Direct drive instruments and methods of use

• US 9,456,877 B2
• Filed: 11/28/2007
• Issued: 10/04/2016
• Est. Priority Date: 12/01/2006
• Status: Active Grant

• Current Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Original Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Inventors: Weitzner, Barry, Smith, Paul J., Golden, John B., Intoccia, Brian J., Suon, Naroun, Barenboym, Michael
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): Nganga, Boniface N
• Application Number:
  US11/946,818
• Publication Number:
  US 20080221391A1
• Time in Patent Office: 3,233 Days
• Field of Search: 606/1
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/0014 Fastening element for attaching accessories to the outside of an endoscope, e.g. clips, clamps or bands
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00183 for variable viewing angles
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/12 with cooling or rinsing arrangements
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• 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 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00287 Bags for minimally invasive surgery
• CPC Class Codes: A61B 2017/003 : Steerable
• CPC Class Codes: A61B 2017/00314 : Separate linked members
• CPC Class Codes: A61B 2017/00323 : Cables or rods
• CPC Class Codes: A61B 2017/00331 : with preformed bends
• CPC Class Codes: A61B 2017/0034 : adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/00353 : one mechanical instrument performing multiple functions, e.g. cutting and grasping channel for multiple instruments A61B2017/3445; instrument channel A61B2017/22072; replaceable heads A61B2017/2931; suction A61M1/00
• CPC Class Codes: A61B 2017/00362 : Packages or dispensers for MIS instruments A61B2017/0479 takes precedence
• CPC Class Codes: A61B 2017/00371 : Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
• CPC Class Codes: A61B 2017/00398 : using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00469 : for insertion of instruments, e.g. guide wire, optical fibre
• CPC Class Codes: A61B 2017/00876 : magnetic
• CPC Class Codes: A61B 2017/00973 : pedal-operated
• CPC Class Codes: A61B 2017/2905 : flexible
• CPC Class Codes: A61B 2017/2906 : Multiple forceps
• CPC Class Codes: A61B 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/3445 : used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/3447 : Linked multiple cannulas
• CPC Class Codes: A61B 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/374 : NMR or MRI
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• 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 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

Disclosed herein are various instruments, systems, and methods of use. The instruments can have various control members and/or handles for controlling various degrees of freedom. In addition, the control members can include various control mechanisms for transferring user inputs from a handle to a distal portion of the instrument. In one aspect, an instrument can comprise a control member and a catheter. The catheter can be adjustably and/or detachably connected to the control member.

Claims

1. A medical instrument comprising:

a controller body including a housing and a handle coupled to the housing by a shaft, the handle including a first actuator, a second actuator and a radial actuator;

an elongate catheter including a first manipulation section proximal to a second manipulation section; and

a distal end effector fixedly attached to a distal end of the elongate catheter;

wherein a first rotational movement of the first actuator of the handle with respect to the housing controls movement of the first manipulation section, a second rotational movement of the second actuator of the handle with respect to the housing controls movement of the second manipulation section in a first plane, actuation of the handle along a longitudinal axis of the housing control movement of the second manipulation section in a second plane different from the first plane, and actuation of the radial actuator actuates the distal end effector, wherein the first rotational movement and the second rotational movement are coaxial, and wherein movement of the first manipulation section via the first rotational movement of the handle is independent of movement of the second manipulation section.

2. The instrument of claim 1, wherein the handle is a single handle, such that a user can effect the first rotational movement, the second rotational movement, and the third movement of the handle with a single hand.

3. The instrument of claim 1, wherein the handle controls four degrees of freedom of the distal end effector.

4. The instrument of claim 1, further comprising a rail, wherein the controller body is fixedly or movably mated to the rail.

5. The instrument of claim 4, wherein the handle controls six degrees of freedom of the distal end effector, and the rail is attached to a frame.

6. The instrument of claim 1, wherein the radial actuator is connected to the end effector by a control cable extending through the elongate catheter.

7. A medical instrument comprising:

a control member including a housing and a handle coupled to the housing by a shaft;

an elongate catheter extending distally from the control member, the elongate catheter including a first manipulation section and a second manipulation section; and

an end effector located at a distal end of the elongate catheter and coupled to the control member;

wherein the handle includes a first rotational actuator to control movement of the first manipulation section, a second rotational actuator to control movement of the second manipulation section in a first plane, and a radial actuator connected to the end effector by a control cable extending through the elongate catheter to control movement of the end effector independent of movement of the elongate catheter, wherein actuation of the handle along a longitudinal axis of the housing controls movement of the second manipulation section in a second plane different from the first plane, wherein rotation of the first rotational actuator is coaxial to rotation of the second rotational actuator, wherein movement of the first manipulation section via the first rotational movement of the handle is independent of movement of the second manipulation section, the first manipulation section proximal to the second manipulation section.

8. The instrument of claim 7, further comprising a rail mated to the control member, wherein the handle controls six degrees of freedom of the distal end effector.

9. The instrument of claim 8, wherein the control member is moveably mated to the rail.

10. The instrument of claim 8, wherein the control member is fixedly mated to the rail.

11. The instrument of claim 7, wherein the control member includes a shaft extending from the handle to the housing.

12. The instrument of claim 7, wherein the trigger is attached to the second rotational actuator.

13. The instrument of claim 7, wherein the radial actuator actuates the end effector by moving a first portion of the end effector relative to a second portion of the end effector.

14. A medical instrument comprising:

a control member including a housing and a handle coupled to the housing by a shaft;

an elongate catheter extending distally from the control member, the elongate catheter including a first manipulation section proximal to a second manipulation section; and

an end effector located at a distal end of the catheter and coupled to the control member;

wherein the handle includes a first rotational actuator to control movement of the first manipulation section, a second rotational actuator to control movement of the second manipulation section in a first plane, and a radial actuator to actuate the end effector by moving a first portion of the end effector relative to a second portion of the end effector, wherein actuation of the handle along a longitudinal axis of the housing controls movement of the second manipulation section in a second plane different from the first plane, wherein rotation of the first rotational actuator is coaxial to rotation of the second rotational actuator, and wherein movement of the first manipulation section via the first rotational actuator is independent of movement of the second manipulation section via the second rotational actuator.

15. The instrument of claim 14, wherein actuating the end effector opens and closes the end effector for receiving tissue between the first portion of the end effector and the second portion of the end effector.