MX2007000385A - Instrumento quirurgico que tiene un efector de extremo articulable. - Google Patents
Instrumento quirurgico que tiene un efector de extremo articulable.Info
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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
- 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
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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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- 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
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
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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
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
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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
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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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
- A61B17/32—Surgical cutting instruments
- A61B2017/320052—Guides for cutting instruments
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Abstract
Se muestra un instrumento quirúrgico articulable, que comprende una flecha y un efector de extremo; la flecha tiene un eje longitudinal, y el efector de extremo es acoplado operacionalmente, de preferencia acoplado mecánicamente, a la flecha en un pivote de articulación; el instrumento comprende también una primera banda, y en algunas modalidades, una segunda banda, cada una conectada operacionalmente al efector de extremo, y extendiéndose a través de por lo menos una porción de la flecha; un control de articulación aplica una fuerza en una dirección sustancialmente transversal al eje longitudinal, en donde la fuerza, cuando se aplica en una dirección, es trasladada a través de la primera banda hacia el efector de extremo para efectuar rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una primera dirección rotacional, y cuando la fuerza es aplicada en la dirección opuesta, es trasladada a través de la segunda banda hacia el efector de extremo para efectuar rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una segunda dirección rotacional.
Description
INSTRUMENTO QUIRURGICO QUE TIENE UN EFECTOR DE EXTREMO ARTICULABLE
CAMPO DE LA INVENCION
La presente invención se refiere en general a instrumentos quirúrgicos, más particularmente a instrumentos quirúrgicos mínimamente invasivos que tienen un efector de extremo articulabie.
ANTECEDENTES DE LA INVENCION
Los instrumentos quirúrgicos endoscópicos y otros instrumentos quirúrgicos mínimamente invasivos incluyen típicamente un efector de extremo posicionado en el extremo distal de una flecha alargada, y un mango en el extremo proximal de la flecha alargada que permite que un médico clínico manipule el efector de extremo. En uso, el efector de extremo es provisto hacia un sitio quirúrgico a través de una cánula de un trocar. En el sitio quirúrgico, el efector de extremo engrana tejido en cualquier número de formas para lograr un efecto de diagnóstico o terapéutico. Los instrumentos quirúrgicos endoscópicos se prefieren con frecuencia sobre los instrumentos quirúrgicos abiertos tradicionales, debido a que requieren incisiones más pequeñas que sanan en general con menos tiempo de recuperación postoperatorio que las incisiones tradicionales de cirugía abierta. Debido a este y otros beneficios de la cirugía endoscópica, el desarrollo significativo ha ido en una gama de instrumentos quirúrgicos endoscópicos que tienen efectores de extremo que engranan tejido para lograr muchas tareas quirúrgicas. Por ejemplo, se han desarrollado efectores de extremo que actúan como endocuchillas, asidores, cuchillas, engrapadoras, aplicadores de clips, dispositivos de acceso, dispositivos de suministro de terapia génica/fármacos, dispositivos de energía ultrasónica, RF o láser, y otros instrumentos quirúrgicos. Las figuras 1 y 2 muestran un ejemplo de instrumento quirúrgico y de engrapado 10 de la técnica anterior, que incluye un efector de extremo 12 configurado como una endocuchilla para sujetar, separar y engrapar tejido, por ejemplo, como se describe en la publicación de la solicitud de E.U.A. No. 2004/0232196 A1 , cuya descripción se incorpora en su totalidad en la presente como referencia. El instrumento de separación y engrapado quirúrgico 10 incluye una porción de mango 20 conectada a una porción de implemento 22, la última comprendiendo además una flecha 23 que termina distalmente en el efector de extremo 12. La porción de mango 20 incluye un mango de pistola 24 hacia el cual un gatillo de cierre 26 es movido sobre pivote por el médico clínico para causar la sujeción, o el cierre, del yunque 18 hacia el canal alargado 16 del efector de extremo 12. Un gatillo de disparo 28 está más distante exterior del gatillo de cierre 26, y es movido sobre pivote por el médico clínico para causar el engrapado y la separación del tejido sujeto en el efector de extremo 12.
El gatillo de cierre 26 es accionado primero. Una vez que el médico clínico queda satisfecho con el posicionamiento del efector de extremo 1 2, el médico clínico puede hacer retroceder el gatillo de cierre 26 hacia su posición trabada completamente cerrada próxima al mango de pistola 24. Entonces, el gatillo de disparo 28 es accionado. El gatillo de disparo 28 regresa elásticamente cuando el médico clínico remueve la presión. Un botón de liberación 30 cuando es oprimido sobre el extremo proximal de la porción de mango 20, libera cualquier gatillo de cierre 26 trabado. Un manguito de cierre 32 encierra un sistema articulado 34, el cual a su vez encierra un miembro accionador de disparo 36 que es posicionado por el gatillo de disparo 28. El sistema articulado 34 conecta la porción de mango 20 al efector de extremo 12. Con el manguito de cierre 32 separado proximalmente por el gatillo de cierre 26 como se muestra, el yunque 18 se abre, girando sobre un eje lejos del canal alargado 16, y trasladándose proximalmente con el manguito de cierre 32. El canal alargado 16 recibe un cartucho de grapas 37. Con referencia particular a la figura 2, la barra de disparo 14 incluye tres pasadores espaciados verticalmente que controlan el espaciamiento del efector de extremo 12 durante el disparo. En particular, un pasador superior 38 es montado para formar parte de una cavidad de yunque 40 cerca de pivote entre el yunque 18 y el canal alargado 16. Cuando disparado con el yunque 18 cerrado, el pasador superior 18 avanza distalmente dentro de una ranura de yunque longitudinal 42 que se extiende distalmente a través del yunque 18. Cualquier deflexión ascendente menor en el yunque 18, es superada por una fuerza descendente impartida por el pasador superior 38. La barra de disparo 14 incluye también un pasador más inferior, o tapa de barra de disparo 44 que engrana hacia arriba una ranura de canal 45 en el canal alargado 16, cooperando de esta manera con el pasador superior 38 para mover el yunque 18 y el canal alargado 16 ligeramente más cerca juntos en caso de exceso de tejido sujeto entre los mismos. La barra de disparo 14 incluye en forma ventajosa un pasador intermedio 46 que pasa a través de una ranura accionadora de disparo 47 formada en una superficie inferior del cartucho 37 y una superficie hacia arriba del canal alargado 16, llevando de esta manera las grapas en el mismo como se describe más adelante. El pasador intermedio 46, deslizándose contra la superficie inferior del cartucho 37, resiste en forma ventajosa cualquier tendencia para que el efector de extremo 12 sea apretado cerrado en su extremo distal. Un borde de corte 48 presentado distalmente entre los pasadores superior e intermedio 38, 46 sobre la barra de disparo 14, atraviesa a través del cartucho 37 para separar el tejido sujeto. El posicionamiento afirmativo de la barra de disparo 14 con respecto al canal alargado 16 y el yunque 18, asegura que se realice un corte efectivo. El espaciamiento vertical afirmativo provisto por la barra de disparo de brazo de ejecución 14, es adecuado para el tamaño limitado disponible para los dispositivos endoscopicos. Además, la barra de disparo de brazo de ejecución 14 permite la fabricación de un yunque 18 con una comba que imparte una deflexión vertical en su extremo distal. Este yunque encorvado 18 ayuda en forma ventajosa a lograr el espacio deseado en el efector de extremo 12 incluso con un yunque 18 de grosor reducido, el cual es de esta manera más adecuado para las limitaciones de tamaño de un dispositivo endoscópico. La barra de disparo de brazo de ejecución 14 permite además aplicaciones incrementadas, especialmente en combinación con una gama de configuraciones de cartuchos de grapas. Por ejemplo, un médico clínico puede seleccionar un cartucho de grapas gris que dé un espacio de tejido de 0.02 mm, un cartucho de grapas blanco que dé un espacio de tejido de 0.04 mm, un cartucho azul que dé un espacio de tejido de 0.06 mm, o un cartucho verde que dé un espacio de tejido de 0.10 mm. La altura vertical de cada cartucho de grapas respectivo en combinación con la longitud de las grapas y un trineo en cuña integral 50, predetermina este espesor de tejido deseado con el yunque 18 adecuadamente espaciado verticalmente por la barra de disparo de brazo de ejecución 14. Con el instrumento quirúrgico 10, así como otros instrumentos mínimamente invasivos, el posicionamiento del efector de extremo en el sitio quirúrgico es constreñido por el trocar. En general, la flecha alargada 23 permite que el médico clínico inserte el efector de extremo hasta una profundidad deseada, y gire el efector de extremo alrededor del eje longitudinal de la flecha. Esto permite que el efector de extremo sea posicionado en el sitio quirúrgico, a un grado. Con la colocación juiciosa del trocar y el uso de asidores, por ejemplo, a través de otro trocar, esta cantidad de posicionamiento es con frecuencia suficiente. Sin embargo, dependiendo de la naturaleza de la operación, puede ser deseable ajustar además el posicionamiento del efector de extremo de un instrumento quirúrgico endoscópico. En particular, con frecuencia es deseable orientar el efector de extremo en cualquiera de ángulos múltiples respecto al eje longitudinal de la flecha alargada del instrumento. El movimiento del efector de extremo a través de ángulos múltiples respecto a la flecha del instrumento, es referido convencionalmente como "articulación". La articulación es lograda típicamente por una articulación de giro (o articulación) que se pone en la flecha alargada apenas proximal al efector de extremo. Esto permite que el médico clínico articule el efector de extremo remotamente hacia cualquier lado para mejor colocación quirúrgica de las líneas de grapas, y manipulación y orientación más fáciles del tejido. Un efector de extremo articulable permite que el médico clínico engrane más fácilmente tejido en algunos casos, tal como detrás de un órgano. Además, el posicionamiento articulado permite en forma ventajosa que un endoscopio sea posicionado detrás del efector de extremo, sin que sea bloqueado por la flecha alargada. Los procedimientos para la articulación de efectores de extremo tienden a ser complicados debido a que los mecanismos para el control de la articulación deben ser integrados con mecanismos para la operación del efector de extremo. Por ejemplo, el manguito de cierre, el miembro accionador y los mecanismos para la articulación, deben implementarse dentro de las restricciones de diámetro pequeño de la flecha del instrumento. Un diseño común implica un mecanismo de articulación tipo acordeón ("cuello de flexión"), que es articulado haciendo retroceder selectivamente una de dos varillas de conexión a través de la flecha del implemento, cada varilla desplazada respectivamente sobre lados opuestos de la línea central de la flecha. Las vahilas de conexión actúan a través de una serie de posiciones discretas. Mientras que este procedimiento generalmente conocido articula exitosamente el efector de extremo alrededor de un pivote de articulación, es deseable mejorar además el desempeño. Por consiguiente, existe una necesidad significativa por un instrumento quirúrgico articulable mejorado.
