Surgical instrument

• US 7,338,513 B2
• Filed: 12/14/2005
• Issued: 03/04/2008
• Est. Priority Date: 10/30/2003
• Status: Active Grant

• Current Assignee: Endobotics, LLC
• Original Assignee: Cambridge Endoscopic Devices Inc.
• Inventors: Chamorro, Andres, Lee, Woojin
• Primary Examiner(s): Dawson, Glenn K.
• Application Number:
  US11/302,654
• Publication Number:
  US 20060095074A1
• Time in Patent Office: 811 Days
• Field of Search: None
• US Class Current: 606/205
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/2909 Handles
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2946 Locking means

Abstract

The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

Claims

1. A surgical instrument comprising:

an elongated instrument shaft having proximal and distal ends;

a tool disposed from the distal end of the instrument shaft and supported extending along a distal tool axis;

a control handle disposed from the proximal end of the instrument shaft;

a distal bendable member for coupling the distal end of said elongated instrument shaft to said tool;

a proximal bendable member for coupling the proximal end of said elongated instrument shaft to said handle;

actuation means extending between said distal and proximal bendable members for coupling motion of said proximal motion member to said distal motion member for controlling the positioning of said tool; and

a rotation knob adjacent the control handle and rotatable relative to the control handle for causing a corresponding rotation of the tool about said distal tool axis.

2. The surgical instrument of claim 1 wherein said proximal bendable member supports said rotation knob so that any rotation imparted to said knob causes a corresponding rotation of said proximal bendable member.

3. The surgical instrument of claim 2 wherein said knob has a cavity for receiving at least a portion of said proximal bendable member.

4. The surgical instrument of claim 1 wherein said proximal bendable member is bendable into a curved configuration and is fixedly secured with said rotation knob.

5. The surgical instrument of claim 1 wherein both said bendable members are bendable into a curved configuration and any rotation of said rotation knob causes a corresponding rotation of said bendable members, instrument shaft and tool.

6. The instrument of claim 1 wherein said rotation know has a cavity for receiving at least a portion of said proximal bendable member therein.

7. The instrument of claim 6 wherein at least a portion of said rotation know is received by said handle in an open end of said control handle.

8. The instrument of claim 1 including an actuating cable for the tool and a control mechanism mounted from the control handle for controlling the actuating cable.

9. The instrument of claim 8 wherein the control mechanism includes a pair of springs and a slider for supporting one of the springs.

10. The instrument of claim 1 wherein said actuating elements include multiple cables each having proximal and distal cable ends, the proximal cable ends terminating at the rotation know and the distal cable ends terminating at the tool.

11. The surgical instrument of claim 1 wherein said tool is supported from said distal bendable member extending along a distal tool axis and said rotation knob causes a rotation of said tool about said distal tool axis.

12. The surgical instrument of claim 11 wherein the rotation of said rotation knob rotates the instrument shaft and distal bendable member, rotating the tool about the distal tool axis while maintaining the orientation of the tool as independently controlled from said bendable members.

13. A manually operated medical instrument having an instrument shaft that couples with an operating handle at a proximal end thereof and a tool at a distal end thereof, further comprising a proximal bendable member at the proximal end of the instrument shaft that is bendable into a curved configuration, a distal bendable member at the distal end of the instrument shaft that is bendable into a curved configuration, said distal bendable member having a different transverse cross-sectional dimension than that of said proximal bendable member, and one or more actuating elements intercoupling the proximal and distal bendable members responsive to a manually initiated bending at the proximal bendable member to cause a corresponding bending into a curved configuration of the distal bendable member so as to control, via the handle, the positioning of the tool.

14. The instrument of claim 13 wherein the bendable members are bendable in all directions.

15. The instrument of claim 13 wherein the bendable members are bendable in any direction and the distal bendable member has a smaller transverse cross-sectional dimension than that of said proximal bendable member.

16. The instrument of claim 13 wherein the proximal bendable member is manipulated in any direction do that the distal bendable member is controlled in three dimensions.

17. The instrument of claim 13 further including a rotation knob disposed between said handle and proximal bendable member.

18. The instrument of claim 17 wherein said rotation knob is supported to rotate the proximal bendable member therewith.

19. The instrument of claim 18 wherein rotation of the rotation knob controls the tool for corresponding rotation about a tool axis.

20. The instrument of claim 18 wherein said tool is disposed from said distal bendable member along a longitudinal distal tool axis, the rotation of said rotation knob causing a corresponding rotation of said tool about said distal tool axis.

