Hand-actuated articulating surgical tool

• US 20060195071A1
• Filed: 02/13/2006
• Published: 08/31/2006
• Est. Priority Date: 07/20/2000
• Status: Active Grant

• Current Assignee: Carefusion 2200 Corporation (Becton, Dickinson & Co)
• Original Assignee: Allegiance Corporation (Cardinal Health, Inc.)
• Inventors: Doyle, Mark C., Caputo, Jimmy C.
• Granted Patent: US 7,470,268 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00539 hydraulically
• CPC Class Codes: A61B 2017/2829 with a removable cover
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2931 with releasable head
• CPC Class Codes: A61B 2017/2932 Transmission of forces to jaw members
• CPC Class Codes: A61B 2017/2944 Translation of jaw members
• CPC Class Codes: A61B 2017/2948 Sealing means, e.g. for sealing the interior from fluid entry
• CPC Class Codes: A61B 2090/036 abutting on tissue or skin
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

Abstract

A double cylinder system is disclosed, comprising at least one controller being adapted to transmit hydraulic control signals; at least one slave being in fluid communication with the controller and being configured to respond to the hydraulic control signals transmitted by the controller; and at least one control line providing hydraulic communication between the controller and the slave. Also disclosed is a surgical device, comprising at least one controller located at a proximal end of the device, the controller being adapted to transmit hydraulic control signals; at least one manipulator, the manipulator being configured to be controlled by a human hand and to actuate the controller; at least one slave located at a distal end of the device, the slave being in fluid communication with the controller and being configured to respond to the hydraulic control signals transmitted by the controller; and at least one control line providing hydraulic communication between the controller and the slave.

Claims

1. A double cylinder system, comprising:

at least one controller being adapted to transmit hydraulic control signals, said controller further comprises;

a control cavity; and

a first piston within said control cavity, said first piston dividing said control cavity into a first control cavity portion and a second control cavity portion and preventing communication between said first control cavity portion and said second control cavity portion;

at least one slave being in fluid communication with said controller and being configured to respond to said hydraulic control signals transmitted by said controller, said slave comprising

a slave cavity; and

a second piston within said slave cavity, said second piston dividing said slave cavity into a first slave cavity portion and a second slave cavity portion and preventing communication between said first slave cavity portion and said second slave cavity portion;

wherein said slave cavity is a part of a modular component selected from the group consisting of an extend module, a rotate module, a bend module, and a grasp module, wherein any one of said modules is capable of being used in combination with any other of said modules; and

at least one control line providing hydraulic communication between said first control cavity portion and said first slave cavity portion; and

at least one control line providing hydraulic communication between said second control cavity portion and said second slave cavity portion.

2. The system of claim 1, further comprising an overpressure reservoir.

3. The system of claim 1, further comprising a manipulator, wherein said manipulator is adapted to change the position of said first piston within said control cavity.

4. A surgical device, comprising:

at least one controller located at a proximal end of the device, said controller being adapted to transmit hydraulic control signals;

at least one manipulator, said manipulator being configured to be controlled by a human hand and to actuate said controller;

at least one slave located at a distal end of the device, said slave being in fluid communication with said controller and being configured to respond to said hydraulic control signals transmitted by said controller;

wherein said slave is a part of a modular component selected from the group consisting of an extend module, a rotate module, a bend module, and a grasp module, wherein any one of said modules is capable of being used in combination with any other of said modules; and

at least one control line providing hydraulic communication between said controller and said slave.

5. The surgical device according to claim 4, wherein said controller further comprises:

a control cavity; and

a piston within said control cavity, said piston dividing said control cavity into a first control cavity portion and a second control cavity portion and preventing communication between said first control cavity portion and said second control cavity portion;

wherein said slave further comprises;

a slave cavity; and

a piston within said slave cavity, said piston dividing said slave cavity into a first slave cavity portion and a second slave cavity portion and preventing communication between said first slave cavity portion and said second slave cavity portion; and

wherein said control line provides hydraulic communication between said first control cavity portion and said first slave cavity portion.

