Articulated surgical probe and method for use

• US 7,976,559 B2
• Filed: 11/01/2005
• Issued: 07/12/2011
• 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:
  US11/263,744
• Publication Number:
  US 20060094932A1
• Time in Patent Office: 2,079 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
• 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 surgical probe allowing a surgeon to manipulate tissue while maintaining a kinesthetic relationship between the surgeon'"'"'s finger during a surgical procedure, said probe comprising:

an articulated digit located at a distal end of a positioning shaft having a longitudinal axis and a handle, where said articulated digit is configured to move between a continuous range of positions from an extended position to a substantially curved position such that movement of the articulated digit is similar to movement of a human finger; and

an actuator coupled to said handle by a pivot and extending upright relative to said longitudinal axis such that the actuator is moveable between a distal position and a proximal position along said longitudinal axis; and

where said actuator is 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 so as to move said articulated digit between said continuous range of positions, where said distal position corresponds to said extended position of said articulated digit and where said proximal position corresponds to said substantially curved position of said articulated digit where movement of said articulated digit mimics movement of the surgeon'"'"'s finger and movement of said actuator to said proximal position causes a first link member to be placed in tension while a second link member is released from tension such that the surgeon maintains the kinesthetic relationship via said actuator from the link member in tension.

2. A surgical probe according to claim 1 wherein said articulated digit includes an elongate proximal phalanx having a curved distal end and a proximal end, a middle phalanx having a flat distal end and a curved proximal end, and a distal phalanx having a distal end and a curved proximal end.

3. A surgical probe according to claim 1 wherein said articulated digit includes a plurality of phalanges.

4. A surgical probe according to claim 3 wherein said phalanges comprise end features that provide for a limited pivoting relative to adjacent phalanges.

5. A surgical probe according to claim 2 wherein said proximal phalanx includes a pair of radially spaced-apart, longitudinally oriented through-bores, said middle phalanx includes a pair of radially spaced-apart, longitudinally oriented through-bores, and said distal phalanx includes a pair of radially spaced-apart, longitudinally oriented through-bores.

6. A surgical probe according to claim 2 wherein said curved proximal end of said distal phalanx is pivotally connected to said flat distal end of said middle phalanx and said curved distal end of said elongate proximal phalanx is pivotally connected to said curved proximal end of said middle phalanx so as to comprise the range of motion that is continuous between said extended position that is aligned with said longitudinal axis and said substantially curved position.

7. A surgical probe according to claim 6 wherein the range of motion of said digit is limited by an interactive, rolling engagement of (i) said curved proximal end of said distal phalanx with said flat distal end of said middle phalanx and, (ii) said curved distal end of said elongate proximal phalanx with said curved proximal end of said middle phalanx.

8. A surgical probe according to claim 6 wherein said extended position locates a dorsal portion of said curved proximal end of said distal phalanx in blocking relation with said dorsal portion of said flat distal end of said middle phalanx so as to prevent further pivotal rotation, and a dorsal portion of said curved distal end of said elongate proximal phalanx is blocked from further rolling engagement by a dorsal portion of said curved proximal end of said middle phalanx.

9. A surgical probe according to claim 6 wherein said substantially curved position locates (i) an anterior portion of said curved proximal end of said distal phalanx in blocking relation with an anterior portion of said flat distal end of said middle phalanx and, (ii) an anterior portion of said curved distal end of said elongate proximal phalanx in blocking relation with an anterior portion of said curved proximal end of said middle phalanx.

10. A surgical probe according to claim 1 wherein said articulated digit includes a rounded probe-tip.

11. A surgical probe according to claim 1 wherein said surgeon'"'"'s perception of a motion, weight, and position of said articulated digit, relative to a tissue being probed, is maintained through said link member in tension as the muscles, tendons, and joints of the surgeon'"'"'s finger move said actuator causing said articulated digit to move between said continuous range of positions.

12. A surgical probe according to claim 1 wherein a spring and damper sensation is transferred to the surgeon when actuating said articulated digit so as to engage tissue structure.

13. A surgical probe according to claim 10 wherein said rounded probe-tip projects outwardly from a distal end of articulated digit so as to provide a tactile pad for use in manipulating or dissecting tissue during surgery.

