ES2373780T3 - Dispositivo motriz electro-mec�?nico para usar con instrumentos de anastomosis, grapado y resección. - Google Patents
Dispositivo motriz electro-mec�?nico para usar con instrumentos de anastomosis, grapado y resección. Download PDFInfo
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- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B17/1114—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis of the digestive tract, e.g. bowels or oesophagus
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- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B17/115—Staplers for performing anastomosis in a single operation
- A61B17/1155—Circular staplers comprising a plurality of staples
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00473—Distal part, e.g. tip or head
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07278—Stapler heads characterised by its sled or its staple holder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
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Abstract
Accesorios quirúrgicos (180, 200) que tienen cada uno funciones distintas y teniendo unos miembros de giro (158a, 158b, 206a, 206b) en los mismos, y un conjunto de controlador electromecánico (100) para controlar remotamente los accesorios quirúrgicos (180, 200), en donde el conjunto (180, 200) del controlador electromecánico comprende: un eje (122) que incluye al menos dos miembros rotativos axiales (136a, 136b) dispuestos dentro de una vaina (128), al menos dos miembros mencionados rotatorios axiales (136a, 136b) que tienen unos extremos distales y proximales, al menos dos mencionados miembros rotativos (136a, 136b) siendo capaces de transmitir un par motor aplicado al extremo proximal de los mismos, a lo largo del mencionado extremo distal del mismo, en donde los mencionados extremos distales incluyen unos medios para el acoplamiento y transferencia del par motor a los mencionados miembros de giro correspondientes (158a, 158b, 206a, 206b) de los mencionados accesorios quirúrgicos (136a, 136b); y una porción de asa (102) que incluye: en la forma correspondiente al menos dos motores acoplables selectivamente (110, 112) acoplados a los correspondientes de los mencionados al menos dos miembros rotativos axialmente (136a, 136b) del mencionado eje (122), por lo que el acoplo selectivo de cualquiera al menos de los dos motores (110, 112) provoca que gire el correspondiente de los miembros rotativos axialmente (136a, 136b), transmitiendo así un par motor a un miembro de giro correspondiente (158a, 158b, 206a, 206b) de los accesorios quirúrgicos (180, 200), en donde los accesorios quirúrgicos (180, 200) tienen cada uno una interfaz de acoplo diseñada en forma común (154, 203) que está adaptada para unirse con el controlador electromecánico (100), y en donde el controlador electromecánico (100) puede ser reutilizado para accionar las distintas funciones de cada accesorio (180, 200), de forma tal que las distintas funciones de los accesorios (180, 200) sean específicas solo para los accesorios (180, 200).
Description
Dispositivo motriz electro-mecanico para usar con instrumentos de anastomosis, grapado y resecci6n.
Antecedentes de la invenci6n
Campo de la invenci6n
La presente invenci6n esta relacionada en general con un dispositivo electromecanico para su uso con la anastomosis, grapado y herramientas quirurgicas de resecci6n, y mas especfficamente con un dispositivo electromecanico mediante el cual las herramientas de anastomosis, grapado y reseccion puedan accionarse de forma remota.
Descripci6n de la tecnica anterior
Con la identificaci6n de tejido canceroso o bien otro tejido an6malo en el tracto gastrointestinal, se prescribe con frecuencia la intervenci6n quirurgica. El campo de la cirugfa de cancer, y mas especfficamente el procedimiento quirurgico mediante el cual una secci6n del tracto gastrointestinal que incluye un tejido canceroso o an6malo es reseccionada, incluye varios instrumentos disenados en forma exclusiva. En combinaci6n con una descripci6n de la presente instrumentaci6n y de sus funciones, se proporcionara tambien una descripci6n del estado de la tecnica en este procedimiento quirurgico.
La primera cuesti6n que tiene que ser contestada al determinar como tratar el cancer gastrointestinal esta relacionada con la situaci6n especifica del tejido canceroso. Esto es muy importante en tanto que los instrumentos que estan provistos en la tecnica presente tienen limitaciones en relaci6n de c6mo pueden ser insertados dentro del tracto gastrointestinal. Si el tejido canceroso esta demasiado lejos del colon, por ejemplo, entonces la instrumentaci6n estandar provista no es utilizable, requiriendo por tanto unas acomodaciones especiales. Estas acomodaciones generalmente incrementan el riesgo de contaminaci6n de los tejidos circundantes con contenidos del intestino, con el incremento de la longitud de la cirugfa y de la necesidad correspondiente de anestesia, y eliminando las ventajas de la anastomosis precisa y del grapado que procede de la utilizaci6n de un dispositivo mecanizado.
Mas especfficamente, en el caso de que el tejido canceroso este localizado en una posici6n en el colon que sea accesible por la instrumentaci6n presente, el abdomen del paciente se abre inicialmente para la exposici6n del intestino. El cirujano utiliza entonces una cuchilla lineal y un dispositivo de grapado que corta el tubo del colon en ambos lados del tejido canceroso, creando por tanto los extremos de las grapas en el intestino (un extremo distal el cual esta dirigido hacia el ano, y el extremo proximal que esta cerrado hacia el intestino pequeno). Esto se realiza con el fin de minimizar temporalmente la contaminaci6n.
Mas en particular, con referencia a la figura 1, el intestino esta situado entre los elementos 12, 14 de operaci6n con tijeras en la punta del instrumento 10 de grapado lineal. Mediante la compresi6n del gatillo disparador 16 en el asa 18 del dispositivo, el cirujano hace que los elementos de las tijeras lleguen conjuntamente. Un segundo gatillo de disparo (o bien una segunda acci6n del mismo gatillo de disparo) es accionado entonces para accionar una serie de grapas 20 a traves del extremo grapado del colon, cerrando y transfiriendo por tanto los extremos. El cirujano entonces abre el extremo proximal e inserta la porci6n del yunque de un instrumento de anastomosis y grapado dentro del extremo proximal expuesto. Esta etapa, asf como tambien el resto del procedimiento quirurgico, esta relacionada con el funcionamiento de este instrumento quirurgico. Mas en particular, y con respecto a la figura 2, el cirujano comienza a agarrar el instrumento 30 y a girar manualmente el dial 32 en la base del asa 34, que provoca que la cabeza del yunque 36 en el extremo opuesto avance hacia delante. El cirujano continua girando el dial 32 hasta que la cabeza del yunque 36 avance hacia su posici6n extendida de la parte mas extrema. Este giro manual requiere cerca de treinta rotaciones completas. Una vez extendido, el cabezal del yunque del instrumento se desacopla y se inserta dentro de la abertura parcial del extremo proximal de forma tal que el poste de acoplamiento se extienda hacia fuera totalmente. Esta abertura parcial del extremo proximal se cierra entonces de forma suturada. El eje de extensi6n 38 del instrumento 30 de anastomosis y grapado es entonces insertado en el colon inferior, en forma trans-anal, hasta que el vastago de acoplo 40 se extienda a traves del extremo distal grapado. El cirujano une entonces los extremos de acoplamiento del yunque y comienza manualmente a girar el dial en el asa de nuevo, esta vez llevando el cabezal del yunque mas cerca del extremo 42 del eje.
Una vez que el cabezal del yunque y el eje se llevan cerca conjuntamente, despues de que cirujano haya girado manualmente el dial otras treinta veces, el gatillo de disparo de tipo de agarre en el asa se acciona manualmente. Esta actuaci6n provoca que una cuchilla circular 46 avance axialmente desde la punta del eje, y en contacto con la cara opuesta 48 del yunque 36. La cuchilla corta los extremos cerrados grapados de los extremos proximal y distal del colon, cortando tambien por tanto un nuevo par de extremos de las porciones proximal y distal del colon. El tejido que haya sido cortado se retiene en el volumen interior en el extremo del eje.
En el paso de bloqueo con el corte, los extremos recientes abiertos se unen conjuntamente por medio de las grapas 50 las cuales avanzan a traves de agujeros en el perfmetro de la punta de eje (presionandose contra y cerrandose por la cara opuesta del yunque). El eje acoplado y el yunque son entonces retirados del paciente.