BREVE DESCRIPCION DE LA INVENCION
De conformidad con una modalidad de la invención, se provee un instrumento quirúrgico articulable. El instrumento en esta modalidad comprende una flecha y un efector de extremo. La flecha tiene un eje longitudinal, y el efector de extremo es acoplado operacionalmente, de preferencia acoplado mecánicamente, a la flecha en un pivote de articulación. El instrumento comprende también una primera banda conectada operacionalmente al efector de extremo, y extendiéndose a través de por lo menos una porción de la flecha. Un control de articulación aplica una fuerza en una dirección sustancialmente transversal al eje longitudinal. El control de articulación está conectado operacionalmente a la primera banda, de modo que la aplicación de la fuerza es trasladada a través de la primera banda hacia el efector de extremo para efectuar la rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación. De conformidad con otra modalidad que tiene una flecha y un efector de extremo como se describió anteriormente, una segunda banda es conectada operacionalmente hacia y se extiende desde el efector de extremo a través de por lo menos una porción de la flecha. En esta modalidad, el control de articulación está también configurado para aplicar la fuerza en una segunda dirección sustancialmente transversal al eje longitudinal. La fuerza es trasladada a través de la segunda banda hacia el efector de extremo para efectuar la rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una segunda dirección rotacional. El control de articulación en una modalidad puede estar estructurado para movimiento en una primera dirección, aplicando la fuerza en una primera dirección transversal para efectuar la rotación del efector de extremo en una primera dirección rotacional respecto a la flecha. En esta modalidad, el control de articulación puede estar estructurado también para movimiento en una segunda dirección para aplicar la fuerza en una segunda dirección transversal, opuesta a la primera dirección transversal, para efectuar la rotación del efector de extremo en una segunda dirección rotacional respecto a la flecha. El control de articulación puede incluir una corredera de articulación que es movible transversalmente a través de la flecha hacia primera y segunda posiciones y posición neutra. La corredera de articulación define una ranura posicionada en casi el eje longitudinal cuando la corredera de articulación está en la posición neutra y la primera y segunda bandas pasan a través de la ranura. La ranura de articulación es desplazada del eje longitudinal cuando la corredera de articulación está en cualquiera de la primera o la segunda posiciones. En varias modalidades, la primera banda y la segunda banda son predobladas hacia el eje longitudinal cuando el control de articulación está en una posición neutra, cuando ninguna fuerza se aplica al control de articulación. En otra modalidad que tiene una flecha y efector de extremo, la primera banda tiene un primer extremo acoplado mecánicamente al efector de extremo en un punto desplazado del eje de articulación. De conformidad con otra modalidad que tiene una flecha y efector de extremo como se describió anteriormente, el instrumento tiene una primera ampolla de articulación hidráulica expandible hacia la primera banda. Una ampolla de accionamiento hidráulica es acoplada fluídicamente a la primera ampolla de articulación hidráulica. Asimismo, en varias modalidades, un primer botón de accionamiento es posicionado para comprimir la primera ampolla de accionamiento hidráulica. La compresión de la primera ampolla de accionamiento hidráulica hace que la primera ampolla de articulación hidráulica se infle. La expansión de la primera ampolla de articulación hidráulica hacia la primera banda, causa flexión de la primera banda que efectúa rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una primera dirección rotacional. En otra modalidad del instrumento, puede proveerse una segunda ampolla de articulación hidráulica. La expansión de la segunda ampolla de articulación hidráulica hacia la segunda banda, causa flexión de la segunda banda que efectúa rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una segunda dirección rotacional. De conformidad con otra modalidad de la invención, se provee un método para operar el instrumento. El método puede comprender el paso de aplicar una fuerza al instrumento en una dirección que sea sustancialmente transversal a la flecha, en donde la fuerza hace que la primera banda se doble, y en donde la flexión de la primera banda hace que el efector de extremo gire sobre un eje respecto a la flecha alrededor del pivote de articulación en una primera dirección.
BREVE DESCRIPCION DE LOS DIBUJOS
Los dibujos acompañantes, los cuales se incorporan en la especificación y constituyen parte de la misma, ilustran modalidades de la invención y, junto con la descripción general de la invención dada anteriormente, y la descripción detallada de las modalidades dada más adelante, sirven para explicar los principios de la presente invención. La figura 1 describe una vista en elevación lateral parcialmente separada de un instrumento quirúrgico de la técnica anterior; la figura 2 describe una vista detallada en elevación lateral en sección transversal a lo largo de la línea 2-2 de la figura 1 , de un efector de extremo del instrumento quirúrgico de la técnica anterior; la figura 3 describe una vista tridimensional de un instrumento quirúrgico de conformidad con varias modalidades de la presente invención; la figura 4 describe una vista lateral de un instrumento quirúrgico de conformidad con varias modalidades de la presente invención; la figura 5 describe una vista de arriba abajo de un instrumento quirúrgico de conformidad con varias modalidades de la presente invención; la figura 6 describe una vista en sección transversal de arriba abajo de un efector de extremo y flecha alargada, de un instrumento quirúrgico de conformidad con una modalidad de la presente invención; la figura 7 describe una vista en sección transversal de arriba abajo de un pivote de articulación del instrumento quirúrgico de la figura 6 en una posición neutra; la figura 8 describe una vista en sección transversal de arriba abajo de un control de articulación del instrumento quirúrgico de la figura 6 en una posición neutra; la figura 9A describe una vista esquemática de un efector de extremo y flecha alargada de un instrumento quirúrgico que tiene un pivote de articulación tal como el del instrumento de la figura 6; la figura 9B describe una vista de arriba abajo de la barra de disparo del instrumento de la figura 9A; la figura 10 describe una vista en sección transversal lateral de un pivote de articulación del instrumento quirúrgico de la figura 6; la figura 1 1 describe una vista tridimensional de un efector de extremo y pivote de articulación del instrumento quirúrgico de la figura 10; la figura 12 describe un efector de extremo, pivote de articulación y control de articulación del instrumento quirúrgico de la figura 6, con el efector de extremo articulado hacia la izquierda de conformidad con varias modalidades de la presente invención; la figura 13 describe una vista en sección transversal de arriba abajo de un control de articulación del instrumento quirúrgico de la figura 6 empujado hacia la izquierda para mover el efector de extremo como se muestra en la figura 12; la figura 14 describe una vista en sección transversal de arriba abajo de un pivote de articulación de un instrumento quirúrgico de conformidad con otra modalidad de la presente invención; la figura 15 describe una vista esquemática de un efector de extremo y flecha alargada de un instrumento quirúrgico que tiene un pivote de articulación tal como el del instrumento de la figura 14; la figura 16 describe una vista en sección transversal lateral de otra modalidad del pivote de articulación de un instrumento quirúrgico que tiene el pivote de articulación de la figura 14; la figura 17 describe el efector de extremo, pivote de articulación y control de articulación del instrumento quirúrgico de las figuras 14 a 16, con el efector de extremo en una posición neutra; la figura 18 describe el efector de extremo, pivote de articulación y control de articulación del instrumento quirúrgico de las figuras 14 a 16, con el efector de extremo articulado hacia la izquierda; la figura 19 describe una vista en sección transversal de arriba abajo de un instrumento quirúrgico de conformidad con una modalidad de la presente invención; la figura 20 describe una vista en sección transversal de arriba abajo de un control de articulación del instrumento quirúrgico de la figura 19 en una posición neutra; la figura 21 describe una vista en sección transversal de arriba abajo de la flecha, cables y ensambles de resortes del instrumento quirúrgico de la figura 19, en una posición neutra; la figura 22 describe una vista en sección transversal de arriba abajo de un control de articulación del instrumento quirúrgico de la figura 19 articulado hacia la izquierda; la figura 23 describe una vista en sección transversal de arriba abajo del instrumento quirúrgico de la figura 19 articulado hacia la izquierda; la figura 24 describe una vista en sección transversal de arriba abajo de la flecha, cables y ensambles de resortes del instrumento quirúrgico de la figura 19, articulado hacia la izquierda; la figura 25 describe una vista en sección transversal de arriba abajo de un pivote de articulación de un instrumento quirúrgico de conformidad con otra modalidad de la presente invención; la figura 26 describe una vista en sección transversal lateral del pivote de articulación del instrumento quirúrgico de la figura 25; la figura 27 describe una vista esquemática de un efector de extremo y flecha alargada de un instrumento quirúrgico que tiene un pivote de articulación tal como el del instrumento de las figuras 25 y 26; la figura 28 describe un control de articulación accionado hidráulicamente de un instrumento quirúrgico útil para la modalidad de la presente invención mostrada en las figuras 25 y 26; la figura 29 describe un efector de extremo y pivote de articulación del instrumento quirúrgico de las figuras 25 a 27, con el efector de extremo en una posición neutra; y la figura 30 describe el efector de extremo y pivote de articulación del instrumento quirúrgico de las figuras 25 a 27, con el efector de extremo articulado hacia la derecha.
