Surgical instrument

• US 6,554,844 B2
• Filed: 04/06/2001
• Issued: 04/29/2003
• Est. Priority Date: 02/24/1998
• Status: Expired due to Term

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: endoVia Medical, Inc. (Johnson & Johnson)
• Inventors: Lee, Woojin, Brock, David L.
• Primary Examiner(s): Philogene, Pedro
• Application Number:
  US09/827,643
• Publication Number:
  US 20020038116A1
• Time in Patent Office: 753 Days
• Field of Search: 606/1, 606/130, 606/205, 600/102, 600/117, 600/118, 600/427, 600/429, 600/407, 414/5, 414/730, 901/2, 901/9, 901/25, 901/33
• US Class Current: 606/130
• 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 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00088 using thermistors
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/015 By temperature mapping of body part
• CPC Class Codes: A61B 5/24 Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
• CPC Class Codes: A61B 5/4893 Nerves
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons

Abstract

A surgical instrument end effector apparatus that includes a pair of jaws, a first pivot for supporting one of the jaws, a link member connected to one of the jaws, and a second pivot for supporting the link member. The link member has a first unlocked position in which one jaw member is opened relative to the other jaw member, and a second locked position in which one jaw member is locked closed relative to the other jaw member.

Claims

1. A robotic medical system that is comprised of a master station including an input device, a slave station at which is disposed a surgical instrument, and a controller coupled between said master station and said slave station and for receiving a command from said input device for controlling the movement of said surgical instrument, said surgical instrument including, a pair of jaw members, a first pivot for supporting said pair of jaw members, a link member connected to only one of said jaw members, and a second pivot for supporting said link member, said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member, and a second locked position in which the one jaw member is locked closed relative to the other jaw member.

2. A robotic medical system of claim 1 wherein said first pivot supports the jaw members at a common first axis.

3. A robotic medical system that is comprised of a master station including an input device, a slave station at which is disposed a surgical instrument, and a controller coupled between said master station and said slave station and for receiving a command from said input device for controlling the movement of said surgical instrument, said surgical instrument including, a pair of jaw members, a first pivot for supporting said pair of jaw members, a link member connected to one of said jaw members, a second pivot for supporting said link member, said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member, and a second locked position in which the one jaw member is locked closed relative to the other jaw member, wherein said first pivot supports the jaw members at a common first axis, a rotatable member, and a third pivot for supporting said rotatable member.

4. A robotic medical system of claim 3 wherein said link member has one and other ends and said second pivot supports the one end of said link member from said rotatable member.

5. A robotic medical system of claim 4 including a forth pivot for supporting the other end of the link member from said one jaw member.

6. A robotic medical system that is comprised of a master station including an input device, a slave station at which is disposed a surgical instrument, and a controller coupled between said master station and said slave station and for receiving a command from said input device for controlling the movement of said surgical instrument, said surgical instrument including, a pair of jaw members, a first pivot for supporting said pair of jaw members, a link member connected to one of said jaw members, and a second pivot for supporting said link member, said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member, and a second locked position in which the one jaw member is locked closed relative to the other jaw member, wherein said one jaw member has a leg that extends into a recess in the other jaw member.

7. A robotic medical system of claim 6 wherein both said jaw members include gripper end.

8. A robotic medical system of claim 7 wherein said first pivot holds said leg in said recess with limited rotational pivoting enabled by said first pivot.

9. A robotic medical system that is comprised of a master station including an input device, a slave station at which is disposed a surgical instrument, and a controller coupled between said master station and said slave station and for receiving a command from said input device for controlling the movement of said surgical instrument, said surgical instrument including, a pair of jaw members, a first pivot for supporting said pair of jaw members, a link member connected to one of said jaw members, a second pivot for supporting said link member, said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member, and a second locked position in which the one jaw member is locked closed relative to the other jaw member, a first rotatable member, and a third pivot for supporting said first rotatable member.

10. A robotic medical system of claim 9 including a first cable secured to said first rotatable member for rotating said first rotatable member in one of clockwise and counter clockwise directions.

11. A robotic medical system of claim 10 wherein said link member has one and other ends and said second pivot supports the one end of said link member from first rotatable member.

12. A robotic medical system of claim 11 including a forth pivot for supporting the other end of the link member from said one jaw member.

