Surgical instrument

• US 7,686,826 B2
• Filed: 07/20/2005
• Issued: 03/30/2010
• Est. Priority Date: 10/30/2003
• Status: Active Grant

• Current Assignee: Endobotics, LLC
• Original Assignee: Cambridge Endoscopic Devices Inc.
• Inventors: Lee, Woojin, Chamorro, Andres
• Primary Examiner(s): Truong, Kevin T.
• Assistant Examiner(s): BLATT, ERIC D
• Application Number:
  US11/185,911
• Publication Number:
  US 20060020287A1
• Time in Patent Office: 1,714 Days
• Field of Search: 606139-146, 606/205, 606/206, 403/90, 403/122
• US Class Current: 606/205
• CPC Class Codes: A61B 17/062 Needle manipulators
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/2909 Handles
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2919 details of linkages or pivot points
• CPC Class Codes: A61B 2017/292 connection of actuating rod to handle, e.g. ball end in recess
• 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 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/294 Connection of actuating rod to jaw, e.g. releasable

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 working member coupled from the distal end of the instrument shaft;

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

an actuator cable coupled between the control handle and working member for controlling the working member;

a distal motion means at the distal end of said instrument shaft;

a proximal motion means at the proximal end of said instrument shaft;

actuation means extending between said distal and proximal means whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding motion of said distal motion means for control of said working member;

and means for manually rotating the instrument shaft and working member relative to said control handle;

wherein said distal motion means comprises a distal bendable member and said proximal motion means comprises a proximal bendable member that is moveable in any direction;

and wherein said proximal bendable member is mounted with and for rotation with said means for manually rotating;

said elongated instrument shaft including an outer shaft tube and an inner shaft tube that is coaxially disposed in said outer shaft tube;

said outer shaft tube intercoupling said proximal bendable member with said distal bendable member;

said inner shaft tube intercoupling said proximal bendable member with said distal bendable member;

said outer shaft tube being the outermost shaft tube;

said inner shaft tube for accommodating the actuator cable for the working member;

both said inner and outer shaft tubes, upon rotation of the means for manually rotating, concurrently rotating with said means for manually rotating.

2. The surgical instrument of claim 1 wherein said actuation means is constructed and arranged so that a motion of the handle causes one of an opposite direction motion and a like direction motion of the working member.

3. The surgical instrument of claim 1 wherein the working member has a longitudinal distal rotation axis and the means for manually rotating includes a rotation knob that controls rotation of the working member about the longitudinal distal rotation axis.

4. The surgical instrument of claim 3 wherein the rotation knob retains the proximal bendable member therewith so that rotation of the rotation knob relative to the control handle causes rotation of said proximal bendable member and, in turn, rotation of said instrument shaft, distal bendable member and working member about the longitudinal distal rotation axis of the working member.

5. The surgical instrument of claim 4 wherein the rotation is about only the longitudinal distal rotation axis of the working member.

6. The surgical instrument of claim 1 wherein the means for manually rotating comprises a rotation knob having a hollow portion and at least a portion of said proximal bendable member is disposed in the hollow of said rotation knob.

7. The surgical instrument of claim 1 wherein said proximal bendable member comprises a unitary slotted structure having a plurality of discs separated by slots.

8. The surgical instrument of claim 1 including an actuation lever pivotally supported from said handle, said actuator cable intercoupled between said actuation lever and working member.

9. The surgical instrument of claim 8 including a ratchet and pawl arrangement coupled to said lever, a slider within a housing of said handle, a link for intercoupling the lever and slider and a release button intercoupled to said ratchet.

10. The surgical instrument of claim 9 including a pair of springs, one supported in said slider and coupled to said link and the other disposed between said slider and the handle housing.

11. The surgical instrument of claim 1 wherein the outermost shaft tube is visable from outside the instrument as the outermost shaft tube is rotated from the means for manually rotating.

12. The surgical instrument of claim 1 wherein said handle comprises a handle housing and said means for manually rotating comprises a rotation knob disposed at an open end of the housing.

13. The surgical instrument of claim 12 wherein a portion of said proximal bendable member is disposed in a hollow of said rotation knob.

14. The surgical instrument of claim 13 wherein said proximal bendable member comprises a unitary slotted structure having a plurality of discs separated by slots and further including a plurality of ribs interconnecting adjacent discs, said ribs being disposed at intervals about the member of less than 90 degrees.

15. The surgical instrument of claim 1 wherein the means for manually rotating comprises a rotation knob and the actuation means comprises bend control cables that extend between the proximal and distal bendable members.

16. The surgical instrument of claim 15 wherein said distal bendable member has a distal end and a proximal end, said proximal bendable member has a distal end and a proximal end, said bend control cables also have distal and proximal ends, the distal ends of the bend control cables terminate adjacent the distal end of the distal bendable member, and the proximal ends of the bend control cables terminate adjacent the proximal end of the proximal bendable member.

17. The surgical instrument of claim 16 wherein said rotation knob has a hollow center portion for receiving at least a portion of the proximal bendable member, and the bend control cables terminate at a wall of the rotation knob.