DESCRIPCION DETALLADA DE LA INVENCION
Las figuras 3 a 5 muestran un ejemplo de instrumento quirúrgico 1 00 que incluye en general un mango 103, una flecha 104 y un efector de extremo articulable 102 conectado sobre pivote a la flecha 104 en el pivote de articulación 1 10. Un control de articulación 1 12 está provisto para efectuar rotación del efector de extremo 102 alrededor del pivote de articulación 1 10. El efector de extremo 102 se muestra configurado para actuar como una endocuchilla para sujetar, separar y engrapar tejido; sin embargo, se apreciará que varias modalidades de la presente invención pueden incluir efectores de extremo (no mostrados) configurados para actuar como otros dispositivos quirúrgicos que incluyen, por ejemplo, asidores, cuchillas, engrapadoras, aplicadores de clips, dispositivos de acceso, dispositivos de suministro de terapia génica/fármacos, dispositivos de energía ultrasónica, RF o láser, etc. El mango 103 del instrumento 100 puede incluir gatillo de cierre
1 14 y gatillo de disparo 1 16 para el accionamiento del efector de extremo 102. Se apreciará que instrumentos que tengan efectores de extremo dirigidos hacia diferentes tareas quirúrgicas, pueden tener diferentes números o tipos de gatillos u otros controles adecuados para la operación de un efector de extremo. El efector de extremo 102 se muestra separado de un mango 103 por la flecha 104 preferiblemente alargada. Un médico clínico puede articular el efector de extremo 102 respecto a la flecha 104, usando el control de articulación 1 12.
Debe apreciarse que términos espaciales tales como vertical, horizontal, derecha, izquierda, etc., se dan en la presente con relación a las figuras anexas, asumiendo que el eje longitudinal del instrumento quirúrgico 1 00 es coaxial al eje central de la flecha 104, con los gatillos 1 14, 1 16 extendiéndose hacia abajo a un ángulo agudo del fondo del mango 103. En la práctica real, sin embargo, el instrumento quirúrgico 100 puede estar orientado a varios ángulos, y como tales estos términos espaciales se usan respecto al instrumento quirúrgico 100 mismo. Además, el término proximal se usa para denotar una perspectiva de un médico clínico que está detrás del mango 103, quien coloca el efector de extremo 102 distal, o lejos, del mismo. Como se usa en la presente, el término "acoplado fluídicamente" significa que los elementos están acoplados junto con una línea adecuada u otros medios que permiten el paso de medio fluido presurizado, aire, etc., entre los mismos. Como se usa en la presente, el término "línea", como se usa en "línea de suministro", "línea hidráulica" o "línea de retorno", se refiere a un pasaje de fluido adecuado formado de conducto, tubo, tubería, etc., para el transporte de fluido hidráulico presurizado de un componente a otro. Como se usa en la presente, el término "fluido hidráulico" se refiere a cualquier fluido adecuado para su uso en un sistema hidráulico. Ejemplos no limitativos de fluidos hidráulicos incluyen aceite, aire, etc. En una modalidad no limitativa, los fluidos hidráulicos pueden ser fluidos biocompatibles que incluyen, por ejemplo, aceite de glicerina, solución salina, etc.
Como se usa en la presente, la frase "sustancialmente transversal al eje longitudinal", en donde el "eje longitudinal" es el eje de la flecha, se refiere a una dirección que es casi perpendicular al eje longitudinal. Sin embargo, se apreciará que direcciones que se desvían de la perpendicular al eje longitudinal, son también sustancialmente transversales al eje longitudinal. Varias modalidades de la presente invención están dirigidas a instrumentos que tienen un pivote de articulación accionado por cables o bandas de flexión. La figura 6 muestra una vista en sección transversal de arriba abajo de un ejemplo de flecha alargada 104 y efector de extremo 102 que incluye un pivote de articulación 1 10 accionado por la banda de flexión. En la modalidad no limitativa de la figura 6, la banda 205 está acoplada mecánicamente al realce 206 localizado en el pivote de articulación 1 10. La banda 205 puede incluir porciones de banda 202 y 204 que se extienden proximalmente desde el realce 206 a lo largo de la flecha alargada 104 y a través del control de articulación 1 12. La banda 205 y las porciones de banda 202, 204 son de preferencia de una longitud fija. La figura 7 muestra una vista en sección transversal del pivote de articulación 1 10 mostrado en la figura 6, que incluye el realce 206 y la banda 205. La banda 205 puede estar acoplada mecánicamente al realce 206 como se muestra, usando cualquier método de sujeción adecuado que incluye, por ejemplo, pegamento, soldadura, etc. En varias modalidades, cada porción de banda 202, 204 puede proveerse como una banda separada, cada banda separada teniendo un extremo acoplado mecánicamente al realce 206, y otro extremo que se extiende a través de la flecha 104 y el controlador de articulación 1 12 (no mostrado en la figura 7). Las bandas separadas pueden estar acopladas mecánicamente al realce 206 como se describió anteriormente. Las porciones de banda 202, 204 pueden extenderse desde el realce 206, a través del pivote de articulación 1 10 y a lo largo de la flecha 104 hacia el control de articulación 1 12, como se muestra en la figura 8. El control de articulación 1 12 puede incluir una corredera de articulación 208, un sistema articulado 212 y un recinto 218. Las porciones de banda 202, 204 pueden pasar a través de la corredera de articulación 208 por medio de la ranura 210 u otra abertura, aunque se apreciará que las porciones de banda 202, 204 pueden acoplarse a la corredera de articulación 208 por medio de cualquier medio adecuado. La corredera de articulación 208 puede ser de una pieza, como se muestra en la figura 8, o puede en una modalidad no limitativa, incluir dos piezas con una interfaz entre las dos piezas que definen la ranura 210. En una modalidad no limitativa, la corredera de articulación 208 puede incluir ranuras múltiples, por ejemplo, cada ranura correspondiendo a una de las porciones de banda 202, 204. El recinto 218 puede cubrir los varios componentes del control 1 12 para prevenir que entren restos. En varias modalidades, las porciones de banda 202, 204 pueden estar ancladas al sistema articulado 212 en puntos de conexión 214, 216 localizados proximalmente desde la ranura 210. La modalidad no limitativa de la figura 8 muestra que las porciones de banda 202, 204 son predobladas a partir de puntos de conexión 214, 216 hacia la ranura 210, localizada cerca del eje longitudinal de la flecha 104. Se apreciará que las porciones de banda 202, 204 pueden estar ancladas en cualquier punto en el instrumento 10 localizadas proximalmente desde la ranura 210, incluyendo el mango 103. Las figuras 9A a 1 1 muestran vistas del efector de extremo 102 y flecha alargada 104 del instrumento 100, incluyendo el pivote de articulación 1 10 mostrado en la figura 7. El efector de extremo 102 mostrado en las figuras 9A a 1 1 está configurado para actuar como una endocuchilla. Se apreciará que en varias modalidades, el efector de extremo 102 puede estar configurado para realizar otras tareas quirúrgicas, que requieren la remoción, modificación o adición de componentes de los que se muestran en las figuras anexas. Asimismo, se apreciará que los efectores de extremo 102 mostrados en las figuras 3 a 6 y 1 1 pueden fabricarse para aplicaciones quirúrgicas específicas. Por ejemplo, las figuras 3 a 6 y 10 a 12 muestran un efector de extremo de endocuchilla de 45 mm, mientras que la figura 9A muestra un efector de extremo de endocuchilla de 60 mm. La figura 9A muestra una vista esquemática del efector de extremo 102 y flecha alargada 104, incluyendo varios componentes internos. Un sistema articulado 150 del efector de extremo y sistema articulado 154 de la flecha, están configurados para ser unidos en el pivote de articulación 1 10. El realce 206 puede ser integral al sistema articulado 150 del efector de extremo, con la banda 205 interconectando el realce 206 como se muestra. El sistema articulado 154 de la flecha puede incluir una espiga 302 dirigida distalmente que define una abertura 304. La abertura 304 puede estar posicionada para interconectar un pasador de