end and a distal end;

a first linkage member slidably disposed inside the tubular member;

a first jaw comprising a rigid portion and a flexible portion, the jaw being attached to a distal end of the first linkage member and extending from the distal end of the tubular member;

a second linkage member slidably disposed within the tubular member;

a second jaw operably connected to the distal end of the second linkage member;

wherein linear translation of the first linkage member in a proximal direction causes the first jaw to close relative to the second jaw.

49. A surgical instrument comprising:

a tubular member having a proximal end and a distal end;

a first end effector piece having a first gripping surface and mounted near the distal end of the tubular member;

a second end effector piece having a second gripping surface and disposed near the distal end of the tubular member and adjacent the first end effector piece, wherein the second end effector piece is slidable relative to the first end effector piece, and wherein the first end effector piece may close relative to the second end effector piece to hold a surgical item placed between the first end effector piece and the second end effector piece.

50. A surgical instrument comprising:

an elongated member having a proximal end and a distal end; and

a needle roller mounted at the distal end of the elongated member, wherein a needle having a longitudinal axis held in the needle roller may be rolled about an axis that is substantially parallel to the longitudinal axis.

51. A surgical instrument comprising:

an elongated member having a distal end and a proximal end;

first and second end effectors disposed at the distal end of the tubular member, wherein the end effectors define a needle retention area; and

a control member coupled to move one of the end effectors relative to the other of the end effectors to roll a needle having a longitudinal axis within the needle retention area, about an axes that is substantially parallel to the longitudinal axis of the needle.

52. A method for manipulating a surgical needle, the method comprising:

providing a surgical instrument having a proximal end and a distal end, the surgical instrument comprising a first jaw pivotably mounted near the distal end of the surgical instrument, and a second jaw disposed adjacent the first jaw, wherein the second jaw is slidable relative to the first jaw;

placing a needle between the first jaw and the second jaw.

53. A needle roller comprising:

a first jaw;

a second jaw adjacent to the first jaw and slidable relative to the first jaw, wherein a needle placed between the first jaw and the second jaw may be rolled when the first jaw is slid relative to the second jaw.