14. A surgical probe according to claim 1 wherein each said link member includes a plurality of links arranged in a linkage mechanism operatively connected to said digit.

15. A surgical probe according to claim 1 wherein said articulated digit comprises a tip having a gauze wad releasably fixed to a dorsal surface for dissection.

16. A surgical probe according to claim 1 wherein said articulated digit is sheathed with a polymeric material so as to better approximate the diameter, contour, and shape of a human finger.

17. A surgical probe according to claim 1 wherein said articulated digit comprises a releasable tip.

18. A surgical probe according to claim 10 wherein said bulbous tip includes at least one of a light source and a cautery.

19. A surgical probe according to claim 10 wherein said rounded tip includes an abrasive surface for blunt dissection of tissue.

20. A surgical probe according to claim 5 wherein said link members extends through said radially spaced-apart, longitudinally oriented through-bores that extend through said elongate proximal phalanx, said middle phalanx, and said distal phalanx with said at least one link member being terminated to a portion of said distal phalanx.

21. A surgical probe according to claim 20 wherein at least one link member comprises a wire.

22. A surgical probe according to claim 20 wherein movement of said actuator provides a haptic feedback through said portion of said at least one link member that is in tension so as to create physical sensations which are felt by the surgeon while manipulating said actuator.

23. A surgical probe according to claim 1 wherein said actuator includes a lock so that said articulated digit can be releasably locked in a desired position.

24. The surgical probe according to claim 1, wherein at least a portion of the handle generally axially extends from the proximal end of the shaft at an inclined angle.

25. The surgical probe according to claim 1, wherein at least a portion of the handle is rotatable relative to a remainder of the handle.

26. A surgical probe allowing a surgeon to manipulate tissue while maintaining a direct kinesthetic relationship between the surgeon'"'"'s finger during a surgical procedure, said probe comprising:

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

a handle having a first portion located in alignment with said longitudinal axis at a proximal end of the positioning shaft;

an actuator extending from a surface of said first portion of said handle and being pivotally moveable between a distal and proximal positions such that the actuator is limited to pivot in alignment with both said articulated digit and said positioning shaft and where said actuator is operatively connected to said articulated digit; and

where said actuator is 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 where movement of said actuator to said proximal position causes a first link member to be placed in tension while a second link member is released from tension such that the link member in tension provides direct force feedback to said actuator from said articulated digit allowing the direct kinesthetic relationship between the surgeon'"'"'s finger and said articulated digit as it operates said actuator.

27. A surgical probe allowing a surgeon to manipulate tissue while maintaining a direct force feedback between the surgeon'"'"'s finger during a surgical procedure, said probe comprising:

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

a handle having a first portion located at a proximal end of the positioning shaft in alignment with said axis;

an actuator extending from said first portion of said handle and coupled to said handle by a pivot to allow the surgeon to grasp said handle while extending the finger parallel to said handle and in alignment with said longitudinal axis to engage the actuator; and

where said actuator is operatively connected to said articulated digit by at least a plurality of link members where a proximal end of said link members are affixed to said actuator that provide direct force feedback to said actuator from said articulated digit as said actuator moves between said distal and proximal positions where movement of said actuator to said proximal position causes a first link member to be placed in tension while a second link member is released from tension such that the surgeon maintains the direct force feeback via said actuator from the link member in tension so as to provide at least one of a kinesthetic and a tactile relationship between said articulated digit and the surgeon'"'"'s finger.

28. A surgical probe according to claim 27 wherein said articulated digit includes an elongate proximal phalanx having a curved distal end, a proximal end, and a pair of radially spaced-apart, longitudinally oriented through-bores;

a middle phalanx having a flat distal end, a curved proximal end, and a pair of radially spaced-apart, longitudinally oriented through-bores; and

a distal phalanx having a distal end, a curved proximal end, and a pair of radially spaced-apart, longitudinally oriented through-bores wherein said at least one link member extends through each of said radially spaced-apart, longitudinally oriented through-bores.

29. A surgical probe according to claim 28 wherein said curved proximal end of said distal phalanx is pivotally connected to said flat distal end of said middle phalanx and said curved distal end of said elongate proximal phalanx is pivotally connected to said curved proximal end of said middle phalanx so as to comprise a range of motion when a portion of said at least one link member is placed in tension, that is continuous between a first fully extended position that is aligned with said longitudinal axis and a substantially crook position.