articulación (no mostrado) incluido en el sistema articulado 50 del efector de extremo que permite que el sistema articulado 150 del efector de extremo gire sobre un eje respecto al sistema articulado 54 de la flecha, y en consecuencia, el efector de extremo 1 02 gira sobre un eje respecto a la flecha 104. Cuando ensamblados, los varios componentes pueden girar sobre un eje alrededor del pivote de articulación 1 10 en un eje de articulación 306 mostrado en las figuras 10 y 1 1 . La figura 9A muestra también un yunque 120. En esta modalidad no limitativa, el yunque 120 está acoplado al canal alargado 198. Por ejemplo, aberturas 199 del canal alargado 198 pueden recibir pasadores 152 del yunque 120, que permiten que el yunque 120 gire sobre un eje desde una posición abierta hasta una posición cerrada respecto al canal alargado 198 y cartucho de grapas 1 18. Una chaveta 158 está montada en el sistema articulado 150 del efector de extremo como un cierre para la barra de disparo 1 72. Aberturas cuadradas distal y proximal 164, 168 formadas arriba del sistema articulado 150 del efector de extremo, pueden definir una barra de clips 170 entre las mismas que reciben un brazo superior 162 de una chaveta 58 cuyo brazo inferior 160 extendido distalmente hace valer una fuerza descendente sobre una porción elevada 174 de la barra de disparo 172 discutida más adelante. Se apreciará que varias modalidades pueden incluir otros tipos de cierres o ningún cierre en lo absoluto.
Además, la figura 9A muestra la barra de disparo 172, configurada para trasladarse longitudinalmente a través del sistema articulado 1 54 de la flecha, a través del cierre flexible y girando sobre un eje la charnela de articulación de estructura 1 10, y a través de una ranura de disparo 176 en la base 150 del sistema articulado distal en el efector de extremo 102. La barra de disparo 172 puede construirse de una sección sólida, o en varias modalidades, puede incluir un material laminado que comprenda, por ejemplo, una pila de placas de acero 173 como se muestra en la figura 9B. Se apreciará que una barra de disparo 172 hecha de un material laminado puede disminuir la fuerza requerida para articular el efector de extremo 102. Un extremo de la barra de disparo 172 que se proyecta distalmente está unido a una brazo de ejecución 178 que ayuda en el espaciamiento del yunque 120 del cartucho de grapas 1 18 cuando el yunque 120 está en una posición cerrada. El borde de corte afilado 182 del brazo de ejecución 178, puede usarse también para separar tejido. En operación, el brazo de ejecución 178 acciona el cartucho de grapas 1 18. El cartucho de grapas 1 18 incluye un cuerpo de cartucho moldeado 194 que contiene una pluralidad de grapas 191 que descansan sobre accionadores de grapas 192 dentro de aberturas de grapas 195 respectivas abiertas hacia arriba. Un trineo en cuña 190 es accionado distalmente por el brazo de ejecución 178, deslizándose sobre una bandeja de cartucho 196 que mantiene juntos los varios componentes del cartucho de grapas 118 reemplazable. El trineo en cuña 190 levanta por levas los accionadores de grapas 192 que sacan por la fuerza las grapas 191 en contacto de deformación con el yunque 120, mientras que una superficie de corte 182 del brazo de ejecución 178 separa el tejido sujeto. En las figuras anexas, la barra de disparo 172 se muestra posicionada dentro de la flecha 104, de modo que pasa a través del cartucho 194 cuando el instrumento 100 es disparado. En una modalidad no limitativa, la barra de disparo 172 es más bien posicionada dentro de la flecha 104, de modo que el cuerpo completo o una porción del mismo del elemento 172 de la barra de disparo, es soportado por una ranura (no mostrada) en el yunque 120 durante el disparo. Debido a que el yunque 120 puede ser más fuerte que el cartucho 1 18, el soporte de la ranura puede prevenir que la barra de disparo 1 78 se pandee, aún cuando se apliquen altas cargas al extremo distal de la barra de disparo 178. Esto puede ser útil en modalidades en donde el elemento 172 de la barra de disparo incluye placas laminadas 173. Debe apreciarse que pasadores superiores 180 del brazo de ejecución 178 engranan el yunque 120 durante el disparo, mientras que pasadores intermedios 184 y un pie inferior 186 engranan varias porciones del cuerpo 194 del cartucho, bandeja 196 del cartucho y canal alargado 198. En uso, la ranura 193 del cuerpo 194 del cartucho se alinea con la ranura 197 de la bandeja 196 del cartucho y con la ranura 189 del canal alargado 198. El borde principal del brazo de ejecución 178 se desliza a través de las ranuras alineadas 193, 197 y 189. Como se indica en la figura 9A, el pie inferior 186 engrana una ranura que corre a lo largo de la superficie inferior del canal 198 a lo largo de la longitud de la ranura 189. Los pasadores intermedios 184 engranan las superficies superiores de la bandeja 196 del cartucho a lo largo de la longitud de la ranura longitudinal 197. El pie 186 es asegurado contra el fondo del canal 198 y los pasadores superiores 180 son asegurados en una ranura en la superficie inferior del yunque 120, para prevenir que el yunque
1 20 y el canal 198 sean forzados a apartarse de la resistencia del tejido conforme el efector de extremo es hecho avanzar por el médico clínico o cirujano durante el uso. Después, la barra de disparo 172 es retraída proximalmente, retrayendo también el brazo de ejecución 178, permitiendo que el yunque 120 sea abierto para liberar las dos porciones de tejido engrapadas y separadas (no mostradas). Las figuras 9A a 1 1 muestran también un ensamble de manguito de cierre de pivote doble 121 de conformidad con varias modalidades de la presente invención. Se apreciará que la invención no se limita a un diseño de manguito de cierre de pivote doble, y que puede incluir cualquier manguito de cierre adecuado, o ningún manguito de cierre en lo absoluto. Con referencia particular a la figura 9A, el ensamble de manguito de cierre de pivote doble
1 21 incluye una sección de tubo de cierre de flecha 128 que tiene espigas superior e inferior 146, 148 que se proyectan distalmente. Una sección de tubo de cierre 126 del efector de extremo incluye una abertura en herradura 1 24 y lengüeta 123 para el engrane de la lengüeta de abertura 122 sobre el yunque 120. La abertura en herradura 124 y lengüeta 123 engranan la lengüeta 122 cuando el yunque 120 se abre. La sección de tubo de cierre 126 se muestra teniendo espigas superior 144 e inferior (no visible) que se proyectan proximalmente. Una articulación de giro doble superior 130 incluye pasadores de pivote distal y proximal 134, 136 que se proyectan hacia arriba, que engranan respectivamente un agujero minúsculo distal superior 138 en la espiga superior 144 que se proyecta proximalmente y un agujero minúsculo proximal superior 140 en la espiga superior 146 que se proyecta distalmente. Una articulación de giro doble inferior 132 incluye pasadores de pivote distal y proximal que se proyectan hacia abajo (no mostrados en la figura 9A, pero vistos en la figura 10) que engranan respectivamente un agujero minúsculo distal inferior en la espiga inferior que se proyecta proximalmente, y un agujero minúsculo proximal inferior 142 en la espiga inferior 148 que se proyecta distalmente. En uso, el ensamble de manguito de cierre 121 es trasladado distalmente para cerrar el yunque 120, por ejemplo, en respuesta al accionamiento del gatillo de cierre 1 14. El yunque 120 se cierra trasladando distalmente la sección de tubo de cierre 126, y de esta manera el ensamble de manguito 121 , haciendo que golpee una superficie proximal sobre el yunque 1 20 localizada en la figura 9A hacia la izquierda de la lengüeta 122. Como se muestra más claramente en las figuras 10 y 1 1 , el yunque 120 se abre trasladando proximalmente la sección de tubo 126 y ensamble de manguito 121 , que hace que la lengüeta 123 y la abertura en herradura 124 entren en contacto y empujen contra la lengüeta 122 para elevar el yunque 120. En la posición abierta del yunque, el ensamble de manguito de cierre de pivote doble 121 es movido hacia su posición proximal. En operación, el médico clínico puede articular el efector de extremo 102 del instrumento 100 respecto a la