21. The instrument of claim 18 wherein said one or more actuating elements comprises a set of actuation cables and wherein at least one of said set is in tension while at least another one thereof is in relaxation.

22. The instrument of claim 21 including four cables disposed at 90 degree intervals about the instrument shaft with two in tension and two in relaxation during a bending.

23. The instrument of claim 17 wherein the instrument shaft comprises an elongated instrument shaft extending along a longitudinal axis and wherein the distal bendable member is disposed in-line with the elongated instrument shaft coupling a distal end of said elongated instrument shaft to said tool and wherein the proximal bendable member is disposed in line with the elongated instrument shaft coupling a proximal end of said elongated instrument shaft via said rotation knob to said handle.

24. The instrument of claim 13 wherein said actuating elements include multiple cables each having proximal and distal cable ends, the proximal cable ends terminating adjacent a proximal end of the proximal bendable member and the distal cable ends terminating adjacent a distal end of the distal bendable member.

25. The instrument of claim 24 further including a rotation knob disposed between said handle and proximal bendable member and wherein said rotation knob has a cavity for receiving at least a portion of said proximal bendable member therein and at least a portion of said rotation knob is received by said handle in an open end of said handle.

26. The instrument of claim 25 wherein said rotation knob has said proximal bendable member supported therein and in a fixed linear, but rotational position with said proximal bendable member.

27. The instrument of claim 13 including an actuating cable for the tool and a control lever mounted from the operating handle for controlling the actuating cable.

28. The instrument of claim 27 wherein the control lever is pivotally mounted from the operating handle and further including biasing means in the handle for returning the tool to an open position.

29. The instrument of claim 13 including a rotation knob having a cavity for receiving at least a portion of said proximal bending member therein.

30. The instrument of claim 29 wherein at least a portion of said rotation knob is received by said operating handle in an open end of said handle.

31. The instrument of claim 13 including an actuating cable for the tool and a control mechanism mounted from the operating handle for controlling the actuating cable.

32. The instrument of claim 31 wherein the control mechanism includes a pair of springs and a slider for supporting one of the springs.

33. The instrument of claim 13 including a rotation knob and wherein said actuating elements include multiple cables each having proximal and distal cable ends, the proximal cable ends terminating at the rotation knob and the distal cable ends terminating at the tool.

34. The surgical instrument of claim 13 wherein said tool is supported from said distal bendable member extending along a distal tool axis and including a rotation knob that causes a rotation of said tool about said distal tool axis.

35. The surgical instrument of claim 34 wherein the rotation knob rotates the instrument shaft and distal bendable member, rotating the tool about the distal tool axis while maintaining the orientation of the tool as independently controlled from said bendable members.

36. A surgical instrument comprising:

an elongated instrument shaft having proximal and distal ends;

a working member disposed from the distal end of the instrument shaft;

a control handle disposed from the proximal end of the instrument shaft;

a distal bendable member capable of bending into a curved configuration;

said working member being coupled to the distal end of said elongated instrument shaft via said distal bendable member;

a proximal bendable member capable of bending into a curved configuration;

said control handle coupled to the proximal end of said elongated instrument shaft via a proximal bendable member;

a manually rotatable member arranged adjacent the control handle and between the control handle and proximal bendable member;

said manually rotatable member adapted to be manually rotated to, in turn, rotate the proximal bendable member, instrument shaft, distal bendable member and working member relative to said control handle;

and an actuation element extending between said distal and proximal bendable members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a bending of said proximal bendable member and a corresponding bending of said distal bendable member for control of said working member.

37. The surgical instrument of claim 36 wherein said manually rotatable member comprises a rotation knob having a cavity for receiving at least a portion of said proximal bendable member therein and at least a portion of said rotation knob is received by said handle in an open end of said handle, said rotation knob having said proximal bendable member supported therein and in a fixed relative rotation with respect to said proximal bendable member.

38. The surgical instrument of claim 36 wherein said working member comprises a tool that is supported from said distal bendable member extending along a distal tool axis and said rotatable member comprises a rotation knob, the rotation of said rotation knob causing a rotation of said working member about said distal tool axis.

39. The surgical instrument of claim 38 wherein the rotation of said rotation knob rotates the instrument shaft and distal bendable member, rotating the tool about the distal tool axis while maintaining the orientation of the tool as independently controlled from said bendable members.

40. The instrument of claim 36 wherein said actuation element includes multiple cables each having proximal and distal cable ends, the proximal cable ends terminating adjacent a proximal end of the proximal bendable member and the distal cable ends terminating adjacent a distal end of the distal bending member.

