Surgical instrument with extended reach for use in minimally invasive surgery

• US 6,312,435 B1
• Filed: 10/08/1999
• Issued: 11/06/2001
• Est. Priority Date: 10/08/1999
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Rosa, David J., Wallace, Daniel T., Moll, Frederic H.
• Primary Examiner(s): Smith, Jeffrey A.
• Assistant Examiner(s): Robert, Eduardo C.
• Application Number:
  US09/415,949
• Time in Patent Office: 760 Days
• Field of Search: 606/130, 606/43, 606/52, 606/157, 606/170, 606/174, 606/206, 606/211, 600/429
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators

Abstract

An improved surgical instrument, which can advantageously be used in the field of minimally invasive surgery, is provided. A method of performing a surgical procedure with such an improved surgical instrument is also provided. The improved surgical instrument includes an elongate shaft defining opposed ends. An end effector is mounted on one of the ends of the shaft. The end effector has at least one finger pivotally connected at the one end of the shaft selectively to be displaceable angularly about an end effector pivot axis at the one end of the shaft, such that a free end of the finger is displaceable about the end effector pivot axis. The finger has a length, defined between its free end and the end effector pivot axis, of at least 18 mm.

Claims

1. A surgical instrument comprising

an elongate shaft defining opposed ends;

an end effector mounted at one of the ends of the shaft, the end effector having two fingers pivotally connected relative to each other to be angularly displaceable relative to each other about an end effector pivot axis at the one end of the shaft, each finger defining a free end remote from the end effector pivot axis and being of a length defined between its free end and the end effector pivot axis of at least 18 mm; and

a robotic control system coupled to the shaft for effecting movements and actuation of the end effector.

2. A surgical instrument as claimed in claim 1, which further comprises a wrist member defining an end effector pivot and a wrist pivot spaced from the end effector pivot, the fingers of the end effector being pivotally connected to each other on the end effector pivot and the wrist member being pivotally mounted on the end of the shaft by means of the wrist pivot to be angularly displaceable relative to the shaft about a wrist pivot axis defined by the wrist pivot.

3. A surgical instrument as claimed in claim 2, wherein the end effector pivot axis and the wrist pivot axis extend at an angle relative to each other.

4. A surgical instrument as claimed in claim 3, wherein the end effector pivot axis and the wrist pivot axis extend generally perpendicularly relative to each other.

5. A surgical instrument as claimed in claim 2, which further comprises at least one elongate actuation element extending along the shaft, the elongate actuation element being operatively connected to the wrist member at the one end of the shaft so as to enable the wrist member selectively to be displaced angularly about the wrist pivot axis by selective actuation of the elongate actuation element.

6. A surgical instrument as claimed in claim 5, which further comprises at least one transmission member mounted on the other end of the shaft, the transmission member being operatively associated with the elongate actuation element so as to cause actuation of the elongate actuation element in response to actuation of the transmission member.

7. A surgical instrument as claimed in claim 1, which further comprises at least one elongate actuation element extending along the shaft, the actuation element being operatively connected to the end effector at the one end of the shaft so as to enable the fingers of the end effector selectively to be displaced angularly relative to each other about the end effector pivot axis by selective actuation of the elongate actuation element.

8. A surgical instrument as claimed in claim 7, which further comprises at least one transmission member mounted on the other end of the shaft, the transmission member being operatively connected to the elongate actuation element so as to cause actuation of the elongate actuation element in response to actuation of the transmission member.

9. A surgical instrument as claimed in claim 7, which comprises at least two elongate actuation elements extending along the shaft, one of the actuation elements being operatively connected to one of the fingers of the end effector and the other elongate actuation element being operatively connected to the other finger of the end effector, each finger selectively being displaceable angularly about the end effector pivot axis independently of the other by selective actuation of the elongate actuation elements.

10. A surgical instrument as claimed in claim 9, which further comprises at least two transmission members mounted on the other end of the shaft, the transmission members being operatively connected to the elongate actuation elements so as to cause selective actuation of the elongate actuation elements in response to selective actuation of the transmission members.