flecha 104 alrededor del pivote 1 10, empujando lateralmente el control 1 12. Con relación a las figuras 6 y 8, se apreciará que si las porciones de banda 202, 204 son de una longitud fija y tuvieran que mantenerse estiradas durante la articulación, entonces la fuerza transversal provista por el control de articulación puede no causar flexión debido a que, por ejemplo, la porción de banda 204 evitaría que el efector de extremo 102 gire conforme la porción de banda 202 fue doblada. Por consiguiente, en la modalidad no limitativa mostrada en la figura 8, la banda 205 se construye de modo que las porciones de banda 202 y 204 sean ligeramente más largas de lo que necesitan ser para articular el efector de extremo 102. Las porciones de banda 202, 204 son predobladas entonces hacia la ranura 210, la cual está en línea con el eje longitudinal de la flecha 104 cuando el efector de extremo 102 está en una posición neutra. A partir de la posición neutra, el médico clínico puede articular el efector de extremo 102 hacia la izquierda respecto a la flecha 104, proveyendo una fuerza lateral hacia el lado izquierdo del control 112. En respuesta a la fuerza, la corredera de articulación 208 puede ser empujada a través del sistema articulado 212 como se muestra en las figuras 12 y 13. Conforme la corredera de articulación 208 es empujada a través del sistema articulado 212, la ranura 210 así como la porción de banda 204 pueden ser trasladadas a través de la flecha alargada 104 en una dirección transversal, por ejemplo, una dirección sustancialmente transversal, o perpendicular, al eje longitudinal de la flecha 104. Por consiguiente, una fuerza es aplicada a la porción de banda 204, que hace que se doble más a partir de su posición predoblada inicial hacia el lado opuesto de la flecha 104. Al mismo tiempo, la porción de banda 202 es relajada a partir de su posición predoblada inicial. La flexión adicional de la porción de banda 204 acoplada con el enderezamiento de la porción de banda 202, causa una fuerza rotacional en sentido contrario al de las manecillas del reloj en el realce 206, que a su vez hace que el realce 206 y el efector de extremo 102 giren sobre un eje hacia la izquierda alrededor del pivote de articulación 1 10 a un ángulo deseado respecto al eje de la flecha 1 04 como se muestra en la figura 12. La relajación de la porción de banda 202 disminuye la tensión en esa porción de banda, permitiendo que la porción de banda 204 articule el efector de extremo 102 sin interferencia de la porción de banda 202. Se apreciará que el médico clínico puede articular también el efector de extremo 102 hacia la derecha respecto a la flecha 104, proveyendo una fuerza lateral hacia el lado derecho del control 1 12. Esto dobla la porción de cable 202, causando una fuerza rotacional en el sentido de las manecillas del reloj en el realce 206 que, a su vez, hace que el realce 206 y el efector de extremo giren sobre un eje hacia la derecha alrededor del pivote de articulación 1 10. Las figuras 14 a 18 ilustran una modalidad adicional para la articulación del efector de extremo 102 con bandas de flexión de conformidad con varias modalidades. Se apreciará que cualquier tipo de efector de extremo 102 puede usarse con las modalidades mostradas en las figuras 14 a 18. Por ejemplo, las figuras 14 y 16 a 18 muestran un efector de extremo de endocuchilla completo o parte del mismo de 45 mm, mientras que la figura 15 muestra un efector de extremo de endocuchilla de 60 mm. La figura 14 muestra una vista en sección transversal del pivote de articulación 110 que incluye bandas 401 , 403 y realce 406. Las bandas 401 , 403 pueden extenderse distalmente hacia el pivote de articulación 1 10 como se muestra. La banda 401 puede extenderse a través de la flecha 104 a lo largo de su lado izquierdo, en donde es enviada alrededor del miembro de banda 402 y a través del lado derecho de la flecha 104. Ahí, la banda 401 puede ser acoplada mecánicamente al realce 406, por ejemplo, en el punto de conexión 408. Asimismo, la banda 403 puede extenderse a través de la flecha 104 a lo largo de su lado derecho, en donde es enviada alrededor del miembro de banda 404 y a través hacia el lado izquierdo de la flecha. Ahí, la banda 403 puede ser acoplada mecánicamente al realce 406 en el punto de conexión 410. La figura 16 muestra una vista en sección transversal lateral del pivote 10. Las bandas 401 y 403 se muestran desplazadas de alguna otra para prevenir interferencia en movimiento de conformidad con una modalidad no limitativa. Por ejemplo, la banda 401 se muestra en una posición más inferior que la banda 403. En otra modalidad no limitativa, el posicionamiento vertical de las bandas 401 y 403 puede invertirse. La figura 15 muestra una vista esquemática del efector de extremo 102 y flecha 104 que incluye componentes internos. El efector de extremo 102 mostrado en la figura 15 está configurado para actuar como una endocuchilla para sujetar, engrapar y separar tejido; sin embargo, se apreciará que varias modalidades pueden usar efectores de extremo (no mostrados) dirigidos hacia otras tareas quirúrgicas. Los miembros de banda 402, 404 se muestran unidos a la espiga 302 del sistema articulado de la flecha. Asimismo, el realce 406 puede incluir puntos de conexión 408, 410, como se muestra. Cuando ensamblados, los varios componentes pueden girar sobre un eje alrededor del pivote de articulación 1 0 en un eje de articulación 306 mostrado en la figura 16. En uso, la modalidad de la figura 14 puede tener una posición no articulada como se muestra en la figura 17. El control de articulación 112 y las bandas 401 , 403 se muestran en una posición centrada aproximadamente en el eje longitudinal de la flecha 104. Por consiguiente, el efector de extremo 102 está en una posición neutra o no articulada. En la figura 18, el control de articulación 112 se muestra con la corredera de articulación 208 empujada a través del sistema articulado de articulación hacia el lado derecho de la flecha 104. Por consiguiente, las bandas 401 y 403 son dobladas hacia el lado derecho de la flecha 104. Puede verse que la flexión de la banda 401 hacia la derecha ejerce una fuerza dirigida lateralmente sobre el realce 406 que es desplazado del punto de giro 406 del realce. Esta fuerza de desplazamiento hace que el realce 406 gire alrededor del pivote de articulación 110, haciendo a su vez que el efector de extremo 102 gire sobre un eje hacia la derecha, como se muestra. Se apreciará que el empuje de la corredera de articulación 208 hacia el lado izquierdo de la flecha 104 puede ejercer una fuerza dirigida lateralmente sobre las bandas 401 y 403, doblando ambas bandas 401 , 403 hacia el lado izquierdo de la flecha 104. La flexión de la banda 403 ejerce entonces una fuerza dirigida lateralmente sobre el realce 406, el cual como anteriormente, es desplazado del punto de giro 406 del realce. Esto, a su vez, hace que el realce 406 gire alrededor del pivote de articulación, haciendo que el efector de extremo 02 gire sobre un eje hacia la izquierda. Las figuras 19 a 24 muestran otra modalidad para la articulación del efector de extremo 102 con bandas 252, 254 orientadas para interconectar con el control de articulación 1 12 en puntos desplazados del eje longitudinal de la flecha 104. Por consiguiente, las bandas 252, 254 son sustancialmente más paralelas entre sí dentro de la flecha 104 que las porciones de banda 202, 204 o bandas 401 , 403 mostradas en las figuras 6 y 17, respectivamente. La figura 19 muestra una sección transversal de arriba abajo de un ejemplo de flecha 104, efector de extremo 102 y control de articulación 1 12 de conformidad con la modalidad de las figuras 19 a 24. Las bandas 252, 254 se muestran extendiéndose desde un realce 256 a través de la flecha 104 hacia el control de articulación 1 12. Ensambles de resortes 258 y 260 se incluyen a lo largo de la longitud de las bandas 252, 254 que permiten que las bandas se alarguen. Se apreciará que las bandas 252, 254 pueden ser bandas separadas similares a, por ejemplo, las bandas 401 , 403 mostradas en las figuras 14 a 18, o pueden ser una banda con dos porciones similares a la banda 205 y porciones de banda 202, 204 mostradas en las figuras 6 a 13.
