Articulated surgical probe and method for use

• US 7,963,976 B2
• Filed: 11/01/2005
• Issued: 06/21/2011
• Est. Priority Date: 11/04/2004
• Status: Expired due to Fees

• Current Assignee: Dynamic Surgical Solutions
• Original Assignee: Dynamic Surgical Solutions
• Inventors: Goldfarb, Michael A., Goldfarb, Eric
• Primary Examiner(s): Erezo; Darwin P
• Assistant Examiner(s): RYCKMAN, MELISSA K
• Application Number:
  US11/263,818
• Publication Number:
  US 20060094933A1
• Time in Patent Office: 2,058 Days
• Field of Search: 606/170, 606/190, 606/105, 606/205, 606/130, 606 49- 50, 600/139, 600/141, 600/142, 600/146, 600/149, 600/229, 604/528, 604/95.04, 434/262, 434/266, 434/267
• US Class Current: 606/190
• CPC Class Codes: A61B 17/02 for holding wounds open; Tractors specula A61B1/32 ; drainage appliances for wounds A61M27/00
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/2833 Locking means
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00336 with a protective sleeve, e.g. retractable or slidable
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• 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 2017/2947 Pivots
• CPC Class Codes: A61B 2017/320044 Blunt dissectors blunt suture needles A61B2017/06085
• CPC Class Codes: A61B 46/17 closed at the distal end

Abstract

A surgical probe includes an articulated digit located at a distal end of a positioning shaft having a longitudinal axis. An actuator is located at a proximal end of the positioning shaft that is operatively connected to the articulated digit so as to move it between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon'"'"'s finger engaging the actuator and the articulated digit. Preferably, the surgeons finger position and shape directly correspond to the position and shape of the articulated digit. A method is provided for probing, dissecting, and retracting anatomical structures.

Claims

1. A method for remote surgical manipulation of tissue within a body cavity while maintaining a kinesthetic relationship with the tissue, said method comprising:

inserting a probe within said body cavity, where said probe includes an elongated section, and an actuator coupled to at least one segmented digit similar to a human finger by a plurality of link members where a proximal end of said link members are affixed to said actuator, where said segmented digit is configured to move as said actuator pivots relative to said probe and said actuator is coupled to said elongated section by a pivot such that said actuator is limited to move in alignment with an axis of said elongated section; and

moving the actuator to remotely actuate said digit to manipulate said tissue within said body cavity, where said segmented digit moves through a range of motion substantially similar to a range of motion of an operator'"'"'s finger as the operator'"'"'s finger pivots said actuator in alignment with said axis of said elongated section and where movement of said actuator in a proximal direction causes a first link member to be placed in tension while a second link member is released from tension such that a surgeon maintains the kinesthetic relationship via said actuator from the link member in tension.

2. The method of claim 1 wherein said digit further comprises a tip having a gauze wad releasably fixed to a dorsal surface for dissection so that remotely actuating said digit moves said gauze pad into dissecting engagement with tissue located within said body cavity.

3. The method of claim 1 wherein said digit is maintained in a selected configuration by a locking mechanism.

4. The method of claim 1 wherein remotely actuating said digit provides a variety of configurations that mimic the shape and contour of the human finger.

5. The method of claim 1 including the step of transluminating tissues by actuating said digit so as to position a tip of said segmented digit behind said tissues.

6. A method for an operator to surgically manipulate tissue remotely within a body cavity while maintaining a kinesthetic relationship with the tissue, said method comprising:

inserting a probe within said body cavity, where said probe includes an elongated section, and an actuator coupled to at least one segmented digit similar to a human finger by a plurality of link members where a proximal end of said link members are affixed to said actuator, where said segmented digit is configured to move as said actuator moves relative to said probe where said actuator is coupled to said elongated section such that said actuator is limited to move in alignment with an axis of said elongated section; and

manipulating tissue within said body cavity by extending a finger of the operator parallel to and in alignment with said axis of said elongated section moving the finger of the operator through a range of motion to move said actuator where said range of motion is limited to a distal and a proximal direction along said axis and in alignment with said axis causing said segmented digit to move through a substantially similar range of motion as the finger of the operator.

7. A method for an operator to surgically manipulate tissue remotely within a body cavity while maintaining a kinesthetic relationship with the tissue, said method comprising:

inserting at least two probes within said body cavity, where said at least two probes each includes an elongated section, and a said actuator coupled to at least one segmented digit similar to a human finger by a plurality of link members where a proximal end of said link members are affixed to said actuator, where said actuator is coupled to said elongated section by a pivot such that said actuator is limited to move in alignment with an axis of said elongated section and each of said segmented digit is configured to move as said respective actuator moves relative thereto; and

manipulating tissue within said body cavity by engaging a finger of the operator against each of said actuators and moving each finger through a range of motion to move said respective actuator in an angular motion, where moving of said actuator causes said respective segmented digit to move through a substantially similar range of motion as the finger of the operator and where movement of each of said actuators in a first direction causes a first link member to be placed in tension while a second link member is released from tension such that the kinesthetic relationship is maintained via said actuator from the link member in tension and such that one link member is in tension at all times.