Mas en particular, con respecto a las funciones estructurales del instrumento 10 de grapado lineal de la tecnica anterior que esta provista en la figura 1, el dispositivo comprende una estructura 18 de estilo de pistola de agarre que tiene un eje alargado 19 y una porci6n distal 20. La porci6n distal incluye un par de elementos 12, 14 de agarre de estilo de tijera, que amordaza los extremos abiertos del colon cerrado. De hecho, solo uno de los dos elementos de agarre de estilo de tijeras, la porci6n 12 de la mordaza superior, mueve (pivota) con respecto a la estructura global; el otro permanece fijo. La actuaci6n de estos medios de tijeras (el pivote de la mordaza superior 12 esta controlada por los medios de un gatillo de disparo 16 mantenido en el asa. Se han expuesto varios medios para retener las puntas de los brazos cerrados de las tijeras, incluyendo la fijaci6n a presi6n, presillas, collares, etc., y otros sistemas.
Ademas de los medios de tijeras, la porci6n distal incluye tambien un mecanismo de grapado. La mordaza 14 inferior no movible del mecanismo de las tijeras incluye una zona de recepci6n del cartucho de grapas y un mecanismo de accionamiento de las grapas 20 a traves del extremo grapado del colon, contra la porci6n de la mordaza superior, sellando por tanto el extremo abierto previamente. Los elementos de las tijeras pueden estar formados integralmente con el eje, o bien pueden ser desmontables, de forma tal que varios elementos de grapado puedan ser intercambiables.
Mas en particular con respecto a las funciones estructurales de la anastomosis y del instrumento de grapado de la tecnica anterior estan provistas en la figura 2, en donde el dispositivo comprende una porci6n de yunque 36, una grapa, cuchilla y una porci6n de reservorio 42, una porci6n de eje 38, y una porci6n de asa 34. La porci6n de yunque 36, la cual es desmontable selectivamente de la punta del eje, es de forma de una bala, que tiene una porci6n superior de punta roma, una superficie 48 de soporte de corte plano en el fondo, y un poste de acoplo 41 que se extiende axialmente desde la superficie del fondo.
La grapa, cuchilla, y porci6n de reservorio 42 (porci6n SBR) del instrumento estan provistos en el extremo distal del instrumento, e incluye un vastago 40 de acoplo selectivamente saliente y retractil, para recibir selectivamente la porci6n del yunque. Esta acci6n del vastago de acoplamiento esta provista por un tornillo roscado y un mecanismo de torno sin fin montado en el asa 334 (descrito mas en su totalidad mas adelante). La porci6n SBR es de forma cilfndrica, formando un armaz6n que tiene un interior hueco. Es este interior hueco el que forma el reservorio 47. La cuchilla 46 es igualmente cilfndrica, y se asienta en el interior del armaz6n, contra la pared interna. La cuchilla avanza selectivamente hacia fuera desde el armaz6n, de acuerdo con la actuaci6n de un mecanismo 44 de gatillo de disparo del asa (de nuevo se describe mas adelante en su totalidad). En la superficie que mira hacia fuera axialmente de la pared cilfndrica del armaz6n se encuentra una serie de puertos de grapas, a traves de los cuales se descargan las grapas 50 del dispositivo. La misma actuaci6n que acciona la cuchilla hacia delante acciona de forma similar una serie de accionadores de grapas hacia delante dentro de las paredes cilfndricas. Mas precisamente, el accionador de las grapas es un componente cilfndrico que tiene una serie de protuberancias sobre el extremo axial del mismo, en donde las protuberancias estan posicionadas de acuerdo con la distribuci6n de las grapas y agujeros. Las grapas, con antelaci6n a su descarga, estan montadas en los agujeros; y pueden avanzar a traves de los agujeros por la acci6n del accionador de grapas y las protuberancias.
La porci6n del eje 38 del instrumento es una estructura extendida rfgida que tiene por fin como si fuera una vaina para un par de barras alargadas. La primera barra esta acoplada al mecanismo del torno sin fin introducido arriba, y descrito mas en su totalidad mas adelante con respecto a la porci6n del asa, y son los medios mediante los cuales la porci6n del yunque y el vastago de acoplo de la porci6n SBR selectivamente avanzan y se retraen. La segunda barra esta acoplada a un gatillo de disparo 44 del asa en un extremo (introducido tambien arriba, y descrito mas en su totalidad mas adelante) y a la cuchilla 46 del accionador de grapas 45 en el otro extremo. La vaina protege al paciente y el instrumento cuando avanzan dentro del colon en forma trans-anal. La naturaleza de los mecanismos de actuaci6n no obstante requiere que el eje sea rfgido. Esta rigidez limita la longitud del eje 38; y la combinaci6n, es decir, la longitud y la rigidez del instrumento, en donde estas funciones limitan las secciones del colon que puede tratarse utilizando este dispositivo.
El asa 34 de este instrumento de la tecnica anterior comprende una estructura del estilo de pistola de agarre que tiene un dial de giro 32a en el cabo (es decir, el extremo opuesto a la uni6n de la porci6n del eje del asa) y un gatillo de disparo 44 con el dedo. El disparador incluye un mecanismo de seguridad que previene ffsicamente de su actuaci6n a menos que se mueva fuera de la posici6n de interferencia. El dial de giro 32 esta acoplado a un mecanismo de torno sin fin que se utiliza para avanzar la primera barra de la porci6n del eje (por tanto avanzando el vastago de acoplo y el yunque 36). El gatillo funciona como una palanca basica para presionar hacia delante la segunda barra dentro del eje, avanzando por tanto la cuchilla 46 y el accionador de las grapa 45.
El documento W097/47231 expone una grapadora endosc6pica que incluye un cabezal de grapado que es localizable en forma desmontable en el extremo distal de un endoscopio. El cabezal endoscopico incluye un puerto estacionario que alberga un cartucho de grapas desmontable, y una parte desmontable y una parte movible que incluye un yunque para recibir y doblar los extremos de las grapas disparadas desde la parte estacionaria. El cartucho de grapas alberga preferiblemente dos filas semicirculares de grapas que estan escalonadas entre si. La parte movible esta acoplada a la parte estacionaria por un eje roscado que se acopla a un torno sin fin en la parte estacionaria y un primer cable de control giratorio esta acoplado al torno sin fin. Una leva de disparo semicircular sustancialmente esta localizada proximal al cartucho de grapas en la parte estacionaria. La leva de disparo tiene un interior ranurado que se acopla mediante un engranaje ranurado al segundo cable de control giratorio. En una
realizaci6n, un cuchillo esta acoplado a la leva de disparo de forma que el tejido se corte subsiguientemente al grapado. En otra realizaci6n, estan provistos unos trayectos 6pticos de laser para cortar el tejido despues del grapado. El extremo proximal del cabezal de grapado esta acoplado a un manguito que tiene un lumen para los cables de control, y un lumen para un endoscopio estandar. En otra realizaci6n, se proporciona un endoscopio modificado con unos lumenes para los cables de control. El endoscopio modificado esta fijado en forma desmontable al cabezal de grapado por un tornillo o por medio de una conexi6n a presi6n. El documento W097/47231 esta dirigido a proporcionar una grapadora endosc6pica desechable que es relativamente econ6mica de fabricar.
El documento US5433721 expone un mecanismo de accionamiento para un instrumento quirurgico endosc6pico que tiene un eje motriz giratorio y un mecanismo para trasladar la fuerza rotacional del eje para aplicar fijadores al tejido durante la cirugfa endosc6pica.
Al igual que con muchos dispositivos de la tecnica anterior, todos estos dispositivos estan considerados como totalmente desechables, y de hecho son desechados despues de un solo uso. Son dispositivos complicados, con multiples piezas movibles, que requieren una integridad estructural y por tanto son costosos de fabricar. El hecho de que se utilicen solo una vez, y que ninguna pieza pueda utilizarse de nuevo, hace que el uso de tales dispositivos sea costoso en su utilizaci6n.
