Multifunctional tool and method for minimally invasive surgery
First Claim
1. A multifunction tool for use in minimally invasive surgery, comprising:
- (a) an elongated shaft or flexible scope adapted to be inserted into a patient'"'"'s body, and having opposite first and second ends;
(b) a control handle on the first end;
(c) a tool head on the second end, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function; and
(d) an actuator operatively connected to the handle and the tool head to move the jaws in response to user input at the handle, the actuator comprising a compliant mechanism which has an input interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.
1 Assignment
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Accused Products
Abstract
An apparatus and method for minimally invasive surgery. The apparatus can comprise a tool which includes a multi-functioning end effector for insertion into a patient, a user control adapted for use by the surgeon external of the patient, and an intermediate section between the end effector and the user control to translate control instructions from the user control through an actuating mechanism to operate the end effector in one of at least two different functioning states. No instrument exchange is necessary to change between states. The actuation mechanism could be a manually operated mechanical mechanism. Alternatively, it could be partially or fully electromechanical or electrical or electronic. According to one aspect, the end effector is a rigid link mechanism. According to another aspect, the end effector could be a compliant mechanism, at least in part. Another aspect of the invention includes the ability of the end effector to have at least some articulation in addition to grasping and cutting functions.
1865 Citations
22 Claims
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1. A multifunction tool for use in minimally invasive surgery, comprising:
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(a) an elongated shaft or flexible scope adapted to be inserted into a patient'"'"'s body, and having opposite first and second ends; (b) a control handle on the first end; (c) a tool head on the second end, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function; and (d) an actuator operatively connected to the handle and the tool head to move the jaws in response to user input at the handle, the actuator comprising a compliant mechanism which has an input interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A multifunction end-effector tool for use in minimally invasive surgery, comprising:
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(a) a mechanism adapted to be inserted into a patient'"'"'s body, the mechanism comprising; (b) a tool head, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function; and (c) an interface adapted for operative communication with a control external of the patient'"'"'s body and to an actuator operatively connected to the tool head to move the jaws in response to user input from a control, the actuator comprising a compliant mechanism which has an input interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A multifunction tool for use in minimally invasive surgery, comprising:
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(a) an elongated shaft or flexible scope adapted to be inserted into a patient'"'"'s body, and having opposite first and second ends; (b) a control handle on the first end; (c) a tool head on the second end, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function; and (d) an actuator operatively connected to the handle and the tool head to move the jaws in response to user input at the handle, the actuator comprising a compliant mechanism including an interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.
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20. A multifunction end-effector tool for use in minimally invasive surgery, comprising:
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(a) a mechanism adapted to be inserted into a patient'"'"'s body, the mechanism comprising; (b) a tool head, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function; and (c) an interface adapted for operative communication with a control external of the patient'"'"'s body and to an actuator operatively connected to the tool head to move the jaws in response to user input from a control, the actuator comprising a compliant mechanism that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.
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21. A multifunction tool for use in minimally invasive surgery, comprising:
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(a) an elongated shaft or flexible scope adapted to be inserted into a patient'"'"'s body, and having opposite first and second ends; (b) a control handle on the first end; (c) a tool head on the second end, the tool head including a pair of jaws pivotal about a first axis so as to provide a grasping function and pivotal about a second axis so as to provide a cutting function; and (d) an actuator operatively connected to the handle and the tool head to move the jaws in response to user input at the control handle, the actuator comprising a compliant mechanism including an interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.
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22. A multifunction end-effector tool for use in minimally invasive surgery, comprising:
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(a) a mechanism adapted to be inserted into a patient'"'"'s body, the mechanism comprising; (b) a tool head, the tool head including a pair of jaws pivotal about a first axis so as to provide a grasping function and pivotal about a second axis so as to provide a cutting function; and (c) an interface adapted for operative communication with a control external of the patient'"'"'s body and to an actuator operatively connected to the tool head to move the jaws in response to user input from a control, the actuator comprising a compliant mechanism that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.
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Specification