Electro-mechanical surgical device

• US 6,849,071 B2
• Filed: 09/26/2002
• Issued: 02/01/2005
• Est. Priority Date: 06/02/1999
• Status: Expired due to Term

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Power Medical Interventions, Inc. (Medtronic Plc)
• Inventors: Whitman, Michael P., Zeichner, David A., Burbank, John E.
• Primary Examiner(s): FLANAGAN, BEVERLY MEINDL
• Application Number:
  US10/256,681
• Publication Number:
  US 20030050654A1
• Time in Patent Office: 859 Days
• Field of Search: 606/1, 600/117, 600/118, 128/898
• US Class Current: 606/1
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• 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 17/00491 Surgical glue applicators surgical adhesives A61L24/00; two-component delivery syringes A61M5/19
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/11 for performing anastomosis; Buttons for anastomosis
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 2010/0208 Biopsy devices with actuators, e.g. with triggered spring mechanisms
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2017/00734 : battery operated
• CPC Class Codes: A61B 2017/07214 : Stapler heads
• CPC Class Codes: A61B 2017/0725 : with settable gap between anvil and cartridge, e.g. for different staple heights at different shots
• CPC Class Codes: A61B 2017/07271 : characterised by its cartridge
• 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 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320052 : Guides for cutting instruments by marking A61B2090/395
• CPC Class Codes: A61B 2017/32113 : with extendable or retractable guard or blade
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2034/301 : for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms

Abstract

An electro-mechanical surgical device includes: a housing; an elongated shaft extending from the housing, a distal end of the elongated shaft being detachably coupleable to a surgical instrument; at least two axially rotatable drive shafts disposed within the elongated shaft, a distal end of each of the drive shafts being configured to couple with the surgical instrument; a steering cable arrangement, the steering cable arrangement being configured to steer the distal end of the elongated shaft; and a motor system disposed within the housing, the motor system being configured to drive the drive shafts and the steering cable arrangement. A control system may be provided for controlling the motor system. A remote control unit may also be provided for controlling the motor system via the control system. Sensors, such as optical or Hall-effect devices, may be provided for determining the position of the elements of the surgical instrument based on the detected rotation of the drive shafts. A memory unit stores a plurality of operating programs or algorithms, each corresponding to a type of surgical instrument attachable to the electro-mechanical surgical device. The control system reads or selects from the plurality of operating programs or algorithms, the operating program or algorithm corresponding to the type of surgical instrument attached to the electro-mechanical surgical device.

Claims

1. An electro-mechanical surgical device, comprising:

a housing;

an elongated shaft extending from the housing, a distal end of the elongated shaft configured to detachably couple to a surgical instrument;

at least two axially rotatable drive shafts disposed within the elongated shaft, a distal end of each of the drive shafts being configured to couple with the surgical instrument;

a steering arrangement, the steering arrangement being configured to steer the distal end of the elongated shaft; and

a motor system disposed within the housing, the motor system being configured to drive the drive shafts and the steering arrangement.

2. The electro-mechanical surgical device according to claim 1, wherein the elongated shaft is flexible.

3. The electro-mechanical surgical device according to claim 1, wherein the motor system includes a first motor arrangement configured to drive the drive shafts and a second motor arrangement configured to drive the steering arrangement.

4. The electro-mechanical surgical device according to claim 1, wherein the motor system includes a first motor configured to drive a first one of the at least two axially rotatable drive shafts and a second motor configured to drive a second one of the at least two axially rotatable drive shafts.

5. The electro-mechanical surgical device according to claim 1, wherein the steering arrangement includes a first pair of steering cables configured to steer the distal end of the elongated shaft in a first plane and a second pair of steering cables configured to steer the distal end of the elongated shaft in a second plane orthogonal to the first plane.

6. The electro-mechanical surgical device according to claim 5, wherein the motor system includes a third motor configured to drive the first pair of steering cables and a fourth motor configured to drive the second pair of steering cables.

7. The electro-mechanical surgical device according to claim 1, wherein the motor system includes a fifth motor configured to selectively engage and disengage the steering arrangement and the motor system.

8. The electro-mechanical surgical device according to claim 3, wherein the motor system includes a third motor arrangement configured to selectively engage and disengage the second motor arrangement with the steering arrangement.