Ademas de este fallo, puede observarse facilmente por las descripciones anteriores, que los dispositivos de la tecnica anterior adolecen de otras numerosas limitaciones que seria deseable solucionar. Estas incluyen un eje de longitud rfgida y limitada de anastomosis y como instrumento de grapado (el cual limita la porci6n del tracto gastrointestinal que puede tratarse por medio de tal dispositivo), asf como el requisito de que el cirujano pueda actuar manualmente con distintas funciones (incluyendo aquellas que estan asociadas con el dial y el gatillo de disparo de anastomosis y con el instrumento de grapado y con los multiples gatillos de disparo del instrumento de corte y grapado).
En consecuencia, es un objeto principal de la presente invenci6n el proporcionar un instrumento para el corte, anastomosis, y grapado para su uso en la cirugfa gastrointestinal, que reduce el gasto de recursos, permitiendo la reutilizaci6n de las porciones de la misma.
Es tambien un objeto principal de la presente invenci6n el proporcionar un instrumento que incremente la zona del tracto gastrointestinal para el cual este utilizado.
Es un objeto correspondiente de la presente invenci6n el proporcionar un conjunto de un instrumento de cirugfa de tracto gastrointestinal que tenga un eje flexible.
Es un objeto adicional de la presente invenci6n el proporcionar un conjunto de instrumento que reduzca los requisitos para el cirujano para manualmente accionar los distintos componentes y mecanismos.
0tros objetos de la presente invenci6n se reconoceran de acuerdo con la descripci6n del mismo aquf provista mas adelante, y la descripci6n detallada de las realizaciones preferidas en conjunci6n con las figuras adjuntas.
Sumario de la invenci6n.
Los objetos anteriores de la invenci6n estan provistos por un conjunto motriz electro-mecanico que acopla y acciona un accesorio quirurgico de acuerdo con el sujeto de la reivindicaci6n 1. Puede reconocerse por parte del lector que ambos instrumentos de la tecnica anterior, que se han descrito anteriormente, tienen unas acciones dobles similares. Mas en particular, el instrumento de grapado lineal realiza primeramente una mordaza y despues un grapado, y el instrumento de anastomosis y grapado avanza y se retrae una porci6n del yunque, lo cual es en efecto una acci6n de amordazamiento, y despues se acciona una cuchilla y las grapas hacia delante. Es por tanto posible construir un conjunto motriz unico que pueda utilizarse para accionar las funciones de cada uno tal que las distintas funciones puedan especificar solo los accesorios, y no la totalidad de los instrumentos.
Mas en particular, la presente invenci6n comprende tres componentes, los cuales son (1) un accionador electromecanico, (2) un accesorio de mordaza y grapado lineales, y (3) un accesorio de anastomosis y grapado, en donde los dos ultimos accesorios tienen una interfaz de acoplo en comun que se unen al componente motriz. Sin embargo, se adelanta que podran utilizarse tambien otros accesorios.
En primer lugar, con respecto al accionador electromecanico, el accionador tiene un asa y un eje motriz flexible. El asa tiene un diseno de estilo de pistola de agarre, que tiene uno o mas y preferiblemente dos gatillos de disparo que estan acoplados independientemente en al menos uno, y preferiblemente dos motores separados, los cuales a su vez hacen girar unos ejes motrices flexible (descritos mas en su totalidad mas adelante). Los motores son motores de doble sentido, y estan acoplados a un conmutador motriz manual montado en la parte superior del asa, mediante el cual el usuario puede selectivamente alterar la direccion del sentido de cada motor. Esta capacidad de doble sentido puede conseguirse por la selecci6n de los motores, los cuales giran en la forma correspondiente a la direccion de la corriente, y la actuaci6n de los conmutadores alteran la direccion de la corriente en consecuencia. En este ejemplo, la fuente de alimentaci6n que alimenta a los motores tiene que ser una fuente de corriente continua, tal como un paquete de baterfas (y mas deseable un paquete de baterfas recargables). En el caso de que el dispositivo deba ser utilizable con una corriente alterna, puede incluirse un transformador, o bien proporcionarse un conjunto de engranajes intermedio sofisticado. En conjunci6n con la presente descripci6n, las realizaciones de la presente invenci6n se describiran utilizando un paquete de baterfas recargables que proporcionen una corriente continua.
Ademas de los componentes del motor, el asa incluye tambien otras funciones, incluyendo : (1) un indicador de estado remoto; (2) unos medios de direccion del eje; y (3) al menos un suministro electrico adicional. En primer lugar, el indicador de estado remoto puede comprender un dispositivo LCD (o bien un dispositivo de lectura similar) mediante el cual el usuario pueda tener conocimiento de la posici6n de los componentes (por ejemplo si un elemento de mordaza esta en la posici6n apropiada con antelaci6n al accionamiento de las grapas). En segundo lugar, el asa puede incluir tambien unos medios de direccion manualmente actualizables por ejemplo un mando o bola de seguimiento, para dirigir el movimiento del eje flexible (por los medios de cables de gufa implantados en la porci6n del eje descrito mas en su totalidad mas adelante). Finalmente, el asa puede incluir un suministro de energfa electrica adicional y un conmutador de encendido y apagado para suministrar selectivamente energfa electrica selectivamente a los accesorios.
Mas en particular, con respecto al eje flexible, el eje comprende una vaina tubular preferiblemente formada por un material sencillo elastomerico el cual es compatible con el tejido y que es esterilizable (es decir, suficientemente s6lido como para soportar un autoclave). Varias longitudes de este eje pueden estar provistas en conjunci6n con la presente invenci6n. En este caso, el eje flexible y las porciones del asa deberan ser separables. Si son separables, la interfaz entre el extremo proximal del eje y el extremo distal de asa debera incluir unos medios de acoplamiento para los componentes motrices.
Especfficamente, con respecto a los componentes motrices del eje, dentro de la vaina elastomerica, se encuentran un par de tubos fijos mas pequenos en donde cada uno contiene un eje motriz flexible que es capaz de rotar dentro del tubo. El eje motriz flexible, en si mismo, tiene que ser capaz de trasladar un par motor desde el motor en el asa hasta el extremo distal del eje, mientras que sea flexible suficiente para doblarse, formar un angulo, curvarse, etc. Tal como el cirujano estime necesario "serpentear" a traves del colon del paciente. Por ejemplo, los ejes motrices pueden comprender un cable de fibra de acero tejida. Se reconocera que otros ejes podran ser adecuados para este fin. Con el fin para el extremo distal del eje motriz poderse acoplar a un accesorio, tal como el dispositivo de amordazado y grapado de la presente invenci6n (tal como se describe mas en su totalidad mas adelante), no obstante, las puntas distantes de los ejes motrices tienen que tener una conformaci6n que permita el traslado continuado del par motor. Por ejemplo, las puntas distales de los ejes motrices pueden ser hexagonales, acoplandose por tanto dentro de una hendidura hexagonal en la interfaz de acoplo del accesorio. Pueden proporcionarse unos mecanismos de engranajes apropiados en el extremo distal del eje, o bien en la porci6n de interfaz del accesorio, para asegurar que se proporciona al accesorio un par motor apropiado.
Tal como se ha sugerido anteriormente, en conjunci6n con los medios de direccion manualmente actualizable montado en el asa, la vaina ademas incluye al menos dos guias de cable que son flexibles, pero que estan acopladas a la superficie interior de la vaina cerca del extremo distal. Los cables de gufa pueden trasladarse axialmente entre si por la actuaci6n de los medios de direccion, cuya acci6n provoca que la vaina se doble y se curve en consecuencia.
asf mismo tal como se ha sugerido antes, en conjunci6n con el indicador LCD del asa, el eje contiene ademas un cable electrico para el acoplamiento en los accesorios. Este cable electrico canaliza una senal desde el accesorio en el asa para indicar el estado del accesorio (por ejemplo, si la funci6n de amordazado esta siendo retenida). De forma similar, un segundo cable electrico puede estar provisto a una energfa electrica para separar los aspectos del accesorio si asf fuera preciso (por ejemplo, tal como se describira mas en su totalidad con respecto a una realizaci6n del accesorio del grapado lineal, el uso de una junta hermetica acoplable electromagneticamente para asegurar el amordazado continuado a traves del proceso de grapado que puede proporcionarse y requerir energfa de la fuente de alimentaci6n del asa.