11. A surgical instrument as claimed in any one of claims 7 to 6 inclusive, wherein the elongate shaft defines an internal longitudinally extending passage, the or each elongate actuation element being positioned inside the passage to extend internally along the shaft.

12. A surgical instrument as claimed in any one of claims 7 to 6 inclusive, in which the or each elongate actuation element is at least partially defined by a length of cable.

13. A surgical instrument as claimed in claim 12, wherein the or each transmission member is in the form of a spool arranged selectively to be driven to displace angularly thereby to actuate the or each elongate actuation element.

14. A surgical instrument as claimed in claim 7, wherein at least one of the fingers of the end effector defines a pulley portion through which the end effector pivot axis extends, the at least one elongate actuation element extending around the pulley portion.

15. A surgical instrument as claimed in claim 1, wherein the length falls in the range between about 18 mm and 30 mm.

16. A surgical instrument as claimed in claim 15, wherein the length falls in the range between about 18 mm and 22 mm.

17. A surgical instrument as claimed in claim 1, wherein the shaft has a length of between about 380 mm and about 560 mm.

18. A surgical instrument as claimed in claim 17, wherein the shaft has a length of about 400 mm.

19. A surgical instrument as claimed in claim 1, wherein the shaft has an extreme outer cross sectional dimension of less than about 12 mm.

20. A surgical instrument as claimed in claim 19, in which the shaft is cross sectionally circular, the extreme outer cross sectional dimension then being an outer diameter of the shaft, the outer diameter of the shaft being between about 5 mm and about 12 mm.

21. A surgical instrument as claimed in claim 20, in which the shaft has an outer diameter of about 8 mm.

22. A method of performing a surgical procedure, the method comprising

passing a surgical instrument having an elongate shaft, at one end of which an end effector is mounted, through an entry port in a patient body into a position in which the end effector is positioned within the patient body and an opposed end of the shaft is positioned outside the patient body, the end effector having at least one working member pivotally connected at the one end of the shaft to be angularly displaceable about an end effector pivot axis, the working member defining a free end remote from the end effector pivot axis and being of a length defined between its free end and the end effector pivot axis of at least 18 mm;

connecting the surgical instrument in a robotically controlled system; and

actuating the end effector from outside the patient body by means of the robotically controlled system so as to cause the working member selectively to displace angularly about the end effector pivot axis thereby to perform at least part of the surgical procedure.

23. A method of performing a surgical procedure as claimed in claim 22, in which the surgical instrument comprises at least one elongate actuation element extending along the shaft, the actuation element being operatively connected to the end effector at the one end of the shaft so as to enable the working member to be selectively displaced angularly about the end effector pivot axis by selective actuation of the elongate actuation element at the opposed end of the shaft, actuating the end effector from outside the patient body by means of the robotically controlled system then including causing the robotically controlled system to actuate the elongate actuation element.

24. A method of performing a surgical procedure as claimed in claim 23, wherein connecting the surgical instrument in a robotically controlled system includes releasably mounting the surgical instrument on a robotically controlled arm.

25. A surgical instrument comprising

an elongate shaft defining opposed ends;

and

an end effector mounted at one of the ends of the shaft, the end effector defining a working member pivotally connected at the one end of the shaft to be angularly displaceable relative to the shaft about an end effector pivot axis at the one end of the shaft, the working member defining a free end remote from the end effector pivot axis and being of a length defined between its free end and the end effector pivot axis of at least 18 mm.

26. A surgical instrument as claimed in claim 25, wherein the length falls in the range between about 18 mm and 30 mm.

27. A surgical instrument as claimed in claim 26, wherein the length falls in the range between about 18 mm and 22 mm.

28. A surgical instrument comprising

an elongate shaft defining opposed ends;

a wrist member pivotally connected at one end of the shaft to be angularly displaceable relative to the shaft about a wrist pivot axis at the one end of the shaft; and

an end effector defining at least one working member, the working member being pivotally connected on the wrist member about an end effector pivot axis, spaced from the wrist pivot axis, to be angularly displaceable relative to the wrist member, the working member defining a free end remote from the end effector pivot axis, the distance between the free end of the working member and the end effector pivot axis being at least about twice as large as the distance between the end effector pivot axis and the wrist pivot axis.