41. The instrument of claim 40 wherein the manually rotatable member has a cavity for receiving at least a portion of said proximal bendable member therein and at least a portion of said manually rotatable member is received by said control handle in an open end of said control handle.

42. The instrument of claim 41 wherein said manually rotatable member has said proximal bendable member supported therein and in a fixed linear, but rotational position with respect to said proximal bendable member.

43. The instrument of claim 36 including an actuating cable for the working member and a control lever mounted from the control handle for controlling the actuating cable.

44. The instrument of claim 43 wherein the control lever is pivotally mounted from the control handle and further including biasing means in the control handle for returning the working member to an open position.

45. The instrument of claim 36 wherein the manually rotatable member has a cavity for receiving at least a portion of said proximal bendable member therein.

46. The instrument of claim 45 wherein at least a portion of said manually rotatable member is received by said control handle in an open end of said handle.

47. The instrument of claim 36 including an actuating cable for the working member and a control mechanism mounted from the control handle for controlling the actuating cable.

48. The instrument of claim 47 wherein the control mechanism includes a pair of springs and a slider for supporting one of the springs.

49. The instrument of claim 36 wherein said actuating elements include multiple cables each having proximal and distal cable ends, the proximal cable ends terminating at the manually rotatable member and the distal cable ends terminating at the working member.

50. A manually operated medical instrument having an instrument shaft that couples with an operating handle at a proximal end thereof and a tool at a distal end thereof, further comprising a proximal bendable member at the proximal end of the instrument shaft that is bendable into a curved configuration, a distal motion member at the distal end of the instrument shaft that is deflectable, one or more actuating elements intercoupling the proximal bendable member and the distal motion member responsive to a manually initiated bending at the proximal bendable member to cause a corresponding deflection of the distal motion member so as to control, via the handle, the positioning of the tool and a rotation knob disposed between said hand and proximal bendable member for controlling the rotation of the tool.

51. The instrument of claim 50 wherein the instrument shaft comprises an elongated instrument shaft extending along a longitudinal axis and wherein the distal motion member is disposed in-line with the elongated instrument shaft coupling a distal end of said elongated instrument shaft to said tool and wherein the proximal bendable member is disposed in line with the elongated instrument shaft coupling a proximal end of said elongated instrument shaft via said rotation knob to said handle.

52. The instrument of claim 50 wherein said rotation knob has a cavity for receiving at least a portion of said proximal bendable member therein and at least a portion of said rotation knob is received by said handle in an open end of said handle, said rotation knob having said proximal bendable member supported therein and in a fixed linear position with said proximal bendable member.

53. The instrument of claim 50 wherein said tool is supported from said distal motion member extending along a distal tool axis and said rotation knob causing a rotation of said tool about said distal tool axis.

54. The instrument of claim 53 wherein the rotation of said rotation knob rotates the instrument shaft and distal motion member, rotating the tool about the distal tool axis while maintaining the orientation of the tool as independently controlled from said proximal bendable member.

55. The instrument of claim 50 wherein said rotation knob is supported to rotate the proximal bendable member therewith, said one or more actuating elements comprises a set of actuation cables and wherein at least one of said set is in tension while at least another one thereof is in relaxation.

56. The instrument of claim 55 including four cables disposed at 90 degree intervals about the instrument shaft with two in tension and two in relaxation during a bending.

57. The instrument of claim 50 wherein said distal motion member comprises a distal bendable member and said distal bendable member has a different transverse cross-sectional dimension than that of said proximal bendable member.

58. The instrument of claim 50 wherein said distal motion member comprises a distal bendable member, both said bendable members are bendable into a curved configuration and any rotation of said rotation knob causes a corresponding concurrent rotation of said proximal bendable member, instrument shaft, distal bendable member and tool.

59. The instrument of claim 50 wherein said rotation knob has a cavity for receiving at least a portion of said proximal bendable member therein.

60. The instrument of claim 59 wherein at least a portion of said rotation knob is received by said handle in an open end of said handle.

61. The instrument of claim 60 wherein the distal motion member is a distal bendable member.

62. The instrument of claim 50 including an actuating cable for the tool and a control mechanism mounted from the operating handle for controlling the actuating cable.

63. The instrument of claim 62 wherein the control mechanism includes a pair of springs and a slider for supporting one of the springs.

64. The instrument of claim 50 wherein said actuating elements include multiple cables each having proximal and distal cable ends, the proximal cable ends terminating at the rotation knob and the distal cable ends terminating at the tool.