Mas en particular, con respecto al amordazado lineal y de grapado, el cual tiene varias realizaciones de potencial distintos, dos de las cuales estan descritas aquf como ejemplos, el accesorio esta montado con dos extensiones motrices, las cuales en la operaci6n funcionan como extensiones de los ejes motrices flexibles del accionador electromecanico. Es decir, cuando el accesorio esta acoplado al controlador electromecanico, las extensiones motrices estan en comunicaci6n mecanica con los ejes motrices flexibles, de forma que la activaci6n de los motores de ejes motrices activen las extensiones motrices dentro del amordazamiento lineal y el accesorio de grapado. En cada realizaci6n del accesorio, la primera extensi6n motriz habilita un mecanismo de amordazado lineal, mientras que la segunda extensi6n de control habilita un mecanismo de grapado. En una realizaci6n, le mecanismo de mordaza lineal comprende un sistema de tijeras por el cual la mordaza superior de pivotado de las tijeras esta fijada a la mordaza inferior fija de las tijeras encerrando una longitud de las tijeras al moverse desde el extremo abisagrado de las tijeras hacia el extremo de cierre de las tijeras. Las tijeras pueden des-amordazarse conforme el manguito retorna a su posici6n original. En esta realizaci6n, la primera extensi6n motriz mueve el manguito hacia delante o hacia atras, dependiendo de la direccion de giro del motor correspondiente en el controlador electromecanico.
En una segunda realizaci6n, el mecanismo de mordaza lineal comprende un sistema de mordazas separador por lo que la mordaza superior se eleva y subsiguientemente se baja para encontrarse con una mordaza inferior para realizar una mordaza. En esta realizaci6n, la primera extensi6n de control acopla un par de ejes verticales roscados que elevan o bajan la mordaza superior dependiendo de la direccion de giro del motor correspondiente en el controlador electromecanico.
En cada una de estas realizaciones, el mecanismo de grapado comprende una bandeja de grapas abiertas dentro de la mordaza inferior y un conjunto de guias de grapas correspondientes montadas en la mordaza superior, tal que cuando le mecanismo de fijaci6n lfnea esta en una posici6n cerrada, la grapa se abre inmediatamente en forma opuesta a las guias de las grapas. El mecanismo de grapado comprende ademas un sistema de presi6n de cuna por el cual una vez que el mecanismo de fijaci6n esta en una posici6n de cierre, una cuna que se desliza en un canal por debajo de la bandeja de las grapas abiertas es presionada a traves del canal. Conforme la cuna se mueve a traves del canal, una superficie en pendiente de la cuna presiona las grapas abiertas contra las guias correspondientes de la grapa, cerrando por tanto las grapas. Despues de que las grapas se hayan cerrado, la cuna es traccionada hacia atras por el canal. La segunda extensi6n motriz presi6n o tracciona la cuna a traves del canal, dependiendo de la direccion de giro del motor correspondiente en el controlador electromecanico, por el acoplo de un eje horizontal roscado sobre el cual se desliza la cuna que tiene un roscado interior de acoplo.
Los extremos distales de las mordazas de cierre lineales pueden incluir ademas un mecanismo de fijaci6n electromagnetica, que sirve para retener las puntas distales de las mordazas conjuntamente durante la etapa de grapado. Esto es lo preferido en tanto que la acci6n de control de las grapas ascienda contra las guias de las grapas de la mordaza superior, que pueden servir para abrir las mordazas. Ademas de ello, el mecanismo de fijaci6n electromagnetica pueden estar acoplado en comunicaci6n electrica con el mecanismo del indicador LCD en el asa (anteriormente descrito) de forma tal que el cirujano que opere el dispositivo puede tener conocimiento de cuando se cierren las mordazas y en donde el dispositivo se encuentre en una posici6n de control seguro de las grapas.
Con referencia ahora al accesorio de anastomosis y grapado, se describe una realizaci6n preferida de ahora en adelante, como un unico ejemplo de las distintas variaciones que podrfan construirse para el fin equivalente. Al igual que con los accesorios de grapado lineal anteriormente descrito, no obstante este ejemplo demuestra la aplicabilidad universal del controlador global electromecanico de la presente invenci6n. Este accesorio comprende una porci6n del yunque, y una grapa, cuchilla y porci6n del reservorio, que incluye un par de ejes motrices de giro que son acoplables a los componentes motrices del elemento del eje anteriormente descrito, y el par correspondiente de tuercas de avance y de retroceso montada en los ejes motrices de giro, pero en donde se impide que giren y avancen por tanto linealmente y se retraigan a lo largo de los ejes cuando giren.
La porci6n del yunque incluida es de forma de una bala, que tiene una porci6n superior de nariz roma, una superficie de soporte de corte plano en el fondo, y un poste de acoplo de giro libre que se extiende axialmente desde la superficie del fondo. Este poste de acoplo esta disenado para selectivamente se acoplable y desmontable de la tuerca correspondiente en uno de los ejes motrices de giro.
La grapa, cuchilla y porci6n del reservorio (porci6n SBR) es de forma cilfndrica, formando un armaz6n que tiene un interior hueco. Es este interior hueco, el que forma el reservorio. Sobre la superficie facial hacia el exterior axial de la pared cilfndrica del armaz6n se encuentran una serie de puertos de grapas, a traves de las cuales se descargan las grapas del dispositivo. Una serie de controladores de grapas estan montados dentro de las paredes cilfndricas, por debajo de los puertos de las grapas, para accionar las grapas a su traves. Mas precisamente, los controladores de las grapas son una serie de protuberancias del borde exterior de un componente cilindro unico que se asienta en la pared de la porci6n SBR. Las grapas, con antelaci6n a su descarga, estan montadas en los agujeros; y se avanzan por los agujeros por el movimiento hacia delante del controlador de las grapas y sus protuberancias. La cuchilla es similarmente cilfndrica, y se asienta en el interior del armaz6n, contra la superficie interna de la pared del mismo. Tanto la cuchilla como el controlador de las grapas estan montados en la segunda tuerca, que a su vez esta montada en el otro eje motriz de giro. Conforme el eje de control de giro gira, la tuerca (la cual esta restringida contra la rotaci6n) avanza linealmente la cuchilla y el controlador de grapas. La cuchilla y el controlador de grapas tienen por tanto ka funci6n de que avanzan selectiva y axialmente hacia fuera desde el armaz6n, de acuerdo con la actuaci6n del gatillo de disparo apropiado en el asa.
En una realizaci6n preferida, la porci6n del yunque y la porci6n SBR comprenden ademas un mecanismo sensor electromagnetico, acoplado a un indicador LCD del asa, cuyo sensor esta activado cuando las dos porciones se han aproximado entre si en la extensi6n necesaria para el disparo de la grapa en forma segura, por lo que el cirujano puede tener un conocimiento remoto del estado del accesorio dispuesto dentro del colon.
En la practica, este accesorio se utiliza una vez que la secci6n el colon que tiene que extraerse se ha reseccionado (pero antes de completar la fijaci6n lineal y la etapa de grapado) de la forma siguiente. El cirujano comienza por el acoplamiento de la anastomosis y el accesorio de grapado en el controlador electromecanico y haciendo avanzar la porci6n del yunque hasta su maxima extensi6n. El cabezal del yunque es entonces retirado e insertado en el extremo proximal abierto parcialmente. Tal como se ha descrito anteriormente, este extremo proximal es entonces suturado y cerrado. El cirujano avanza entonces el eje y la porci6n SBR del accesorio hasta el colon, hasta que se extienda por el extremo distal del colon. El cirujano entonces acopla el yunque a la tuerca de avance y retracci6n del eje motriz correspondiente. El disparo consiguiente del motor en el asa provoca que el yunque se retraiga hacia la porci6n SBR. Tal como se expuso anteriormente, en una realizaci6n preferida, la base del yunque y el borde exterior del armaz6n SBR comprenden un sensor electromagnetico que esta acoplado al indicador LCD del asa, permitiendo por tanto que el cirujano tenga conocimiento de cuando el yunque y el SBR estan suficientemente cerca para controlar la cuchilla y las grapas. La subsiguiente actuaci6n del otro gatillo en el asa provoca que el otro eje motor de giro pueda avanzar la cuchilla y el controlador de grapas en contacto con la cara opuesta del yunque. La cuchilla corta los extremos cerrados con grapas del colon, dejando el tejido que ha sido dividido en reservorio interior.