13. A robotic medical system of claim 12 wherein, when said jaw members are in said locked position, said second, third and fourth pivots are disposed substantially in a single plane.

14. A robotic medical system of claim 13 wherein said fourth pivot is slightly below a lien joining the second and third pivots so as to provide a locking action by said jaw members.

15. A robotic medical system of claim 12 including a second rotatable member for fixedly supporting said other jaw member.

16. A robotic medical system of claim 15 wherein said first and second rotatable members are both supported at a common third pivot.

17. A robotic medical system of claim 16 including a second cable secured to said second rotatable member for rotating said second rotatable member in one of clockwise and counter clockwise directions.

18. A surgical instrument end effector apparatus controlled from mechanical cabling and comprising:

one and other jaw members;

a first pivot for supporting said pair of jaw members;

a link member connected to only one of said jaw members;

and a second pivot for supporting said link member;

said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member; and

a second locked position in which the one jaw member is locked closed relative to the other jaw member.

19. The surgical instrument of claim 18 wherein said first pivot supports the jaw members at a common first axis.

20. A surgical instrument end effector apparatus controlled from mechanical cabling and comprising:

one and other jaw members;

a first pivot for supporting said pair of jaw members;

a link member connected to one of said jaw members;

a second pivot for supporting said link member;

said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member; and

a second locked position in which the one jaw member is locked closed relative to the other jaw member, wherein said first pivot supports the jaw members at a common first axis;

a rotatable member, and a third pivot for supporting said rotatable member.

21. The surgical instrument of claim 20 wherein said link member has one and other ends and said second pivot supports the one end of said link member from said rotatable member.

22. The surgical instrument of claim 21 including a forth pivot for supporting the other end of the link member from said one jaw member.

23. A surgical instrument end effector apparatus controlled from mechanical cabling and comprising;

one and other jaw members;

a first pivot for supporting said pair of jaw members;

a link member connected to one of said jaw members;

a second pivot for supporting said link member;

said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member; and

a second locked position in which the one jaw member is locked closed relative to the other jaw member, wherein said one jaw member has a leg that extends into a recess in the other jaw member.

24. The surgical instrument of claim 23 wherein both said jaw members include gripper ends.

25. The surgical instrument of claim 24 wherein said first pivot holds said leg in said recess with limited rotational pivoting enabled by said first pivot.

26. A surgical instrument end effector apparatus controlled from mechanical cabling and comprising:

one and other jaw members;

a first pivot for supporting said pair of jaw members;

a link member connected to one of said jaw members;

a second pivot for supporting said link member;

said link member having a first unlocked position in which the one jaw member is open relative to the other jaw member; and

a second locked position in which the one jaw member is locked closed relative to the other jaw member;

a first rotatable member, and a third pivot for supporting said first rotatable member.

27. The surgical instrument of claim 26, including a first cable secured to said first rotatable member for rotating said first rotatable member in one of clockwise and counter clockwise directions.

28. The surgical instrument of claim 27 wherein said link member has one and other ends and said second pivot supports the one end of said link member from first rotatable member.

29. The surgical instrument of claim 28 including a forth pivot for supporting the other end of the link member from said one jaw member.

30. The surgical instrument of claim 29 wherein, when said jaw members are in said locked position, said second, third and fourth pivots are disposed substantially in a single plane.

31. The surgical instrument of claim 30 wherein said fourth pivot is slightly below a line joining the second and third pivots so as to provide a locking action by said jaw members.

32. The surgical instrument of claim 29 including a second rotatable member for fixedly supporting said other jaw member.

33. The surgical instrument of claim 32 wherein said first and second rotatable members are both supported at a common third pivot.

34. The surgical instrument of claim 33 including a second cable secured to said second rotatable member for rotating said second rotatable member in one of clockwise and counter clockwise directions.

35. A surgical instrument comprising:

an instrument body including at a more proximal end a rigid section, and at a more distal end a flexible section;

a base secured to the distal end of the flexible section;

a link piece;

a first pivot for rotatably supporting one end of said link piece from said base and along a first pivot axis;

a pair of jaws;

a second pivot for rotatably supporting said jaws from another end of said link piece and along a second pivot axis;

said second pivot axis being disposed substantially orthogonal to said first pivot axis;

wherein said first and second pivot axes provide at least two degrees-of-freedom of said jaws;

mechanical cabling intercoupling through said rigid and flexible sections and including at least one cable for coupling to said one end of said link piece for causing opposite direction rotation thereof;

at least a second cable coupling to one jaw and at least a third cable coupling to the other jaw; and

guide means for maintaining said second and third cables at a position over said first pivot.

