Surgical instrument

• US 8,221,450 B2
• Filed: 03/03/2008
• Issued: 07/17/2012
• Est. Priority Date: 10/30/2003
• Status: Active Grant

• Current Assignee: Endobotics, LLC
• Original Assignee: Cambridge Endoscopic Devices Inc.
• Inventors: Chamorro, Andres, Lee, Woojin
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): YABUT, DIANE D
• Application Number:
  US12/074,378
• Publication Number:
  US 20080262537A1
• Time in Patent Office: 1,597 Days
• Field of Search: 606/205, 606/139, 606/167
• US Class Current: 606/205
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/2909 Handles
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2946 Locking means

Abstract

The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

Claims

1. A manually operated medical instrument having an instrument shaft that couples with an operating handle at a proximal end thereof and a tool at a distal end thereof, further comprising a proximal bendable member at the proximal end of the instrument shaft that is bendable into a curved configuration, a distal bendable member at the distal end of the instrument shaft that is bendable into a curved configuration, and one or more actuating elements intercoupling the proximal and distal bendable members responsive to a manually initiated bending at the proximal bendable member to cause a corresponding bending into a curved configuration of the distal bendable member so as to control, via the handle, the positioning of the tool.

2. The instrument of claim 1 wherein the bendable members are bendable in all directions.

3. The instrument of claim 1 wherein the bendable members are bendable in any direction.

4. The instrument of claim 1 wherein the proximal bendable member is manipulated in any direction do that the distal bendable member is controlled in three dimensions.

5. The instrument of claim 1 further including a rotation knob disposed between said handle and proximal bendable member.

6. The instrument of claim 5 wherein said rotation knob is supported to rotate the proximal bendable member therewith.

7. The instrument of claim 6 wherein rotation of the rotation knob controls the tool for corresponding rotation about a tool axis.

8. The instrument of claim 6 wherein said tool is disposed from said distal bendable member along a longitudinal distal tool axis, the rotation of said rotation knob causing a corresponding rotation of said tool about said distal tool axis.

9. The instrument of claim 6 wherein said one or more actuating elements comprises a set of actuation cables and wherein at least one of said set is in tension while at least another one thereof is in relaxation.

10. The instrument of claim 9 including four cables disposed at 90 degree intervals about the instrument shaft with two in tension and two in relaxation during a bending.

11. The instrument of claim 5 wherein the instrument shaft comprises an elongated instrument shaft extending along a longitudinal axis and wherein the distal bendable member is disposed in-line with the elongated instrument shaft coupling a distal end of said elongated instrument shaft to said tool and wherein the proximal bendable member is disposed in line with the elongated instrument shaft coupling a proximal end of said elongated instrument shaft via said rotation knob to said handle.

12. A surgical instrument comprising:

an elongated instrument shaft having proximal and distal ends;

a working member disposed from the distal end of the instrument shaft; and

a control handle disposed from the proximal end of the instrument shaft;

a distal bendable member capable of bending into a curved configuration;

said working member being coupled to the distal end of said elongated instrument shaft via said distal bendable member;

a proximal bendable member capable of bending into a curved configuration;

said control handle coupled to the proximal end of said elongated instrument shaft via a proximal bendable member;

a manually rotatable member arranged adjacent the control handle and between the control handle and proximal bendable member;

said rotatable member adapted to be manually rotated to, in turn, rotate the instrument shaft, distal bendable member and working member relative to said control handle;

and an actuation element extending between said distal and proximal bendable members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member.

13. The surgical instrument of claim 12 wherein said rotatable member comprises a rotation knob having a cavity for receiving at least a portion of said proximal bendable member therein and at least a portion of said rotation knob is received by said handle in an open end of said handle, said rotation knob having said proximal bendable member supported therein and in a fixed relative rotation with respect to said proximal bendable member.

14. The surgical instrument of claim 12 wherein said working member comprises a tool that is supported from said distal bendable member extending along a distal tool axis and said rotatable member comprises a rotation knob, the rotation of said rotation knob causing a rotation of said working member about said distal tool axis.

15. The surgical instrument of claim 14 wherein the rotation of said rotation knob rotates the instrument shaft and distal bendable member, rotating the tool about the distal tool axis while maintaining the orientation of the tool.