18. The surgical instrument of claim 17 including an adaptor for intercoupling the instrument shaft and the distal end of the proximal bendable member for transitioning the bend control cables from a greater separation distance at the proximal bendable member to a lesser separation distance in the instrument shaft.

19. The surgical instrument of claim 18 wherein the actuator cable extends through the proximal bendable member at the center thereof and the bend control cables are disposed through the proximal bendable member in parallel with the actuation cable but disposed toward the outer diameter of the proximal bendable member.

20. A surgical instrument comprising:

an elongated instrument shaft having proximal and distal ends;

a working member disposed at the distal end of the instrument shaft and having a longitudinal distal rotation axis; and

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

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

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

actuation means extending between said distal motion member and said proximal bendable member whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding movement of said distal motion member for control of said working member in multiple directions of movement;

and a manually rotatable member manipulable from the control handle;

said manually rotatable member retaining the proximal bendable member therewith so that rotation of said manually rotatable member relative to the control handle causes rotation of said proximal bendable member and, in turn, rotation of said instrument shaft, distal motion member and working member about the longitudinal distal rotation axis of the working member in the multiple directions of movement;

wherein said elongated instrument shaft includes an outer shaft tube and an inner shaft tube that is coaxially disposed in said outer shaft tube;

said outer shaft tube intercoupling said proximal bendable member with said distal bendable member;

said inner shaft tube intercoupling said proximal bendable member with said distal bendable member;

said outer shaft tube being the outermost shaft tube;

said inner shaft tube for accommodating an actuator cable for the working member and both said inner and outer shaft tubes, upon rotation of said manually rotatable member, concurrently rotating with said manually rotatable member.

21. The surgical instrument of claim 20 wherein said manually rotatable member comprises a rotation knob, said handle comprises a handle housing and said rotation knob is disposed at an open end of the handle housing.

22. The surgical instrument of claim 21 wherein a portion of said proximal bendable member is disposed in a hollow of said rotation knob.

23. In a medical instrument having a proximal control handle and a distal tool having a longitudinal distal rotation axis, said control handle and distal tool being intercoupled by an instrument shaft that is meant to pass internally of an anatomic body, proximal and distal bendable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and a set of bend control cables disposed between said bendable members so that any bending at the proximal bendable member is transferred to the distal bendable member, the distal bendable member having a distal end and a proximal end, the proximal bendable member having a distal end and a proximal end, and the set of bend control cables also having a distal end and a proximal end, a method of controlling the tool from the handle by means of a rotation knob, said method comprising, mounting the rotation knob at the control handle, terminating the distal end of at least one of the bend control cables adjacent the distal end of the distal bendable member, terminating the proximal end of at least one of the bend control cables adjacent the proximal end of the proximal bendable member, maintaining the proximal ends of the bend control cables fixed in position with respect to the proximal end of the proximal bendable member, commonly supporting the proximal bendable member with the rotation knob, and rotating the rotation knob so as to causes a rotation of the proximal bendable member therewith and, in turn, rotation of the instrument shaft and distal tool about the longitudinal distal rotation axis of the distal tool even in a bent position of the distal bendable member, providing the instrument shaft with an outer shaft tube and an inner shaft tube that is coaxially disposed in said outer shaft tube;

said outer shaft tube intercoupling said proximal bendable member with said distal bendable member;

said inner shaft tube intercoupling said proximal bendable member with said distal bendable member;

said outer shaft tube being the outermost shaft tube;

said inner shaft tube for accommodating an actuator cable for the working member;

both said inner and outer shaft tubes, upon rotation of said rotation knob, rotating with said rotation knob.

24. The method of claim 23 wherein the rotation of the rotation knob controls rotation of the tool only about a distal tool axis defined by the rotational arrow R3.

25. The method of claim 24 including providing the rotation knob with a hollow center portion for receiving at least a portion of the proximal bendable member and an end wall that is rotatably supported relative to the handle in an opening in the handle, and the bend control cables terminate at the end wall of the rotation knob.

26. The method of claim 23 wherein the bend control cables each terminate at a termination point, and all of the termination points rotate with the rotation of the rotation knob.

27. The method of claim 23 including terminating the distal end of all of the bend control cables adjacent the distal end of the distal bendable member and terminating the proximal end of all of the bend control cables adjacent the proximal end of the proximal bendable member.

28. A surgical instrument comprising:

an instrument shaft having proximal and distal ends;

a tool disposed from the distal end of the instrument shaft;

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

said tool being coupled to the distal end of said instrument shaft via a distal bendable member;

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

cabling intercoupling the proximal and distal bendable members;

whereby movement of said control handle with respect to said instrument shaft via said proximal bendable member causes attendant movement of said tool with respect to said instrument shaft via said distal bendable member;

a rotation knob mounted at the control handle so as to rotate relative to the control handle;

said proximal bendable member retained with the rotation knob so that any rotation of the rotation knob concurrently rotates the proximal bendable member to in turn, control the rotational positioning of the tool;

said instrument shaft including an outer shaft member and an inner shaft member that is coaxially disposed in said outer shaft member;

said outer shaft member intercoupling said proximal bendable member with said distal bendable member;

said inner shaft member intercoupling said proximal bendable member with said distal bendable member;

wherein both said inner and outer shaft members, upon rotation of the rotation knob, concurrently rotating with said rotation knob, and wherein the tool has a longitudinal rotation axis, and the rotation knob controls the rotation of the tool about the longitudinal rotation axis of the tool.