Simultaneamente con el corte, los extremos recien abiertos se unen conjuntamente por la serie de grapas que avanzan por los agujeros en el borde perimetral del SBR (presionados contra y cerrados por la cara opuesta del yunque). El accesorio y el eje flexible son entonces retirados del paciente.
Breve descripci6n de los dibujos:
La figura 1 es una vista lateral en perspectiva de un instrumento de amordazado y grapado lineales de la tecnica anterior.
La figura 2 es una vista en perspectiva lateral de un instrumento de anastomosis y grapado de la tecnica Antenor.
La figura 3 es una vista lateral de un asa y un eje flexible de la presente invenci6n, en donde las funciones internas de los elementos estan provistos con rayas de trazos.
La figura 4 es una vista lateral de una realizaci6n del accesorio de mordazas lineales y de grapado, que es un aspecto de la presente invenci6n, en donde las funciones internas de los elementos estan provistas en lfneas de trazos.
La figura 5 es una vista lateral de una segunda realizaci6n del accesorios de mordazas y grapados lineales, lo cual es un aspecto de la presente invenci6n, en donde las funciones internas de los elementos estan provistas con lfneas de trazos; y
La figura 6 es una vista en corte lateral de un accesorio de anastomosis y grapado que es tambien un aspecto de la presente invenci6n.
Descripci6n detallada de las realizaciones preferidas:
Aunque la presente invenci6n se describira mas en su totalidad de ahora en adelante con referencia a los dibujos adjuntos, en donde se muestran las realizaciones en particular, y con respecto a los metodos de la implantaci6n, se comprendera que al principio las personas especializadas en la tecnica podra modificar la invenci6n descrita mientras que se consiguen las funciones y los resultados de la invenci6n. En consecuencia, las descripciones que siguen se tienen que comprender como ilustrativas y a modo de ejemplo de las estructuras especfficas, aspectos y funciones dentro del amplio alcance de la presente invenci6n y no como limitaci6n de dicho amplio alcance. Los numeros iguales se refieren a las funciones similares de los elementos iguales en su totalidad.
Mas en particular, la presente invenci6n comprende tres componentes, los cuales son (1) un controlador electromecanico, (2) un accesorio de amordazamiento y de grapado, y (3) un accesorio de anastomosis y grapado, en donde los dos ultimos accesorios tienen una interfaz de acoplo disenada en forma comun que se une con el componente del controlador.
Con referencia ahora a la figura 3, con respecto al controlador 100 electromecanico, el controlador tiene una porci6n 102 del asa y una porci6n 104 del eje flexible. El asa 102 incluye una porci6n que tiene la forma con la cual es facilmente agarrada por el cirujano, por ejemplo, en la realizaci6n provista aquf el asa comprende una porci6n 106 de tipo de pistola de agarre. L porci6n de agarre 106 incluye al menos dos, y en la realizaci6n presente exactamente dos, disparos 108a, 108b accionables por dedos independientes. Los gatillos de disparo 108a, 108b estan acoplados independientemente a los motores separados 110, 112, albergados dentro del volumen interior del asa
100. Cada motor 110, 112 hacen que gire un eje motriz flexible (descrito mas en su totalidad de ahora en adelante).
Mas en particular, con respecto a los motores 110, 112, cada uno es un motor de direccion doble. Ademas de estar acoplados al conmutador accionable con los dedos, los motores estan tambien acoplados por separado a una fuente de energfa 114 (la cual es una fuente comun en la presente realizaci6n) y un conmutador 116 de control manual. El conmutador 116 manual esta provisto en la parte superior del asa 100, tal que el cirujano pueda alterar selectivamente la direccion de giro de cada motor. En la realizaci6n preferida, la fuente de energfa 114 que alimenta a los motores 110, 112 es un paquete de baterfas recargables de corriente continua desmontable. Se comprendera que fuentes alternativas de energfa, incluyendo las fuentes de corriente continua dobles o bien fuentes de energfa de corriente alterna remotas (tal como la corriente alterna proporcionada por las tomas de pared de los Estados Unidos de 120 voltios, 60 Hertzios) que puede utilizarse en conjunci6n con las realizaciones alternativas. En el caso que el dispositivo controlador deba ser utilizable con una corriente alterna, puede incluirse un transformador entre el motor y la fuente de alimentaci6n, o bien un conjunto intermedio mas sofisticado entre el motor y el eje motriz de giro ampliado.
Ademas de los motores 110,112 los componentes y la energfa relacionada y los elementos de conmutaci6n, el asa 100 ademas incluye: (1) un indicador de estado remoto 118 y el circuito electrico asociado 120; y (2) unos medios de direccion manual para hacer que el movimiento remoto de la punta distal del eje 122 del eje motriz. Primeramente con respecto al indicado de estado remoto 118, en la presente realizaci6n, los medios del indicador comprenden un LCD montado en la parte superior del asa. Se comprendera que puede conseguirse una funci6n equivalente por el montaje de una alarma audible, o bien otro mecanismo de simulaci6n de un sensor sencillo en el asa. El indicador de estado 118 esta acoplado a un circuito que se extiende a lo largo del eje, y que se acopla a un correspondiente circuito electrico en el accesorio seleccionado (veanse las figuras 4-6). La disposici6n del accesorio, por ejemplo en una posici6n cerrada o abierta, esta asociada con el circuito en el accesorio que esta en un estado de circuito abierto
o circuito cerrado. El estado de circuito cerrado provoca que el indicador LCD de estado remoto pueda encenderse, mientras que el estado de circuito abierto provoca que se apague el LCD.
En segundo lugar, el asa incluye tambien unos medios de direccion accionable de forma manual, que en la presente realizaci6n comprende una bola de seguimiento 124, acoplada a una pluralidad de cables de gufa 126. Los cables de gufa 126 se extienden a lo largo de la porci6n 122 del eje flexible (descrito mas en su totalidad de ahora en adelante) y que estan acoplados a la punta del eje 122. Cuando se hace girar la bola de seguimiento, los cables de gufa 126 son traccionados, y la punta del eje gira en la forma correspondiente.
Mas en particular con respecto al eje flexible 122, el eje comprende una vaina tubular 128 que esta formada por un material elastomerico sencillo de tejido compatible. Conforme este dispositivo se reutiliza, es importante que el material sea esterilizable) es decir que sea suficientemente rudo para poder soportar un autoclave). Aunque la realizaci6n ilustrada comprende un asa contigua 100 y un eje 122, se comprendera que el tecnico que tenga una especialidad ordinaria en la tecnica podra proporcionar una realizaci6n alternativa que tenga un asa y un eje independientes, permitiendo asf unas longitudes del eje alternativas para fines alternativos. En tales casos, el eje flexible 122 y el asa 100 deberan incluir una interfaz entre el extremo proximal del eje y el extremo distal del asa, que deberan incluir unos medios de acoplamiento para los componentes de control.
Especfficamente con respecto a los componentes motrices 130a, 130b del eje 122, dentro de la vaina elastomerica 128 se encuentran un par de tubos fijos mas pequenos 134a, 134b, los cuales contienen un eje motor flexible 136a, 136b, los cuales son capaces de girar dentro del tubo correspondiente 134a, 134b. El eje motriz flexible 122 en si mismo tiene que ser capaz de trasladar un par motor desde el motor en el asa al extremo distal 138a, 138b del eje 122, mientras que este siendo flexible en forma suficiente para doblarse, adoptar un angulo, curvarse, etc., conforme el cirujano estime necesario el "serpentear" a traves del colon del paciente. Por ejemplo, los ejes motores pueden comprender un cable de fibra de acero hilado, un material polimetrico de alta resistencia a la tracci6n, o bien un eje de metal unitario suficientemente flexible.