Asimismo, se apreciará que las bandas 252, 254 pueden ser enviadas desde el realce 256 alrededor de los miembros de banda (no mostrados) similares a los miembros de banda 402, 404 mostrados en las figuras 14 a 18. La figura 20 muestra una sección transversal de arriba abajo de un ejemplo de interfaz entre la flecha 104 y el control de articulación 1 12 de conformidad con la modalidad de las figuras 19 a 24. Bandas 252, 254 pueden extenderse a través de la flecha 104 e interconectar el control de articulación 1 12 en la abertura 262 de la corredera de articulación 280, antes de que sean ancladas al control de articulación 1 12 en los puntos de conexión 214, 216. Las bandas 252, 254 pueden ser predobladas entre la abertura 262 de la corredera y los puntos de conexión 214 y 216. Sin embargo, se apreciará que debido a que las bandas 252, 254 interconectan el control de articulación 1 12 en puntos desplazados del centro de la flecha 104, no son predobladas al mismo grado que las porciones de banda 202 ó 204 mostradas en la figura 8. La figura 21 muestra una vista en sección transversal en primer plano de ensambles de resortes 258, 260. Los ensambles de resortes 258 y 260 están configurados para permitir que las bandas 252, 254 se alarguen bajo baja tensión, pero detienen la expansión de las bandas 252, 254 bajo alta tensión. Con relación a los ensambles de resortes 258, 260, un pistón 272 viaja dentro de una cubierta 270. Un resorte 274 es acoplado al pistón 272 así como la cubierta 270. Cuando el cable 252 o 254 está bajo una tensión ligera, entonces el resorte 274 se alargará ligeramente, permitiendo que el pistón 272 se mueva hacia la abertura 271 de la cubierta 270. Cuando el cable 252 ó 254 está bajo una tensión mayor, entonces el pistón 272 se moverá en contacto con la cubierta 270 cerca de la abertura 271 , previniendo que el ensamble de resortes 258 ó 260 se alargue más. La figura 22 muestra el control de articulación 1 12 de la figura 20 con la corredera de articulación 280 empujada de izquierda a derecha a través del eje longitudinal de la flecha 104. Como resultado, la banda 252 es doblada hacia el lado derecho de la flecha 104, mientras que la banda 254 es mantenida en su posición original por el tope 282. Con relación a la figura 24, conforme la banda 252 es doblada inicialmente por el control de articulación 1 12, el resorte 274 del ensamble de resortes 258 se alargará hasta que el pistón 272 entre en contacto con la cubierta 270, y el ensamble de resortes 258 no pueda alargarse más. En ese punto, la flexión continua del cable 252 causa una fuerza rotacional en sentido contrario al de las manecillas del reloj en el realce 256. Conforme el realce 256 comienza a girar en respuesta a la fuerza rotacional, ejerce una tensión sobre la banda no doblada 254. Por consiguiente, el resorte 274 del ensamble de resortes 260 puede alargarse, alargando la banda 254, y permitiendo que el realce 256 gire en una dirección en sentido contrario al de las manecillas del reloj. La rotación del realce 256 hace que el efector de extremo 102 gire sobre un eje hacia la dirección rotacional hacia la izquierda, como se muestra en la figura 23. Se apreciará que la tensión en la banda 254 es bastante baja, que el ensamble de resortes 260 no alcanzará su expansión máxima durante la escala deseada de movimiento del efector de extremo 102.
El deslizamiento de la corredera de articulación 280 a través de la flecha 104 de derecha a izquierda, opuestamente a como se muestra en las figuras 22 a 24, hace que la banda 254 se doble y efectúe una rotación en el sentido de las manecillas del reloj del realce 256 y articulación hacia la derecha del efector de extremo 102 con las funciones de las bandas 252 y 254 invertidas respecto a la descripción anterior. Asimismo, se apreciará que en varias aplicaciones, puede ser sólo necesario que el efector de extremo 1 02 gire sobre un eje en una dirección rotacional respecto a la flecha. Por consiguiente, la modalidad de las figuras 19 a 24 puede implementarse con sólo un ensamble de resortes posicionado sobre la banda opuesta a la dirección de articulación deseada. El ensamble de resortes, en ese caso, puede ser cualquier tipo de resorte que incluya, por ejemplo, una porción elástica de la banda adecuada. Las figuras 25 a 30 muestran una modalidad para articular hidráulicamente el efector de extremo 102 con cables o bandas de flexión de conformidad con varias modalidades. Se apreciará que cualquier tipo de efector de extremo 102 puede usarse con las modalidades mostradas en las figuras 25 a 30. Por ejemplo, las figuras 25 a 26 y 29 a 30 muestran un efector de extremo de endocuchilla de 45 mm completo, o parte del mismo, mientras que la figura 27 muestra un efector de extremo de endocuchilla de 60 mm. Con relación a la figura 25, un miembro 508 se muestra acoplado mecánicamente al efector de extremo 102. El miembro 508 puede estar conectado sobre pivote a la flecha 104 en el pasador 522 en una forma que permita que el efector de extremo 102 y el miembro 508 giren sobre un eje alrededor del pasador 522. El pasador 522 puede localizarse, en varias modalidades, en el eje de articulación 306 (mostrado en la figura 26). Bandas 502, 504 pueden estar acopladas al miembro 508, por ejemplo, en puntos de conexión 507 y 509, respectivamente. Se apreciará que en varias modalidades no limitativas, las bandas 502, 504 pueden reemplazarse con una banda (no mostrada) que se extienda alrededor del miembro 508, por ejemplo, similar a la modalidad mostrada en la figura 7 anterior. Con relación de nuevo a la figura 25, las bandas 502 y 504 pueden extenderse desde el miembro 508 hacia puntos de conexión 513 y 51 1 , respectivamente, sobre el lado derecho de la flecha 104. Cada una de las bandas 502, 504 está también posicionada para estar en contacto efectivo con una ampolla hidráulica 510, 512 respectiva, como se muestra. Las ampollas 510, 512 pueden expandirse proximalmente cuando se proveen con fluido hidráulico presurizado, por ejemplo, a través de líneas hidráulicas 514 y 516. Cuando expandidas, las ampollas 510, 512 ejercen una fuerza de flexión proximal sobre las bandas 502, 504. Por ejemplo, cuando expandida, la ampolla 510 ejerce una fuerza de flexión sobre la banda 504, que a su vez ejerce una fuerza desplazada hacia el punto de giro del miembro 508, haciendo girar el efector de extremo 102 alrededor del eje de articulación 306 (mostrado en la figura 26). En la modalidad mostrada en las figuras 25 a 27 y 29 a 30, las ampollas 510, 512 están posicionadas sobre el lado derecho de la flecha 104. Sin embargo, se apreciará que en otras modalidades no limitativas, las ampollas pueden colocarse sobre el lado izquierdo de la flecha 104, o cada ampolla 510, 512 puede colocarse sobre un lado diferente de la flecha 104. La expansión de las ampollas 510, 512 tras la presurización puede ser en cualquiera de varias direcciones, siempre que la expansión ejerza una fuerza contra la banda 502 ó 504, con la cual la ampolla está en contacto efectivo, para efectuar la fuerza rotacional sobre el miembro 508 y el efector de extremo 102. Las figuras 26 a 27 muestran vistas adicionales del efector de extremo 102 y flecha 104 de conformidad con la modalidad de la figura 25. La figura 27 muestra una vista esquemática de los componentes presentes en el efector de extremo 102 y la flecha 104. El sistema articulado 150 del efector de extremo se muestra acoplado mecánicamente al miembro 508. En varias modalidades no limitativas, el miembro 508 puede ser una porción integral del sistema articulado 150 del efector de extremo. Se muestra un sistema articulado 526 de la flecha que incluye abertura 520 del pasador. El pasador 522 puede engranar la abertura 518 del pasador, definida por el miembro 508, sujetando de esta manera el miembro 508 al sistema articulado 526 de la flecha, y permitiendo que el miembro 508 y el efector de extremo 102 giren alrededor del pasador 522. Se muestra también que el sistema articulado 526 de la flecha incluye cavidades 540 y 542 de la ampolla hidráulica para encerrar las ampollas hidráulicas 510 y 512, respectivamente. Las ampollas hidráulicas 510 y 512 pueden operarse usando el control de articulación 501 mostrado en la figura 28. Las ampollas de accionamiento izquierda y derecha 528, 530 incluidas en el control de articulación 501 , cuando son accionadas, proveen fluido hidráulico presurizado hacia las líneas hidráulicas 514, 516. Las ampollas de accionamiento 528, 530 pueden ser encerradas en un ensamble de sistema articulado que incluye una porción superior 532 y una porción inferior 534. Los botones izquierdo y derecho 536, 538 incluidos en el ensamble de sistema articulado, permiten que un médico clínico comprima una o la otra de las ampollas hidráulicas 528 ó 530, accionando de esta manera la ampolla hidráulica 528 ó 530, forzando de esta manera el fluido hidráulico de la ampolla a través de su línea hidráulica asociada 514, 516 hacia las ampollas 512 ó 510, respectivamente, produciendo de esta manera rotación del efector de extremo 102. Las figuras 29 a 30 muestran vistas en sección transversal de la modalidad de la figura 25 en uso. En la