Minimally invasive laparoscopic surgical pliers

• US 9,700,381 B2
• Filed: 10/26/2010
• Issued: 07/11/2017
• Est. Priority Date: 10/27/2009
• Status: Active Grant

• Current Assignee: Universitat Politecnica De Catalunya
• Original Assignee: Universitat Politecnica De Catalunya
• Inventors: Amat Girbau, Josep
• Primary Examiner(s): Templeton, Christopher L
• Assistant Examiner(s): PAEZ, LUCAS M
• Application Number:
  US13/504,477
• Publication Number:
  US 20120209315A1
• Time in Patent Office: 2,450 Days
• Field of Search: 606 1, 606130, 606205, 606207, 7449005, 7449006
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2903 transferring rotary motion
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2932 Transmission of forces to jaw members
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• 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

Abstract

Laparoscopic surgical pliers include jaws mounted on a rotating body and first and second transmissions each including at least one tendon including several cables, and each transmission adapted to transmit movement of the jaws and the rotating body, respectively. The tendons of the first and second transmissions are each respectively formed of several cables arranged so that a cross-section of at least one tendon associated with the first transmission has a variable geometry therealong formed by a first arrangement in which the cables are arranged, in cross-section, with their longitudinal axes in a radial distribution, a second arrangement in which said axes are arranged in a first orientation, and a third arrangement in which said axes are arranged in a second orientation, perpendicular to the first orientation.

Claims

1. Minimally invasive laparoscopic surgical pliers comprising:

jaws mounted on a rotating body, a first transmission having at least one tendon adapted to transmit movement of the jaws and a second transmission having at least one tendon adapted to transmit movement of the rotating body,

wherein said tendons of said first and second transmissions are each respectively formed by several cables distributed defining a cross-sectional geometry of each tendon, the cross-sectional geometry thereof defined as the intersection of each tendon in three-dimensional space with a plane that cuts each tendon transversely, at right angles to the longest axis of each tendon, the cables being distributed such that their positioning can be varied within the tendon along its path through an interior of a main body resulting in a corresponding variation in the cross-sectional geometry of the tendon;

wherein the pliers further comprise modules for changing distribution of the cables in each tendon, each module being formed by a block within which an elongated channel is formed and shaped to guide said cables of the corresponding tendon causing a rotation on its distribution; and

wherein the cross sectional geometry of the tendon in at least the first transmission has at least first, second and third parts thereof disposed along the main body of the same tendon having at least three different cross-sectional geometries defined according to corresponding different distributions of the cables in each tendon at the first, second and third parts thereof;

a first part cross-sectional geometry of the tendon in which the respective cables are distributed radially in the tendon cross-section, with their respective longitudinal axes arranged in a radial distribution;

a second part cross-sectional geometry of the tendon in which the respective cables are distributed in the tendon cross-section with their respective longitudinal axes arranged according to a first distribution, with their respective longitudinal axes aligned; and

a third part cross-sectional geometry of the tendon in which the respective cables are distributed in the tendon cross-section with their respective longitudinal axes arranged according to a second distribution, different from the first distribution, with their longitudinal axes forming an angle to said first distribution.

2. The pliers as recited in claim 1, wherein said first and second cable distributions, in the second and third cross-sectional geometries of the tendons, respectively, form an angle of substantially 90°

to each other.

3. The pliers as recited in claim 1, wherein at least one of said tendons is formed by at least three cables.

4. The pliers as recited in claim 3, wherein in the first cross-sectional geometry of the tendon the cables are distributed in a substantially triangular arrangement;

in the second cross-sectional geometry of the tendon the cables are distributed with their longitudinal axes horizontally aligned; and

in the third cross-sectional geometry of the tendon the cables are distributed with their longitudinal axes vertically aligned.

5. The pliers as recited in claim 1, wherein the jaws are adapted to be rotated about a first axis.

6. The pliers as recited in claim 1, wherein said rotating body can be rotated about a second axis.

7. The pliers as recited in claim 1 wherein the jaws are adapted to be rotated about a first axis and the rotating body is adapted to be rotated about a second axis, said first and second axes forming an angle of substantially 90°

to each other.

8. The pliers as recited in claim 1, wherein said rotating body comprises rotating drums that are respectively associated with said jaws.

9. The pliers as recited in claim 8, wherein said rotating drums are adapted to be operated independently each by a respective tendon of said first transmission.

10. The pliers as recited in claim 8, wherein the rotating drums are configured for tangential winding of tendons.

11. The pliers as recited in claim 8, wherein the rotating drums are configured so that longitudinal movement from the tendons is converted into a rotational movement in two different directions to rotatably drive the rotating body of the jaws.

12. The pliers as recited in claim 1, wherein the pliers further include at least one sheath enclosing the tendons therein.