Con el fin de que los extremos distales 138a, 138b de los ejes motrices 136a, 136b se acoplen a un accesorio, tal como el dispositivo de mordaza y grapado de la presente invenci6n (veanse las figuras 4 y 5), las puntas distales 138a, 138b de los ejes motrices tienen que tener una conformaci6n que permita la traslaci6n continuada del par motor. En la presente realizaci6n, este acoplamiento se consigue por un accesorio geometrico y de mayor precisi6n, las puntas distales de los ejes motrices son hexagonales, y encajan dentro de unas hendiduras hexagonales en la interfaz de acoplamiento para el accesorio.
En una realizaci6n preferida, el accesorio y el extremo distal del eje deberan incluir un collar, o bien otros medios de alineaci6n, para facilitar el montaje del accesorio sobre el extremo distal del eje.
Ademas de ello, la punta del eje incluye los extremos distales del circuito 120 que esta acoplado al LCD 118.
Con referencia ahora a las figuras 4 y 5, se muestran dos accesorios alternativos de mordaza y grapado lineales de acuerdo con la presente invenci6n. El primer mecanismo de mordaza lineal, que se muestra en la figura 4, comprende un sistema de mordazas independiente con una mordaza inferior 150 y una mordaza superior 152 y un miembro 154 de interfaz proximal. Este miembro 154 del extremo proximal incluye dos receptaculos de forma hexagonal 156a, 156b dentro de los cuales las puntas distales 138a, 138b de los ejes motrices se acoplan al dispositivo motriz. Cada uno de los receptaculos esta formado en el extremo de un eje de giro horizontal correspondiente 158a, 158b. El eje 158a de giro horizontal superior esta acoplado por los medios de un miembro de engranajes transversales, a un eje 160 vertical roscado que se extiende a traves de un conducto 162 roscado de la mordaza superior 152. La mordaza superior 152 tiene unos medios 166 de acoplamiento de pista que se corresponde y se acopla a una pista lineal 168 formada en el lado del miembro 154 del extremo del interfaz, el cual es opuesto a los receptaculos 156a, 156b de acoplo del controlador. El giro subsiguiente del eje de giro 158a horizontal superior provoca el giro vertical del eje 160. Conforme gira este eje 160, la mordaza superior 152 se eleva y desciende dentro de la pista del miembro extremo 154.
El eje 158b inferior de giro horizontal se extiende a traves de la mordaza inferior 150, la cual a su vez esta fijada en el miembro 154 del extremo proximal. Montado alrededor de este eje 158b de extensi6n axial es un mecanismo 166 de cuna que incluye un conducto roscado. Este miembro roscado 166 esta bloqueado dentro de una pista 167, que previene que el miembro 166 pueda rotar cuando gire el eje 158b. En su lugar, el miembro de cuna 166 discurre linealmente a lo largo de la pista 167 y a lo largo del roscado del eje 158b. Montado dentro de una hendidura 168 en la cara de la mordaza inferior 150 que se opone a la mordaza superior 152, directamente por encima del miembro de cuna 166 se encuentra una bandeja reemplazable de grapas. El controlador de cuna tiene una superficie 172 frontal en pendiente, la cual hace contacto con la grapa 174 y provoca su accionamiento hacia arriba de la bandeja 170. Cuando la mordaza superior 152 esta en la cercana proximidad de la mordaza inferior 150, las grapas se cierran cuando contactan con la cara opuesta de la mordaza superior 152 (por la acci6n de las hendiduras 176 de la gufa de cierre de la grapa aquf formada).
En la punta distal de las mordazas superior e inferior se encuentran dos sensores magneticos opuestos 178a, 178b, acoplados a un componente del circuito que se acopla con los extremos distales del indicador LCD 118 del circuito
120. Cuando las mordazas entran conjuntamente, el circuito se cierra y se enciende el indicador LCD, indicando que las grapas pueden dispararse con seguridad.
Durante la operaci6n, el cirujano corta el tubo del colon en ambos lados del tejido canceroso, creando por tanto dos extremos del intestino. El cirujano utiliza el accesorio de mordaza y grapado para grapar temporalmente los extremos opuestos. Mas en particular, el accesorio de mordaza y grapado lineal se acoplan al extremo distal del eje motriz. Mediante el accionamiento manual de un gatillo de disparo (el que provoca la rotaci6n del eje superior 136a) la mordaza superior 152 se abre con respecto a la mordaza inferior 150. El extremo abierto del colon es entonces colocado entre las mordazas 150, 152 y las mordazas se cierran por la conmutaci6n de la direccion motriz para el eje superior 136a y accionando la mordaza superior en la direccion opuesta. Las mordazas por tanto se cierran en el extremo del colon. En este instante se enciende el indicador LCD 118 en el asa, indicando que las grapas pueden avanzar con seguridad.
Disparando el segundo eje 136b en rotaci6n se provoca que el controlador de cuna 166 se deslice a lo largo de la pista 167 en la mordaza inferior 150. Esto acciona las grapas 174 a traves del extremo del colon y las cierra contra las hendiduras 176 de gufa de cierre de las grapas. Las mordazas se reabren entonces y el controlador de cuna 166 es retrafdo dentro de la mordaza inferior 150, reemplazando la bandeja 170 de las grapas 174, y el proceso se repite para el otro extremo abierto del colon.
Con referencia ahora a la figura 5, se describe la segunda realizaci6n 180 del amordazado lineal y el accesorio de grapado de la presente invenci6n. En la presente invenci6n, la interfaz de acoplamiento 154 es equivalente ampliamente a la primera realizaci6n en tanto que los extremos hexagonales de la porci6n del eje se inserten dentro de los extremos del receptaculo correspondiente 156a, 156b del accesorio. Al igual que antes, los ejes del componente del controlador giran los miembros de rotaci6n dentro del accesorio. En esta realizaci6n, no obstante, ambos miembros de giro 158a, 158b son horizontales. Montada en el miembro de interfaz del eje se encuentra una mordaza inferior fija 150, y una mordaza 152 superior m6vil. En esta realizaci6n, la mordaza superior 152 esta montada en la mordaza 150 inferior por los medios de un pivote cargado con un resorte, que presiona la mordaza superior en una disposici6n abierta con respecto a la mordaza inferior. Montado en el eje de giro superior, sin embargo, se encuentra un manguito 187 de seguimiento lineal, el cual se asienta alrededor de la mordaza superior e inferior, cuyo avance provoca que las mordazas entren en contacto en forma conjunta. La mordaza inferior incluye exactamente la misma hendidura 174 de la bandeja 174 de las grapas, y esta roscada linealmente mediante el mecanismo 166 de presi6n de las grapas accionadas linealmente. asf mismo, el sensor electromagnetico y el circuito de la primera realizaci6n esta incluido para indicar al cirujano el instante en que la secci6n del colon haya sido grapada totalmente, y en donde se accionaran las grapas.
Mas en particular, despues de que el cirujano haya reseccionado la porci6n enferma del colon, el extremo del colon se coloca entre las mordazas del accesorio. Mediante la actuaci6n del primer gatillo de disparo (y accionando el eje superior), el miembro 187 del manguito avanza axialmente a lo largo del exterior de las mordazas superior e inferior 150, 152, cerrando asf la mordaza superior sobre el colon y la mordaza inferior. Una vez cerrado totalmente, el circuito del sensor electromagnetico indicara al cirujano que las grapas pueden dispararse, y en la forma correspondiente, la actuaci6n del segundo gatillo de disparo provocara que el controlador de la cuna pueda avanzar y controlar las grapas a traves de la secci6n del colon. La polarizaci6n inversa del motor para el eje de giro superior provoca que el manguito se retraiga y que se abra la mordaza superior, liberando asf el extremo del colon ahora sellado.