figura 29, ni la ampolla 510 ni la ampolla 512, está expandida. Por consiguiente, el efector de extremo 102 se muestra en una posición neutra o no articulada. En contraste, la figura 30 muestra la ampolla 510 en un estado inflado. La ampolla 510 se infla, por ejemplo, en respuesta al fluido hidráulico presurizado provisto a través de la línea hidráulica 516. En su estado inflado, la ampolla 510 se expande para proveer una fuerza de flexión a la banda 504. La banda 504 ejerce entonces una fuerza desplazada hacia el punto de giro del miembro 508 que hace girar al miembro 508 en una dirección rotacional en el sentido de las manecillas del reloj, haciendo que el efector de extremo 102 se articule hacia la derecha, como se muestra. Aunque la presente invención se ha ilustrado por la descripción de varias modalidades, y aunque las modalidades ilustrativas se han descrito en detalle considerable, no es la intención del solicitante restringir ni de ninguna manera limitar el alcance de las reivindicaciones anexas a dicho detalle. Más ventajas y modificaciones pueden aparecer fácilmente para los expertos en la técnica. Por ejemplo, aunque las modalidades descritas anteriormente tienen ventajas para un instrumento de separación y engrapado quirúrgico 100 usado endoscópicamente, pueden usarse modalidades similares en otros procedimientos clínicos. Se acepta en general que los procedimientos endoscópicos son más comunes que los procedimientos laparoscopicos. Por consiguiente, la presente invención se ha discutido en términos de procedimientos y aparatos endoscópicos. Sin embargo, no debe considerarse que el uso en la presente de términos tales como "endoscópico" limita la presente invención a un instrumento quirúrgico para su uso solamente en conjunto con un tubo endoscópico (es decir, trocar). Por el contrario, se piensa que la presente invención puede encontrar uso en cualquier procedimiento en donde el acceso sea limitado a una pequeña incisión incluyendo, pero no limitado a, procedimientos laparoscopicos, así como procedimientos abiertos. Como otro ejemplo, aunque una porción de mango 103 ilustrativa descrita en la presente es operada mecánicamente en respuesta a la introducción por un médico clínico, es consistente con los aspectos de la invención para todas las funciones o algunas de las mismas de una porción de mango, que será accionada por otros medios (por ejemplo, medios neumáticos, electromecánicos, ultrasónicos, hidráulicos, etc.). Además, controles de cada una de estas funciones pueden ser presentados manualmente en una porción de mango, o pueden controlarse remotamente (por ejemplo, por medio de una consola remota inalámbrica, consola remota automatizada, etc.). Cualquier patente, publicación o información completamente o en parte, que se dice se incorpora en la presente como referencia, se incorpora en la presente sólo al grado de que el material incorporado no entre en conflicto con las definiciones, declaraciones u otro material descrito existente que se exponen en este documento. Como tal, la descripción como se expone explícitamente en la presente, reemplaza cualquier material incompatible incorporado en la presente como referencia.
Claims (1)
- NOVEDAD DE LA INVENCION REVINDICACIONES 1 .- Un instrumento quirúrgico articulable, el instrumento comprendiendo: una flecha que tiene un eje longitudinal; un efector de extremo acoplado operacionalmente a la flecha en un pivote de articulación; una primera banda conectada operacionalmente al efector de extremo, y extendiéndose a través de por lo menos una porción de la flecha; y un control de articulación para aplicar una fuerza en una dirección sustancialmente transversal al eje longitudinal, dicho control de articulación estando conectado operacionalmente a la primera banda, de modo que la aplicación de la fuerza es trasladada a través de la primera banda hacia el efector de extremo para efectuar la rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación. 2. - El instrumento de conformidad con la reivindicación 1 , caracterizado porque el control de articulación está estructurado para movimiento en una primera dirección para aplicar la fuerza en una primera dirección transversal que efectúa rotación del efector de extremo en una primera dirección rotacional respecto a la flecha. 3. - El instrumento de conformidad con la reivindicación 2, caracterizado además porque el control de articulación está estructurado para movimiento en una segunda dirección para aplicar la fuerza en una segunda dirección transversal, opuesta a la primera dirección transversal, que efectúa rotación del efector de extremo en una segunda dirección rotacional respecto a la flecha. 4. - El instrumento de conformidad con la reivindicación 2, caracterizado además porque comprende una segunda banda conectada operacionalmente al efector de extremo y extendiéndose desde el mismo a través de por lo menos una porción de la flecha, el control de articulación estando conectado operacionalmente a la segunda banda, de modo que la aplicación de la fuerza es trasladada a través de la segunda banda hacia el efector de extremo que efectúa rotación del efector de extremo en una segunda dirección rotacional respecto a la flecha. 5. - El instrumento de conformidad con la reivindicación 4, caracterizado además porque el control de articulación comprende una corredera de articulación que es movible transversalmente a través de la flecha hacia la primera y segunda posiciones y la posición neutra. 6. - El instrumento de conformidad con la reivindicación 5, caracterizado además porque la corredera es movible transversalmente a través de la flecha hacia tercera y cuarta posiciones. 7. - El instrumento de conformidad con la reivindicación 5, caracterizado además porque la primera banda y la segunda banda son predobladas hacia el eje longitudinal cuando el control de articulación está en la posición neutra. 8. - El instrumento de conformidad con la reivindicación 5, caracterizado además porque la corredera de articulación define una ranura posicionada en casi el eje longitudinal cuando la corredera de articulación está en la posición neutra, y en donde la primera banda y la segunda banda pasan a través de la ranura, y la corredera de articulación es posicionada desplazada del eje longitudinal cuando la corredera de articulación está en una de la primera y la segunda posiciones. 9. - El instrumento de conformidad con la reivindicación 1 , caracterizado además porque comprende un primer miembro distal, en donde la primera banda es enviada desde el efector de extremo alrededor del primer miembro distal. 10. - El instrumento de conformidad con la reivindicación 9, caracterizado además porque comprende una segunda banda conectada operacionalmente al efector de extremo y extendiéndose desde el mismo a través de por lo menos una porción de la flecha, y un segundo miembro distal, en donde la segunda banda es enviada desde el efector de extremo alrededor del segundo miembro distal. 1 1 . - El instrumento de conformidad con la reivindicación 1 , caracterizado además porque el control de articulación comprende una corredera de articulación trasladable en una dirección sustancialmente transversal al eje longitudinal, en donde la corredera de articulación entra en contacto con la primera banda durante por lo menos una porción de la escala de movimiento de la corredera de articulación. 12. - El instrumento de conformidad con la reivindicación 1 , caracterizado además porque la fuerza es aplicada a la primera banda. 13.- El instrumento de conformidad con la reivindicación 1 , caracterizado además porque comprende una primera ampolla de articulación hidráulica expandióle hacia la primera banda. 14.- El instrumento de conformidad con la reivindicación 13, caracterizado además porque comprende una fuente de fluido hidráulico estructurada para recibir la fuerza aplicada por el control de articulación. 15. - El instrumento de conformidad con la reivindicación 14, caracterizado además porque la fuente de fluido hidráulico es una ampolla de accionamiento hidráulica acoplada fluídicamente a la primera ampolla de articulación hidráulica. 16. - El instrumento de conformidad con la reivindicación 15, caracterizado además porque el control de articulación comprende un primer botón de accionamiento para comprimir la primera ampolla de accionamiento hidráulica y dirigir el fluido hidráulico hacia la primera ampolla de articulación hidráulica para inflar la primera ampolla de articulación hidráulica cuando la fuerza es aplicada al primer botón. 17. - El instrumento de conformidad con la reivindicación 13, caracterizado además porque el control de articulación comprende además una segunda ampolla de articulación hidráulica. 18. - El instrumento de conformidad con la reivindicación 17, caracterizado además porque la primera ampolla de articulación hidráulica y la segunda ampolla de articulación hidráulica están posicionadas a lo largo de un lado común de la flecha. 19. - El instrumento de conformidad con la reivindicación 17, caracterizado además porque comprende una segunda banda conectada operacionalmente al efector de extremo y extendiéndose desde el mismo a través de por lo menos una porción de la flecha, en donde la segunda ampolla de articulación hidráulica es expandióle hacia la segunda banda. 