29. The surgical instrument of claim 28 wherein the rotation is controlled only about the longitudinal rotation axis even in a bent position of the tool.

30. A surgical instrument comprising:

an elongated instrument shaft having proximal and distal ends;

a tool coupled from the distal end of the instrument shaft;

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

an actuator cable coupled between the control handle and working member for controlling the tool;

a distal bendable member at the distal end of said instrument shaft;

a proximal bendable member at the proximal end of said instrument shaft;

actuation means extending between said distal and proximal bendable members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding motion of said distal bendable member for control of said tool;

and a rotation knob for manually rotating the instrument shaft and working member relative to said control handle;

said elongated instrument shaft including an outer shaft tube and an inner shaft tube that is coaxially disposed in said outer shaft tube;

said outer shaft tube intercoupling said proximal bendable member with said distal bendable member;

said inner shaft tube intercoupling said proximal bendable member with said distal bendable member;

said inner shaft tube for accommodating the actuator cable for the tool;

both said inner and outer shaft tubes, upon rotation of said rotation knob, concurrently rotating with said rotation knob.

31. The surgical instrument of claim 30 wherein the outer shaft tube is the outermost shaft tube, and the outermost shaft tube is visable from outside the instrument as the outermost shaft tube is rotated from the rotation knob.

32. The surgical instrument of claim 30 wherein said handle comprises a handle housing and said rotation knob is disposed at an open end of the housing.

33. The surgical instrument of claim 32 wherein a portion of said proximal bendable member is disposed in a hollow of said rotation knob.

34. The surgical instrument of claim 33 wherein said proximal bendable member comprises a unitary slotted structure having a plurality of discs separated by slots and further including a plurality of ribs interconnecting adjacent discs, said ribs being disposed at intervals about the member of less than 90 degrees.

35. The surgical instrument of claim 30 wherein the tool has a longitudinal distal rotation axis and the rotation knob controls rotation of the tool about the longitudinal distal rotation axis.

36. The surgical instrument of claim 35 wherein the rotation knob retains the proximal bendable member therewith so that rotation of the rotation knob relative to the control handle causes rotation of said proximal bendable member and, in turn, rotation of said instrument shaft, distal bendable member and tool about the longitudinal distal rotation axis.

37. The surgical instrument of claim 32 wherein the rotation knob has a hollow for receiving at least part of the proximal bendable member.

38. A surgical instrument comprising:

an elongated instrument shaft having proximal and distal ends;

a tool coupled from the distal end of the instrument shaft;

a control handle coupled at the proximal end of the instrument shaft;

an actuator cable coupled between the control handle and tool for controlling the operation of the tool;

a distal bendable member at the distal end of the instrument shaft;

a proximal bendable member at the proximal end of the instrument shaft;

actuation means extending between the distal and proximal bendable members whereby any deflection of the control handle with respect to the elongated instrument shaft causes a corresponding motion of the distal bendable member for control of the tool;

and a rotation knob for rotating the instrument shaft and tool relative to the control handle;

the proximal bendable member constructed and arranged for rotation with the rotation knob;

the elongated instrument shaft including an outer shaft tube that intercouples between the proximal and distal bendable members;

the actuator cable extending through the outer shaft tube between the control handle and tool;

both the outer shaft tube and the actuator cable being rotated upon rotation of the rotation knob.

39. The surgical instrument of claim 38 wherein the outer shaft tube is the outermost shaft tube, and the outermost shaft tube is visable from outside the instrument as the outermost shaft tube is rotated from the rotation knob.

40. The surgical instrument of claim 38 wherein said handle comprises a handle housing and said rotation knob is disposed at an open end of the housing.

41. The surgical instrument of claim 40 wherein a portion of said proximal bendable member is disposed in a hollow of said rotation knob.

42. The surgical instrument of claim 38 wherein said proximal bendable member comprises a unitary slotted structure having a plurality of discs separated by slots and further including a plurality of ribs interconnecting adjacent discs, said ribs being disposed at intervals about the member of less than 90 degrees.

43. The surgical instrument of claim 38 wherein said proximal bendable member comprises a unitary slotted structure having a plurality of discs separated by slots.

44. The surgical instrument of claim 38 wherein the tool has a longitudinal distal rotation axis and the rotation knob controls rotation of the tool about the longitudinal distal rotation axis.

45. The surgical instrument of claim 44 wherein the rotation knob retains the proximal bendable member therewith so that rotation of the rotation knob relative to the control handle causes rotation of said proximal bendable member and, in turn, rotation of said instrument shaft, distal bendable member and tool about the longitudinal distal rotation axis.

46. The surgical instrument of claim 38 wherein the rotation knob has a hollow for receiving at least part of the proximal bendable member with the proximal bendable member mounted by the rotation knob.