Con referencia ahora a la figura 6, se describe ahora una realizaci6n preferida del accesorio de anastomosis y grapado 200. Este accesorio comprende una porci6n del yunque 202, y una grapa, cuchilla y una porci6n del reservorio (SBR) 204, que incluye un par de ejes motrices de giro 206a, 206b, los cuales son acoplables a los componentes motrices 136a, 136b del componente motriz descrito anteriormente con referencia a la figura 3, y el par correspondiente de avance y retracci6n 208a, 208b montados dentro de las pistas y para el giro de los ejes motrices, previniendo asf la rotaci6n y por tanto el avance y retracci6n lineal a lo largo de los ejes 206a, 206b al girar los mismos. Mas en particular, la base de la porci6n SBR 204 incluye una interfaz de acoplamiento 203 que incluye un par de hendiduras hexagonales 205a, 205b, formadas en las bases de los ejes de giro roscados 206a, 206b.
La porci6n del yunque 202 es de forma de una bala, que tiene una porci6n 210 superior de nariz roma, una superficie 212 de soporte de corte del fondo, y un poste de acoplo 214 que se extiende axialmente desde la superficie del fondo. Este poste de acoplo 214 se monta en el primer miembro de avance y retracci6n 208a, el cual esta montado dentro de una pista lineal , por lo que la rotaci6n del eje 206a provoca que el miembro 208a y el yunque 202 acoplados puedan moverse axialmente pero no en forma rotacional. La grapa, cuchilla, y la porci6n del reservorio (SBR) 204 son de forma cilfndrica, formando un armaz6n que tiene un interior hueco 216. Es este interior hueco el que forma el reservorio. En la superficie 218 enfrentada hacia fuera axialmente de la pared cilfndrica 220 del armaz6n se encuentra una serie de puertos de grapas, a traves de las cuales las grapas 224 de los dispositivos se descargan. La cuchilla unitaria y el componente 226 del controlador de grapas 226 cilfndrico estan asentados dentro del armaz6n. Mas en particular, los componentes de la cuchilla y de las grapas comprenden un unico elemento que tiene dos porciones cilfndricas concentricas. La porci6n de la cuchilla 228 se asienta dentro del interior hueco 216, contra la pared interior 230. La porci6n 232 del controlador de grapas se asienta dentro de la pared 230 de la porci6n SBR, e incluye una serie de protuberancias que se proyectan hacia fuera, que presionan contra las grapas montadas dentro de los puertos de las grapas.
La cuchilla 228 y las porciones 232 del controlador de grapas estan acoplados en el extremo interior de un miembro roscado 208b que se asienta alrededor del eje de giro 206b. El miembro roscado 208b esta restringido dentro de una pista lineal de forma que la cuchilla y el controlador de grapas avancen linealmente con la rotaci6n del eje de giro 206b.
Ademas de ello, el yunque 202 y las porciones SBR 204 comprende cada una los respectivos componentes 240a, 240b del circuito del sensor electromagnetico, el cual se acopla al indicador LCD 118 en el asa.
5 En la practica, este accesorio se utiliza de la siguiente forma, una vez que la secci6n del colon que se tenga que extraer haya sido reseccionada y grapada. El cirujano comienza por el acoplo del accesorio de anastomosis y grapado 200 al controlador electromecanico y avanzando la porci6n del yunque 202 hasta su extensi6n maxima. El cabezal del yunque 202, y desacoplandose entonces del primer miembro 208 de avance y retracci6n insertandose en el extremo proximal expuesto. Tal como se ha descrito anteriormente, el extremo proximal grapado del intestino
10 se abre entonces parcialmente e insertando el cabeza del yunque. El intestino es entonces cerrado y suturado. El cirujano avanza entonces el eje 206a y la porci6n SBR 204 del accesorio hasta que la unidad del colon se extiende a traves del extremo distal grapado del colon. (Alternativamente, el cirujano puede entonces avanzar solo el eje flexible hasta el colon y acoplando entonces la porci6n SBR al extremo distal una vez que emerja desde el extremo distal del intestino). El cirujano entonces acopla el yunque 202 al miembro 208a de avanza y retracci6n del
15 correspondiente eje motriz 136a por la rotaci6n del correspondiente eje motriz 136a. La polarizacion y disparo inverso subsiguiente del mismo motor en el asa 100 provoca que el yunque 100 haga que el yunque 202 se retraiga hacia la porci6n SBR 204. Una vez que los sensores electromagneticos 240a, 240b montados en la superficie inferior del yunque 202 y el borde exterior del armaz6n SBR entren en una proximidad suficiente para cerrar el circuito 120 del indicador LCD, la unidad LCD se enciende sobre el asa. Esto senaliza al cirujano para que dispare
20 los segundos ejes 136b y 206b en rotaci6n, y avanzando el controlador de las grapas, cuchilla y las grapas simultaneamente. La cuchilla corta los extremos cerrados grapados del colon, dejando el tejido que se haya cortado en el reservorio interior. Simultaneamente con el corte, los extremos recien abiertos se unen conjuntamente por la serie de grapas que se hacen avanzar a traves de los agujeros en el borde perimetral del SBR (presionandose contra y cerrandose por la cara opuesta del yunque). El accesorio y el eje flexible son entonces retirados del
25 paciente.
Aunque se han descrito e ilustrado nuevos mecanismos de controladores electromagneticos para su utilizaci6n con los accesorios quirurgicos tales como el amordazado y el grapado y un accesorio de anastomosis y grapado, sera evidente para el personal especializado en la tecnica que son posibles variaciones y modificaciones sin desviarse del principio de la presente invenci6n que se limitara solo por el alcance de las reivindicaciones adjuntas.
Claims (10)
- REIVINDICACIONES1. Accesorios quirurgicos (180, 200) que tienen cada uno funciones distintas y teniendo unos miembros de giro (158a, 158b, 206a, 206b) en los mismos, y un conjunto de controlador electromecanico (100) para controlar remotamente los accesorios quirurgicos (180, 200), en donde el conjunto (180, 200) del5 controlador electromecanico comprende:un eje (122) que incluye al menos dos miembros rotativos axiales (136a, 136b) dispuestos dentro de una vaina (128),al menos dos miembros mencionados rotatorios axiales (136a, 136b) que tienen unos extremos distales y proximales,10 al menos dos mencionados miembros rotativos (136a, 136b) siendo capaces de transmitir un par motor aplicado al extremo proximal de los mismos, a lo largo del mencionado extremo distal del mismo,en donde los mencionados extremos distales incluyen unos medios para el acoplamiento y transferencia del par motor a los mencionados miembros de giro correspondientes (158a, 158b, 206a, 206b) de los mencionados accesorios quirurgicos (136a, 136b); y15 una porci6n de asa (102) que incluye:en la forma correspondiente al menos dos motores acoplables selectivamente (110, 112) acoplados a los correspondientes de los mencionados al menos dos miembros rotativos axialmente (136a, 136b) del mencionado eje (122), por lo que el acoplo selectivo de cualquiera al menos de los dos motores (110, 112) provoca que gire el correspondiente de los miembros rotativos axialmente (136a, 136b), transmitiendo asf20 un par motor a un miembro de giro correspondiente (158a, 158b, 206a, 206b) de los accesorios quirurgicos (180, 200),en donde los accesorios quirurgicos (180, 200) tienen cada uno una interfaz de acoplo disenada en forma comun (154, 203) que esta adaptada para unirse con el controlador electromecanico (100), y en donde el controlador electromecanico (100) puede ser reutilizado para accionar las distintas funciones de cada25 accesorio (180, 200), de forma tal que las distintas funciones de los accesorios (180, 200) sean especfficas solo para los accesorios (180, 200).
- 2. Los elementos quirurgicos (180, 200) y el conjunto de controlador electromecanico (100) tal como se ha expuesto en la reivindicaci6n 1, en donde la porci6n del asa (102) incluye ademas una fuente de alimentaci6n (114) acoplada a los mencionados al menos dos motores (110, 112) para el accionamiento30 independiente de los mismos.
-
- 3.
