Hand-actuated device for remote manipulation of a grasping tool

• US 7,410,483 B2
• Filed: 11/24/2004
• Issued: 08/12/2008
• Est. Priority Date: 05/23/2003
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Novare Surgical Systems, Inc. (Péters Surgical SAS)
• Inventors: Danitz, David J., Hinman, Cameron D.
• Primary Examiner(s): Leubecker; John P.
• Assistant Examiner(s): Chen; Victoria W
• Application Number:
  US10/997,249
• Publication Number:
  US 20050107667A1
• Time in Patent Office: 1,357 Days
• Field of Search: 600/139, 600/141, 600/142, 600/143, 600/146, 600/150, 604/95.01, 604/95.04, 138/118, 138/155, 901/4, 901/21, 901/50, 901 27- 29, 901/19, 606/1, 294/19.1
• US Class Current: 606/1
• CPC Class Codes: A61B 1/0053 using distributed actuators, e.g. artificial muscles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00424 ergonomic, e.g. fitting in fist
• CPC Class Codes: A61B 2017/00438 connectable to a finger
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2090/038 during shipment
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: Y10S 901/21 Flaccid drive element
• CPC Class Codes: Y10T 74/20323 : including flaccid drive element
• CPC Class Codes: Y10T 74/20402 : Flexible transmitter [e.g., Bowden cable]

Abstract

The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

Claims

1. A hand-actuated apparatus for remote manipulation of an object comprising:

a) a proximal end having a user hand interface portion with at least one finger slide configured to removably secure one or more digits of a human hand for movement, such that flexion of said digit when secured to the at least one finger slide is translated into translational movement of the at least one finger slide; and

b) a distal end having an effector portion, wherein translational movement of the at least one finger slide is translated into a bending movement at said effector portion

wherein each of said at least one finger slide comprises;

a) a transmission rod;

b) a pulley lever connected to the transmission rod;

c) a plurality of pulleys connected to the pulley lever; and

d) at least two sets of cables, with each set connected at one end to a pulley or pulley lever and operably connected at the other end to the effector portion;

wherein translational movement of the transmission rod produces rotational movement of the pulley lever, which actuates the cables about the pulleys to produce bending of the effector portion.

2. The hand-actuated apparatus of claim 1 wherein said effector portion comprises a proximal joint and one or more distal joints.

3. The hand-actuated apparatus of claim 2 wherein at least one of said finger slides controls movement of said one or more distal joints.

4. The hand actuated apparatus of claim 2 wherein control of the proximal joint is independent of control of the one or more distal joints.

5. The hand-actuated apparatus of claim 2 wherein at least one of the finger slides is coupled to the user hand interface by a base joint having the range of motion of a metacarpal phalangeal joint.

6. The hand-actuated apparatus of claim 5 wherein movement of said base joint causes a corresponding relative movement of said proximal joint.

7. The hand-actuated apparatus of claim 1 further comprising a locking mechanism for locking the effector portion into a fixed position.

8. The hand-actuated apparatus of claim 1 wherein the translational movement of at least one of the finger slides is proportionally scaled to at least one of the bending movements of the effector portion.

9. The hand actuated apparatus of claim 1 further comprising a second finger slide configured to removably secure a thumb of a human hand for movement.