36. A surgical instrument of claim 35 wherein said base includes a pair of spaced extensions with the one end of said link piece disposed between said spaced extensions.

37. A surgical instrument of claim 36 wherein said link piece at said one end includes an arcuate surface with said first cable secured at a position therealong.

38. A surgical instrument of claim 37 wherein each of said jaws include an arcuate surface with said second and third cables respectively secured therealong.

39. A surgical instrument of claim 38 wherein the other end of said link piece is forked to receive the arcuate portions of said jaws therebetween.

40. A medical instrument comprising:

en elongated stem section having at its distal end a support base;

a link having proximal and distal ends, said proximal end supported from said base for pivoting about a first axis;

a tool supported from the distal end of said link for pivoting about a second pivot axis;

at least one actuation cable extending through said elongated stem section and passing substantially through said first axis permitting actuation of said tool independent of any rotation of said link relative to said base about said first pivot axis.

41. The medical instrument of claim 40 wherein said tool comprises a pair of jaws and said at least one actuation cable comprises a pair of cables associated respectively with said pair of jaws.

42. The medical instrument of claim 40 wherein said elongated stem section includes a proximal rigid stem section and a distal flexible stem section.

43. The medical instrument of claim 40 wherein said second pivot axis is transverse to said first pivot axis.

44. The medical instrument of claim 40 including a further actuation cable for coupling to said link for controlling rotation of said link.

45. The medical instrument of claim 44 wherein operation of the further actuation cable controls rotation of the link with minimal length change in said at least one actuation cable.

46. The medical instrument of claim 40 including a mechanical coupler couplable to a drive unit and arranged at the proximal end of the elongated stem section.

47. The medical instrument of claim 40 wherein said tool comprises a pair of jaw members, a link member connected to one of said jaw members, and a further pivot for supporting said link member;

said link member having a first unlocked position in which one jaw member is open relative to the other jaw member, and a second locked position in which one jaw member is locked closed relative to the other jaw member.

48. The medical instrument of claim 40 including a constraining member to constrain the placement of the at least one actuation cable to pass through said first pivot axis.

49. The medical instrument of claim 48 wherein said constraining member comprises a pair of posts on said base.

50. The medical instrument of claim 49 wherein there is a post on either side of the first pivot axis with the actuation cable confined between said posts.

51. A medical instrument comprising:

a pair of work members;

a pivot for intercoupling the work members so as to permit relative pivoting between open and closed positions thereof;

a rotatable member controlled from at least one mechanical cable that is adapted to operate at least one of said work members;

and a linkage operatively intercoupling the rotatable member and one of said work members for transferring mechanical action from the rotatable member to said one of said work members for facilitating at least closing thereof.

52. A medical instrument set forth in claim 51 wherein said pivot is about one axis and said rotatable member rotates about another axis different from the one axis.

53. A medical instrument as set forth in claim 51 wherein said linkage has one and another ends that pivot about respective linkage pivot axes that extend in parallel.

54. A medical instrument as set forth in claim 51 wherein said pivot is about a first axis, said linkage pivots at one end about a second axis, and said rotatable member pivots about a third axis.

55. A medical instrument as set forth in claim 51 wherein said working members are telerobotically controlled from a remote input device via an electrical controller.

62. A method as set forth in claim 51 wherein the step of providing a rotatable mechanism includes providing a rotatable assembly.

56. A method of grasping an item by means of one and another work elements, comprising the steps of:

providing a pivot between the work elements so as to permit relative pivoting between open and closed positions thereof;

providing a rotatable mechanism coupled with said work elements, operated from at least one mechanical cable, and that is controlled to manipulate at least one of said work elements; and

connecting a linkage between the rotatable mechanism and one of said work elements for transferring mechanical action from the rotatable mechanism, through said linkage, to functionally operate one of said work elements.

57. A method as set forth in claim 56 wherein said rotatable mechanism is operated from at least two cables for controlling respective work elements.

58. A method as set forth in claim 56 including controlling said work elements telerobotically from a remote input device via an electrical controller.