- Los accesorios quirurgicos (180, 200) y el conjunto del controlador electromecanico (100) tal como se ha expuesto en la reivindicaci6n 2, en donde la fuente de alimentaci6n (114) es una fuente de corriente continua.
-
- 4.
- Los accesorios quirurgicos (180, 200) y el conjunto del controlador electromecanico (100) tal como se ha
35 expuesto en la reivindicaci6n 2, en donde el mencionado acoplamiento de los mencionados motores (110, 112) a la mencionada fuente de alimentaci6n (114) es reversible, de forma que los motores (110, 112) puedan polarizarse en forma inversa, accionando los motores por tanto (110, 112) en la direccion rotacional opuesta al polarizarse de esta forma. - 5. Los accesorios quirurgicos (180, 200) y el conjunto (100) del controlador electromecanico tal como se ha40 expuesto en la reivindicaci6n 4, incluyendo ademas un conmutador accionable manualmente (116) el cual esta acoplado a la mencionada fuente de alimentaci6n (114), provocando por tanto selectivamente que los motores (110, 112) giren en la direccion opuesta.
- 6. Los accesorios quirurgicos (180, 200) y el conjunto (100) del controlador electromecanico (100) tal como se ha expuesto en cualquiera de las reivindicaciones anteriores, incluyendo ademas un circuito electrico45 incompleto (120) y unos medios indicadores (118) acoplados, cuyo circuito electrico incompleto (120) es acoplable a un circuito incompleto correspondiente (178a, 178b, 240a, 240b) en los mencionados accesorios (180, 200) para proporcionar un circuito electrico combinado, por lo que los mencionados medios indicadores (118) pueden indicar la disposici6n de una porci6n de los mencionados accesorios (180, 200) por la indicaci6n del estado del circuito electrico combinado.
- 50 7. Los accesorios quirurgicos (180, 200) y un conjunto (100) de controlador electromecanico tal como se ha expuesto en la reivindicaci6n 6, en donde los medios indicadores (118) comprenden un LCD.
- 8. Los instrumentos quirurgicos (180, 200) y un conjunto de controlador electromecanico de cualquiera de las reivindicaciones anteriores, en donde el eje (122) y los miembros rotativos axialmente (136a, 136b) son flexibles.
- 55 9. Los accesorios quirurgicos (180, 200) y un conjunto de controlador electromecanico (100) tal como se ha expuesto en la reivindicaci6n 8, en donde el eje (122) incluye ademas al menos un cable de gufa (126) acoplado en un extremo distal a una superficie interior de la mencionada vaina (128), y en donde la porci6n
del asa (102) incluye ademas unos medios de direcci6n (124) a los cuales el mencionado cable de gufa(126) esta acoplado, y pudiendo moverse por la actuaci6n de los medios de direccion (124) el mencionado eje (122). - 10. Los accesorios quirurgicos (180, 200) y el conjunto (100) del controlador electromecanico tal como se ha5 expuesto en la reivindicaci6n 1, en donde los mencionados medios son de forma hexagonal, y en donde los miembros de giro (158a, 158b, 206a, 206b) de los accesorios quirurgicos (180, 200) incluyen unos receptaculos hexagonales correspondientes, de forma que los miembros rotatorios (136a, 136b) puedan acoplar y transmitir un par motor a los correspondientes miembros de giro (158a, 158b, 206a, 206b) de los accesorios quirurgicos por una encaje de interferencia con los mencionados miembros de giro (158a, 158b,10 206a, 206b).
- 11. Los accesorios quirurgicos (180, 200) y el conjunto (100) del controlador electromagnetico de cualquiera de las reivindicaciones anteriores, en donde uno de los accesorios quirurgicos (180, 200) es un accesorio de grapado y fijaci6n lineal que incluye:un par de mordazas opuestas (150, 152) las cuales son selectivamente separables y cerradles de acuerdo 15 con la rotaci6n de uno de al menos dos miembros de giro (158a, 158b, 206a, 206b), yuna pluralidad de grapas (174) y un mecanismo (166) del controlador de grapas, en donde el mencionado mecanismo del controlador de grapas (166) esta acoplado selectivamente en la relaci6n de control de las grapas a un segundo miembro de al menos dos miembros de giro (158a, 158b, 206a, 206b).
- 12. Los accesorios quirurgicos (180, 200) y un conjunto (100) del controlador electromagnetico de cualquiera20 de las reivindicaciones anteriores, en donde (otro) uno de los accesorios quirurgicos (180, 200) es un accesorio de anastomosis y de grapado que incluyeuna porci6n de yunque (202) que es selectivamente avanzable y retractil de acuerdo con la rotaci6n de uno al menos de dos miembros de giro (136a, 136b), yuna porci6n de armaz6n de cuchilla y grapa (204), acoplable selectivamente a la mencionada porci6n del25 yunque (202), cuya porci6n del armaz6n (204) incluye ademas un conjunto de cuchilla y de grapa (226), que esta acoplado a un segundo miembro de al menos dos miembros de giro (136a, 136b) tal que la actuaci6n selectiva del mencionado segundo miembro (136b) provoca que la mencionada cuchilla y el mencionado controlador de grapas avance fuera del alojamiento (204) y hacia la porci6n (202) del yunque.
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-
1999
- 1999-06-02 US US09/324,452 patent/US6443973B1/en not_active Expired - Lifetime
-
2000
- 2000-06-02 EP EP10010188.0A patent/EP2298189B1/en not_active Expired - Lifetime
- 2000-06-02 EP EP10010187.2A patent/EP2292156A3/en not_active Withdrawn
- 2000-06-02 EP EP10010186.4A patent/EP2732774B1/en not_active Expired - Lifetime
- 2000-06-02 KR KR1020017015511A patent/KR100778729B1/ko not_active IP Right Cessation
- 2000-06-02 WO PCT/US2000/015311 patent/WO2000072765A1/en active Application Filing
- 2000-06-02 AT AT00939537T patent/ATE476921T1/de not_active IP Right Cessation
- 2000-06-02 ES ES10010188.0T patent/ES2545233T3/es not_active Expired - Lifetime
- 2000-06-02 EP EP10003726A patent/EP2215978B1/en not_active Expired - Lifetime
- 2000-06-02 AU AU54612/00A patent/AU5461200A/en not_active Abandoned
- 2000-06-02 ES ES00939537T patent/ES2347131T3/es not_active Expired - Lifetime
- 2000-06-02 EP EP00939537A patent/EP1191883B1/en not_active Expired - Lifetime
- 2000-06-02 AT AT10003726T patent/ATE525965T1/de not_active IP Right Cessation
- 2000-06-02 ES ES10003726T patent/ES2373780T3/es not_active Expired - Lifetime
- 2000-06-02 JP JP2000620880A patent/JP4310509B2/ja not_active Expired - Lifetime
- 2000-06-02 DE DE60044815T patent/DE60044815D1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP2298189A3 (en) | 2013-09-11 |
AU5461200A (en) | 2000-12-18 |
EP2298189A2 (en) | 2011-03-23 |
EP2292156A3 (en) | 2014-04-16 |
ES2545233T3 (es) | 2015-09-09 |
ES2347131T3 (es) | 2010-10-26 |
EP2732774A1 (en) | 2014-05-21 |
KR20020036782A (ko) | 2002-05-16 |
EP1191883B1 (en) | 2010-08-11 |
DE60044815D1 (de) | 2010-09-23 |
EP2292156A2 (en) | 2011-03-09 |
EP2215978B1 (en) | 2011-09-28 |
KR100778729B1 (ko) | 2007-11-27 |
EP2298189B1 (en) | 2015-07-29 |
US6443973B1 (en) | 2002-09-03 |
EP2215978A1 (en) | 2010-08-11 |
EP1191883A4 (en) | 2006-05-31 |
ATE525965T1 (de) | 2011-10-15 |
WO2000072765A1 (en) | 2000-12-07 |
JP4310509B2 (ja) | 2009-08-12 |
EP2732774B1 (en) | 2019-04-10 |
ATE476921T1 (de) | 2010-08-15 |
JP2003500153A (ja) | 2003-01-07 |
EP1191883A1 (en) | 2002-04-03 |
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