9. The electro-mechanical surgical device according to claim 6, wherein the motor system includes a fifth motor configured to selectively engage and disengage the third motor with the first pair of steering cables and the fourth motor with the second pair of steering cables.

10. The electro-mechanical surgical device according to claim 1, wherein the motor system is powered by line current.

11. The electro-mechanical surgical device according to claim 1, further comprising a DC power supply configured to power the motor system.

12. The electro-mechanical surgical device according to claim 1, further comprising a battery system configured to power the motor system.

13. The electro-mechanical surgical device according to claim 1, further comprising a control system configured to control the motor system.

14. The electro-mechanical surgical device according to claim 13, wherein the control system is disposed within the housing.

15. The electro-mechanical surgical device according to claim 13, further comprising a remote control unit configured to communicate with the control system to control the motor system via the control system.

16. The electro-mechanical surgical device according to claim 15, wherein the remote control unit includes at least one of a wired remote control unit and a wireless remote control unit.

17. The electro-mechanical surgical device according to claim 16, wherein the wireless remote control unit is configured to communicate with the control system via one of a wireless electromagnetic communications link and a wireless optical communications link.

18. The electro-mechanical surgical device according to claim 13, further comprising a sensor corresponding to each of the at least two drive shafts, each sensor outputting a signal in response to and corresponding to a rotation of the respective drive shaft.

19. The electro-mechanical surgical device according to claim 18, wherein each sensor includes at least one of an optical device and a Hall-effect device.

20. The electro-mechanical surgical device according to claim 18, wherein the control system is configured to determine, based on the output signal of the sensors, at least one of a rotational position and a direction of rotation of the respective drive shaft.

21. The electro-mechanical surgical device according to claim 13, wherein the control system includes a first memory unit.

22. The electro-mechanical surgical device according to claim 21, wherein the first memory unit includes at least one of a random-access memory and a read-only memory.

23. The electro-mechanical surgical device according to claim 21, wherein the first memory unit is configured to store a plurality of operating programs, each of the operating programs corresponding to a respective type of surgical instrument attachable to the distal end of the elongated shaft.

24. The electro-mechanical surgical device according to claim 23, wherein the control system is configured to identify the type of the surgical instrument attached to the distal end of the elongated shaft, the control system being configured to at least one of read and select the operating program from the first memory unit corresponding to the identified type of the attached surgical instrument.

25. The electro-mechanical surgical device according to claim 24, wherein the control system is configured to identify the type of the surgical instrument in accordance with a data read from a second memory unit disposed within the surgical instrument.

26. The electro-mechanical surgical device according to claim 25, further comprising a data cable disposed within the elongated shaft, the data cable being logically and electrically coupled to the control system and being logically and electrically coupleable to the second memory unit.

27. The electro-mechanical surgical device according to claim 1, wherein the elongated shaft is detachably attachable to the housing.

28. The electro-mechanical surgical device according to claim 1, further comprising a display device configured to display at least one message in accordance with at least one of an operation and a status of the electro-mechanical surgical device.

29. The electro-mechanical surgical device according to claim 28, wherein the at least one message is displayed in a selected one of a plurality of languages.

30. The electro-mechanical surgical device according to claim 29 further comprising a switch device configured to select the one of the plurality of languages.

31. The electro-mechanical surgical device according to claim 30, wherein the switch device includes a DIP switch.

32. The electro-mechanical surgical device according to claim 1, wherein each of the drive shafts is contained within a respective sheath.

33. The electro-mechanical surgical device according to claim 5, wherein each of the first pair of steering cables and each of the second pair of steering cables is contained within a respective sheath.

34. The electro-mechanical surgical device according to claim 23, further comprising a display device configured to display at least one message in accordance with at least one of the operating programs.

35. The electro-mechanical surgical device according to claim 1, further comprising at least one indicator device configured to provide an indication of at least one of an operation and a status of the electro-mechanical surgical device.

36. The electro-mechanical surgical device according to claim 35, wherein at least one of the at least one indicator devices is a visual indicator device.

37. The electro-mechanical surgical device according to claim 35, wherein at least one of the at least one indicator devices is an audio indicator device.

38. The electro-mechanical surgical device according to claim 1, wherein the steering arrangement includes a steering cable arrangement.