30. A surgical probe according to claim 29 wherein a range of motion of said articulated digit is limited by an interactive, rolling engagement of (i) said curved proximal end of said distal phalanx with said flat distal end of said middle phalanx and, (ii) said curved distal end of said elongate proximal phalanx with said curved proximal end of said middle phalanx.

31. A surgical probe according to claim 29 wherein said first fully extended position locates a dorsal portion of said curved proximal end of said distal phalanx in blocking relation with said dorsal portion of said flat distal end of said middle phalanx so as to prevent further pivotal rotation, and a dorsal portion of said curved distal end of said elongate proximal phalanx is blocked from further rolling engagement by a dorsal portion of said curved proximal end of said middle phalanx.

32. A surgical probe according to claim 29 wherein said substantially crook position locates (i) an anterior portion of said curved proximal end of said distal phalanx in blocking relation with an anterior portion of said flat distal end of said middle phalanx and, (ii) an anterior portion of said curved distal end of said elongate proximal phalanx in blocking relation with an anterior portion of said curved proximal end of said middle phalanx.

33. A surgical probe allowing a surgeon to manipulate tissue while maintaining a kinesthetic relationship between the surgeon'"'"'s finger during a surgical procedure, said probe, said probe comprising:

an elongated member extending from a first section of a body portion, said first section being in alignment with said elongated member;

a segmented digit located at a far end of said elongated member, said segmented digit having at least a tip portion and a middle portion where said tip and middle portion are pivotally connected such that said tip portion and middle portion may move between a straight profile and a curved profile, where in said curved profile said segmented digit curves in a manner similar to the surgeon'"'"'s finger;

an operating actuator pivotally moveable between a proximal and distal positions and extending from first section of said body portion such that said operating actuator is limited to pivot in longitudinal alignment with both said segmented digit and said first section of said body portion, where said operating actuator is coupled to said segmented digit by at least one link member where a proximal end of said link member is affixed to said actuator, where said link member provides direct force feedback to said operating actuator from said articulated digit as said operating actuator moves between said distal and proximal positions to move said segmented digit between said straight profile and curved profile; and

where proximal movement of said operating actuator by the surgeon'"'"'s finger to said proximal position causes said link member to be placed in tension such that the surgeon maintains the kinesthetic relationship via said actuator from the link member in tension.

34. The surgical probe of claim 33, where the segmented digit further includes a rear portion pivotally connected to the middle portion at an opposite end of the tip portion.

35. The surgical probe of claim 33, wherein said segmented digit includes a gauze pad fastened to a tip.

36. The surgical probe of claim 33, wherein said link member comprises a wire.

37. The surgical probe of claim 33, wherein a surgeon'"'"'s perception of a motion, weight, and position of said segmented digit, relative to a tissue being probed, is maintained as the muscles, tendons, and joints of said surgeon'"'"'s finger move said operating actuator causing said segmented digit to move between a continuous range of positions.

38. A surgical probe according to claim 33, wherein a spring and damper sensation is transferred by said link member to the surgeon when actuating said segmented digit so as to engage a tissue structure.

39. A surgical probe according to claim 33, comprising a tip that projects outwardly from a distal end of said segmented digit so as to provide a tactile pad for use in manipulating or dissecting tissue during surgery.

40. A surgical probe according to claim 33, wherein said operating actuator includes a plurality of link members arranged in a linkage mechanism operatively connected to said segmented digit.

41. A surgical probe according to claim 33, wherein said operating actuator comprises a locking mechanism allowing one-handed operation.

42. A surgical probe according to claim 33, wherein said articulated digit is sheathed with a polymeric material so as to better approximate the diameter, contour, and shape of a human finger.

43. A surgical probe according to claim 33 wherein said segmented digit comprises a releasable tip.

44. A surgical probe according to claim 33, wherein said bulbous tip includes at least one of a light source and a cautery.

45. A surgical probe according to claim 33, wherein said segmented digit comprises a plurality of shapes and contours of a human finger.

46. The surgical probe of claim 33, where said actuator extends such that the operator'"'"'s finger engaging said lever moves from a straight profile to a curved profile while being longitudinally aligned with said segmented digit.