8. A method for surgical manipulation of tissue remotely within a body cavity while maintaining a kinesthetic relationship with the tissue, said method comprising:

inserting a probe within said body cavity, where said probe includes an elongated section, and an actuator coupled to a single segmented digit by a plurality of link members where a proximal end of said link members are affixed to said actuator, said actuator being coupled to said elongated section by a pivot such that said actuator is limited, to move in alignment with an axis of said elongated section to move said segmented digit as said actuator moves relative to said probe; and

manipulating tissue within said body cavity by moving a finger of the operator through a range of motion to pivot said actuator, where pivoting of said actuator causes said segmented digit to move through a substantially similar range of motion as the finger of the operator, where pivoting of said actuator causes a first link member to be placed in tension while a second link member is released from tension such that the kinesthetic relationship is maintained via said actuator from the link member in tension.

9. A method for surgical manipulation of tissue remotely within a body cavity while maintaining a kinesthetic relationship with the tissue, said method comprising:

inserting a probe within said body cavity, where said probe includes an elongated section and an articulating digit having a plurality of link members where a proximal end of said link members are affixed to an actuator and said actuator limited to move in alignment with an axis of said elongated section; and

extending an operator'"'"'s finger of in alignment with said axis of said elongated section to move said actuator in alignment with said axis to remotely actuate said digit to manipulate said tissue within said body cavity using said actuator on a body of said probe, such that flexion of the operator'"'"'s finger occurs in a distal and a proximal direction along said axis and in alignment with said axis causing flexion of said articulating digit where the operator'"'"'s finger and said articulating digit move in a longitudinally aligned plane.

10. A surgical method comprising the steps of:

(A) providing a surgical probe comprising;

an articulated digit located at a distal end of a positioning shaft having a longitudinal axis; and

an actuator located at a proximal end of said positioning shaft and operatively connected to said articulated digit by a plurality of link members where a proximal end of said link members are affixed to said actuator and said actuator is coupled to a handle on said positioning shaft by a pivot such that said actuator is limited to move in alignment with an axis of said positioning shaft so as to move said articulated digit between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon'"'"'s finger engaging said actuator and said articulated digit;

(B) positioning said surgical probe adjacent to an anatomical structure to be manipulated;

(C) causing angular movement of said actuator with a finger so as to arrange said articulated digit in a configuration that closely corresponds to the configuration of said finger where said finger and said articulated digit move in a longitudinally aligned plane, and where angular movement of said actuator in a first direction causes a first link member to be placed in tension while a second link member is released from tension such that the kinesthetic relationship is maintained via said actuator from the link member in tension and such that one link member is in tension at all times; and

(D) engaging said anatomical structure with said articulated digit.

11. A method for an individual to manipulate tissue remotely within a body cavity, said method comprising:

inserting a probe within said body cavity, where said probe includes an elongated section and at least one segmented digit similar to a human finger and a plurality of link members where a proximal end of said link members are affixed to an actuator; and

where the individual extend a finger parallel to and in alignment with said axis of said elongated section moves a finger through a range of motion where said range of motion is limited to a distal and a proximal direction along said axis and in alignment with said axis causing to remotely actuate said segmented digit through a substantially similar range of motion via actuation of said actuator, and where the individual'"'"'s finger and said segmented digit move in a longitudinally aligned plane where movement of said actuator causes a first link member to be placed in tension while a second link member is released from tension such that the kinesthetic relationship between said finger and said segmented digit is maintained via said actuator from the link member in tension and such that one link member is in tension at all times.

12. The method of claim 11 wherein remotely actuating said digit provides a kinesthetic/tactile relationship between the operator'"'"'s finger actuating said actuator and said segmented digit.

13. The method of claim 11 wherein said digit further comprises a tip having a gauze wad releasably fixed to a dorsal surface for dissection so that remotely actuating said digit moves said gauze pad into dissecting engagement with tissue located within said body cavity.

14. The method of claim 11 wherein said digit is maintained in a selected configuration by a locking mechanism.

15. The method of claim 11 wherein remotely actuating said digit provides a variety of configurations that mimic the shape and contour of a human finger.

16. The method of claim 11 including the step of transluminating tissues by actuating said digit so as to position a tip of said segmented digit behind said tissues.