20. - El instrumento de conformidad con la reivindicación 19, caracterizado además porque la expansión de la primera ampolla de articulación hidráulica hacia la primera banda causa flexión de la primera banda que efectúa rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una primera dirección rotacional, y la expansión de la segunda ampolla de articulación hidráulica hacia la segunda banda causa flexión de la segunda banda que efectúa rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una segunda dirección rotacional. 21 . - El instrumento de conformidad con la reivindicación 17, caracterizado además porque el control de articulación está estructurado para aplicación de la fuerza en una primera dirección transversal o en una segunda dirección transversal, opuesta a la primera dirección, para efectuar rotación del efector de extremo en una primera o una segunda dirección rotacional, respectivamente. 22. - El instrumento de conformidad con la reivindicación 21 , caracterizado además porque la primera banda está acoplada mecánicamente al efector de extremo en un realce centrado sobre el pivote de articulación, de modo que la fuerza trasladada a través de la primera banda es trasladada hacia el realce para efectuar rotación del realce alrededor del pivote de articulación. 23.- El instrumento de conformidad con la reivindicación 21 , caracterizado además porque la primera banda está acoplada mecánicamente al realce en un primer punto desplazado del pivote de articulación. 24. - El instrumento de conformidad con la reivindicación 23, caracterizado además porque comprende una segunda banda conectada operacionalmente al efector de extremo y extendiéndose desde el mismo a través de por lo menos una porción de la flecha, en donde el control de articulación está conectado operacionalmente a la segunda banda, y está configurado para aplicar la fuerza en la segunda dirección transversal, en donde la segunda banda está acoplada mecánicamente al realce de modo que la fuerza aplicada a la segunda banda es trasladada hacia el realce para efectuar rotación del realce alrededor del pivote de articulación. 25. - El instrumento de conformidad con la reivindicación 24, caracterizado además porque la segunda banda está acoplada mecánicamente al realce en un segundo punto desplazado del pivote de articulación y espaciado del primer punto. 26. - El instrumento de conformidad con la reivindicación 1 , caracterizado además porque comprende un mango conectado mecánicamente a la flecha. 27. - El instrumento de conformidad con la reivindicación 1 , caracterizado además porque comprende una segunda banda conectada operacionalmente al efector de extremo y extendiéndose desde el mismo a través de por lo menos una porción de la flecha, y en donde la segunda banda comprende un ensamble de resortes que permite que la segunda banda se alargue en respuesta a tensión. 28. - El instrumento de conformidad con la reivindicación 27, caracterizado además porque la primera banda comprende además un ensamble de resortes que permite que la primera banda se alargue una distancia fija en respuesta a tensión. 29. - El instrumento de conformidad con la reivindicación 27, caracterizado además porque la primera banda y la segunda banda están conectadas operacionalmente al control de articulación en puntos desplazados del eje longitudinal de la flecha. 30.- El instrumento de conformidad con la reivindicación 27, caracterizado además porque la segunda banda está configurada para recibir una segunda fuerza en una dirección sustancialmente transversal al eje longitudinal, en donde la segunda fuerza es trasladada a través de la segunda banda hacia el efector de extremo para efectuar rotación del efector de extremo respecto a la flecha alrededor del pivote de articulación en una segunda dirección. 31 .- Un instrumento quirúrgico articulable, el instrumento comprendiendo: una flecha que tiene un extremo proximal y un extremo distal; un efector de extremo acoplado sobre pivote a la flecha en un pivote de articulación en el extremo distal de la flecha, que permite que el efector de extremo gire sobre un eje respecto a la flecha alrededor de un eje de articulación; y una primera banda que se extiende a través de por lo menos una porción de la flecha, la primera banda comprendiendo un primer extremo acoplado mecánicamente al efector de extremo en un punto desplazado del eje de articulación. 32. - El instrumento de conformidad con la reivindicación 31 , caracterizado porque comprende un mango acoplado mecánicamente a la flecha en el extremo proximal de la flecha. 33. - El instrumento de conformidad con la reivindicación 31 , caracterizado además porque comprende una barra de control de articulación deslizable hacia la primera banda. 34. - El instrumento de conformidad con la reivindicación 31 , caracterizado además porque comprende una primera ampolla hidráulica de articulación expandible hacia la primera banda. 35. - El instrumento de conformidad con la reivindicación 31 , caracterizado además porque comprende un miembro distal posicionado en la flecha, en donde la primera banda es enviada hacia el efector de extremo alrededor del miembro distal. 36. - El instrumento de conformidad con la reivindicación 31 , caracterizado además porque comprende una segunda banda que se extiende a través de por lo menos una porción de la flecha, la segunda banda comprendiendo un primer extremo acoplado mecánicamente al efector de extremo en un segundo punto desplazado del eje de articulación. 37. - El instrumento de conformidad con la reivindicación 36, caracterizado además porque la primera banda y la segunda banda son predobladas. 38. - Un instrumento quirúrgico, que comprende: una flecha; un efector de extremo acoplado mecánicamente a la flecha en un pivote de articulación que permite que el efector de extremo gire sobre un eje respecto a la flecha alrededor de un eje de articulación; y una primera banda que se extiende a través de por lo menos una porción de la flecha, la primera banda comprendiendo un primer extremo acoplado mecánicamente al efector de extremo en un punto desplazado del eje de articulación; un método para la operación del instrumento, que comprende: aplicar una fuerza al instrumento en una dirección que es sustancialmente transversal a la flecha, en donde la fuerza hace que la primera banda se doble, y en donde la flexión de la primera banda hace que el efector de extremo gire sobre un eje respecto a la flecha alrededor del pivote de articulación en una primera dirección. 39. - El método de conformidad con la reivindicación 38, caracterizado porque el instrumento quirúrgico comprende además una segunda banda que comprende un primer extremo acoplado mecánicamente al efector de extremo en un segundo punto desplazado del eje de articulación, el método comprendiendo además aplicar una segunda fuerza al instrumento en una segunda dirección que es sustancialmente transversal a la flecha, en donde la segunda fuerza hace que la segunda banda se doble, y en donde la flexión de la segunda banda hace que el efector de extremo gire sobre un eje respecto a la flecha alrededor del pivote de articulación en una segunda dirección.
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US11/329,020 US7670334B2 (en) | 2006-01-10 | 2006-01-10 | Surgical instrument having an articulating end effector |
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MX2007000385A true MX2007000385A (es) | 2008-11-26 |
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MX2007000385A MX2007000385A (es) | 2006-01-10 | 2007-01-10 | Instrumento quirurgico que tiene un efector de extremo articulable. |
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US (1) | US7670334B2 (es) |
EP (2) | EP1806103B1 (es) |
JP (1) | JP5436754B2 (es) |
CN (1) | CN101015471B (es) |
AU (1) | AU2007200037B2 (es) |
BR (1) | BRPI0700807B8 (es) |
CA (1) | CA2573286C (es) |
MX (1) | MX2007000385A (es) |
PL (1) | PL2292152T3 (es) |
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-
2006
- 2006-01-10 US US11/329,020 patent/US7670334B2/en active Active
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2007
- 2007-01-04 CA CA2573286A patent/CA2573286C/en not_active Expired - Fee Related
- 2007-01-04 AU AU2007200037A patent/AU2007200037B2/en not_active Ceased
- 2007-01-09 JP JP2007001567A patent/JP5436754B2/ja not_active Expired - Fee Related
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EP2292152B1 (en) | 2016-03-16 |
EP1806103B1 (en) | 2013-05-15 |
CN101015471B (zh) | 2012-05-30 |
BRPI0700807A (pt) | 2007-10-16 |
AU2007200037A1 (en) | 2007-07-26 |
EP1806103A1 (en) | 2007-07-11 |
US20070158385A1 (en) | 2007-07-12 |
AU2007200037B2 (en) | 2012-03-29 |
CA2573286C (en) | 2014-12-09 |
US7670334B2 (en) | 2010-03-02 |
BRPI0700807B8 (pt) | 2021-06-22 |
JP2007185509A (ja) | 2007-07-26 |
EP2292152A1 (en) | 2011-03-09 |
JP5436754B2 (ja) | 2014-03-05 |
CA2573286A1 (en) | 2007-07-10 |
PL2292152T3 (pl) | 2016-10-31 |
BRPI0700807B1 (pt) | 2018-08-28 |
CN101015471A (zh) | 2007-08-15 |
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