59. A method as set forth in claim 56 including providing said pivot about a first axis, said linkage at one end about a second axis, and said rotatable mechanism pivots about a third axis.

60. A method as set forth in claim 56 wherein the step of connecting the linkage includes pivoting opposite ends of the linkage about respective linkage pivot axes that extend in parallel.

61. A method as set forth in claim 56 wherein the step of providing a rotatable mechanism includes providing a first part that enables rotation of said another work element, and a second part that operates said linkage for providing locking action to said one work element.

63. A robotic medical system comprising:

a surgical instrument;

an input device; and

a controller coupled between said input device and surgical instrument for controlling the movement of said surgical instrument;

said surgical instrument including, a pair of jaw members, a pivot for supporting said pair of jaw members so as to permit relative pivoting therebetween;

a rotatable member supported about a second pivot and link member connected between said rotatable member and one of said pair of jaw members;

said link member having one and another ends that pivot about respective axes that extend substantially in parallel.

64. A robotic medical system as set forth in claim 63 wherein said rotatable member is controlled from at least one mechanical cable that is adapted to operate at least one of said jaw members.

65. A robotic medical system as set forth in claim 64 wherein said pivot is about one axis and said rotatable member rotates about another axis different from the one axis.

66. A robotic medical system as set forth in claim 65 wherein said link member one end pivots from said rotatable member about a second axis, said rotatable member pivots about a third axis, and said link member another end pivots from said one jaw member about a fourth axis.

67. A robotic medical system as set forth in claim 66 wherein all said first, second, third, and fourth axes are disposed in parallel.

68. A robotic medical system as set forth in claim 67 wherein, in a locked position of the link member, the second axis is at a position just below a locus line joining the third and fourth axes.

69. A robotic medical system as set forth in claim 63 wherein the link member provides a locking cam action in a locked position thereof with the one end pivot of the link member providing an over-center locked action relation to the other end pivot.

70. In a medical instrument that has one and other work elements that are coupled from an instrument shaft base and controllable to orient the work elements in different positions;

a locking apparatus that includes a linkage intercoupling the base and at least said one of said work elements, the other of said work elements being supported from said base, and mechanical cabling coupled to said base for respective control of said work elements including locking of said linkage in a cam locking position corresponding to a locked closed position of said work elements.

71. In a medical instrument as set forth in claim 70 including a rotatable member at said base, said linkage pivoted from said rotatable member at one end thereof.

72. In a medical instrument as set forth in claim 71 wherein said linkage has one and other ends that pivot about respective axes that extend substantially in parallel.

73. In a medical instrument as set forth in claim 70 including a pivot for supporting said work elements so as to permit relative pivoting therebetween.

74. In a medical instrument as set forth in claim 73 wherein said one work element has a leg that extends into a recess in the other work element.

75. In a medical instrument as set forth in claim 71 wherein said linkage has one and other ends that pivot about respective axes that are non-orthogonal.

76. In a medical instrument as set forth in claim 70 including an electrical controller for controlling said work elements telerobotically from a remote input device.

77. A medical instrument comprising:

a pair of work members;

a first pivot for intercoupling the work members so as to permit relative pivoting between open and closed positions thereof;

a rotatable member controlled from at least one mechanical cable that is adapted to operate at least one of said work members;

and a linkage operatively intercoupling the rotatable member and one of said work members;

said linkage defining a second pivot, displaced from said first pivot, for providing pivot support of said one work member.

78. A medical instrument as set forth in claim 77 including an electrical controller for controlling said work elements telerobotically from a remote input device.

79. A medical instrument as set forth in claim 77 wherein said second pivot is at one end of the linkage coupling the linkage to said one work member, and said linkage has another end pivotally connected to said rotatable member.

80. A medical instrument as set forth in claim 79 wherein said rotatable member is supported at a third pivot, separate from said first and second pivots.

81. A medical instrument as set forth in claim 80 wherein said first, second, and third pivots all extend in parallel.

82. A robotic medical system comprising:

a medical instrument;

an input device; and

a controller coupled between said input device and medical instrument for controlling the movement of said medical instrument;

said medical instrument including, a pair of jaw members, a pivot for supporting said pair of jaw members so as to permit relative pivoting therebetween; and

a link means connected to only one of said jaw members;

said link means having one and another ends that have defined thereat respective opposed pivot axes that extend substantially in parallel.