6. The surgical device according to claim 5, further comprising a second control line providing hydraulic communication between said second control cavity portion and said second slave cavity portion.

7. A surgical device, comprising:

a control portion located at a proximal end of the device, comprising;

a plurality of controllers, each of said plurality of controllers being adapted to transmit hydraulic control signals; and

a plurality of manipulators, each of said plurality of manipulators being configured to actuate a corresponding one of said plurality of controllers;

a slave portion located at a distal end of the device, comprising;

a plurality of slaves, each of said plurality of slaves being in communication with a corresponding one of said plurality of controllers and being configured to respond to said hydraulic control signals transmitted by said corresponding one of said plurality of controllers;

wherein each of said plurality of slaves is a part of a modular component selected from the group consisting of an extend module, a rotate module, a bend module, and a grasp module, wherein any one of said modules is capable of being used in combination with any other of said modules; and

an intermediate portion, comprising a plurality of control lines, each of said plurality of control lines providing communication with one of said plurality of controllers and a corresponding one of said plurality of slaves.

8. The surgical device according to claim 7, wherein said intermediate portion further comprises an outer sleeve enveloping said plurality of control lines.

9. The surgical device according to claim 7, wherein said intermediate portion further comprises an articulating portion, said articulating portion further comprising:

a spring bar on a first side of said articulating portion; and

a plurality of pockets on a second side of said articulating portion, said second side opposing said first side,

wherein said pockets are configured to receive a hydraulic fluid, and

wherein, said pockets are configured to expand when said hydraulic fluid is received.

10. The surgical device of claim 7, further comprising a tip adapted to be manipulated by at least one of said plurality of slaves in response to said hydraulic control signals.

11. The surgical device of claim 7, wherein said hydraulic communication is through a hydraulic fluid.

12. The surgical device of claim 11, wherein said hydraulic fluid is physiologically acceptable.

13. The surgical device of claim 7, wherein each of said plurality of slaves has a predefined function.

14. The surgical device of claim 13, wherein said predefined function is selected from extension, rotation, bending, and grasping.

15. The surgical device of claim 13, wherein said predefined function of at least one of said plurality of slaves is different than said predefined function of at least another one of said plurality of slaves.

16. (canceled)

17. A surgical device, comprising:

at least one controller located at a proximal end of the device, said controller being adapted to transmit control signals;

at least one manipulator, said manipulator being configured to be controlled by a human hand and to actuate said controller;

at least one slave located at a distal end of the device, said slave being in communication with said controller and being configured to respond to said control signals transmitted by said controller;

wherein said slave is a part of a modular component; and

at least one flexible control line providing communication between said controller and said slave.

18. A surgical device, comprising:

at least one controller located at a proximal end of the device, said controller being adapted to transmit control signals;

at least one manipulator, said manipulator being configured to be controlled by a human hand and to actuate said controller;

at least two slaves located at a distal end of the device, said slaves being in communication with said controller and being configured to respond to said control signals transmitted by said controller;

wherein at least one of said slaves is part of a bend module; and

wherein at least one of said slaves is a part of a modular component distal to said bend module and is selected from the group consisting of a bend module, an extend module, a rotate module, and a grasp module; and

at least one control line providing communication between said controller and said slaves.

19. A surgical device, comprising:

at least one controller located at a proximal end of the device, said controller being adapted to transmit hydraulic or mechanical control signals;

at least one manipulator, said manipulator being configured to be controlled by a human hand and to actuate said controller;

wherein said manipulator provides resistance to movement of said human hand as a consequence of resistance encountered in the movement of at least one slave;

at least one slave located at a distal end of the device, said slave being in communication with said controller and being configured to respond to said control signals transmitted by said controller;

wherein said slave is a part of a modular component selected from the group consisting of an extend module, a rotate module, a bend module, and a grasp module, wherein any one of said modules is capable of being used in combination with any other of said modules; and

at least one control line providing mechanical or hydraulic communication between said controller and said slave.