TR201608291A1 - INNOVATIVE LAPAROSCOPIC CLUTCH DEVICE - Google Patents

Abstract

The present invention is in its most basic form; the at least one outer shaft (2) passed through the small slit opening to the body of the patient, the at least one jaw (4), the outer shaft (2) located at the outer end portion of the outer shaft (2) passing into the patient and capable of grasping the organ or tissue of the patient by closing movement. at least one inner shaft (5), which transmits force in the closing or opening of the jaw (4), between the inner shaft (5) and the jaw (4) and by a linear movement of the inner shaft (5), a pin (5) of the jaw (4). 61) a lever device (6) which enables opening and closing movement by centered rotational movement, at least one intelligent material (7) connected to the opposite end of the end of the inner shaft (5) located on the jaw (4), located on the handle (3). In the case of laparoscopic surgical operations, which provide at least one trigger (8), which provides the passage of electric current to generate heat on the intelligent material (7) in proportion to the force exerted on the user, n laparoscopic gripping device for the uptake or receiving part (1) thereof.

Description

DESCRIPTION INNOVATIVE LAPAROSCOPIC GRIP DEVICE Technical Area The invention is useful in grasping sick organs or tissues in laparoscopic surgeries. or used in picking up parts, preventing the user's hand shaking problem and a laparoscopic grasper device capable of tissue analysis It is related to. Prior Art Laparoscopy (L/S) literally (lapar - scopy) to observe the inside of the abdomen means. Inside the organs in the body through a small hole Observation with the help of an inserted camera is called laparoscopy. laparoscopy laparoscopic surgery or surgery performed with assistive devices during It is called closed surgery. Especially nowadays laparoscopic surgeries It is more widely used and preferred than open surgeries due to its advantages. is being done. One of the auxiliary tools used during laparoscopy is It is a laparoscopic grasper (laparoscopic grasper). In laparoscopic surgeries An image-taking camera is used together with the laparoscopic gripping device.

In laparoscopy surgeries, the laparoscopic gripping device is attached to the patient's body. so that the patient's tissue can be reached directly with small slits. is used. The laparoscopic gripping device available in the current art body, a jaw that grips the tissue at the tip of the shaft, and a shaft the force application of the user's hand on the part outside the body a lever that allows the jaw to perform an opening and closing motion. It consists of arm system. The user applied the surgeon's application on the grip arm. in line with the size of the force, the lever system closes the jaw and removes the tissue. fragmentation or grasping of tissue or organ without injury is provided.

In the laparoscopic gripping instruments used in the current technique, the user must hand fatigue in the case of continuous use of the device throughout the operation is formed. Especially the laparoscopic gripping device used in the current art. With the lever system, the force is transferred from the user's hand to the jaw. Therefore, hand fatigue appears more in the user surgeon. Available a control system for the force to be applied by the user-surgeon in the technique. does not exist. Therefore, tissue or on the jaw that takes a part of the organ or provides grasping of the tissue or organ being an indirect control and by the hand of the user using the laparoscopic gripper. reduction of the force applied to the lever system or to the lever system slippage of the tissue from the jaw with loss of contact in the force applied or damage to tissue, such as the chin exerting too much force on the tissue. situations occur.

United States patent number U85282800, which is in the state of the art The invention in the document provides for the reuse of laparoscopic gripping instruments. It is related to the fact that its various compartments are replaceable. This is used With the technique, the tip of the laparoscopic gripping instruments was changed and the ensured to be reusable.

United States with the state of the art US7828798B25 Invention in the patent document, a two-shaft tissue take-up formed for sealing relates to the laparoscopic gripping instrument.

United States numbered U86358268B1 in the state of the art In the patent document, the invention includes a hand grip, shaft that can be grasped by the user. and a tissue gripping tool comprising a jaw at the shaft end. bet In the tissue gripping device passing through, the jaw is rotatable and can be used during surgeries. It is advantageous that the jaw can be rotated.

Problems Solved with Invention The aim of this invention is to create a smart device by applying force on it by the user. an innovative laparoscopic grip that includes a trigger that conducts electricity to the material To implement the device.

The purpose of this invention is to heat up with electricity from the trigger and act with heating. containing a smart material that acts as a drive for closing the spindle-mounted jaw To realize innovative laparoscopic gripping Device.

The aim of this invention is to cool the smart material to open the jaw. containing a smart material with resealable air ducts that provide is to realize an innovative laparoscopic gripping device.

The object of this invention is to place the tensioner shaft, which exerts force to close the jaw. closing press of the jaw and tapping by measuring the replacement distance An innovative laparoscopic gripping device that allows measuring the flexibility of is to perform.

The aim of this invention is to be taken from the patient with a pressure gauge placed on the chin. an innovative laparoscopic grip that detects tissue stiffness implement the device.

Detailed Description of the Invention Innovative laparoscopic gripping realized to achieve the aim of this invention The device is shown in the attached figure, which is; Figure 1. Side view of the innovative laparoscopic gripping device of the invention is the view.

Figure 2. E-E detail of the innovative laparoscopic gripping device of the invention is a side view.

The parts in the figure are numbered one by one and the corresponding numbers are given below.

Laparoscopic gripping device handle lever assembly 61. Pin 7. Smart material 8. Trigger 9. Bed . three miles 11. Sagittarius 12. Tactile sensor array 13. Distance sensor 14. Shear voltage measurement sensor In laparoscopic surgical operations, the tissue or organs of the patient continuous force of the user, which enables the gripping or removal of parts. Laparoscopic grip that does not require application and can perform tissue analysis device (1); - at least one outer shaft passed through the small slit in the patient's body - the user's hand on the outer shaft (2) outside the patient's body at least one handle (3), located on the outer end part of the outer shaft (2) that passes into the patient and at least one jaw (4) that can grasp the patient's organ or tissue with its movement, closure or opening of the jaw (4) contained in [tooth mi] (2) at least one interior that transmits force in the direction of] (5), inner shaft] (5) and the chin (4), located between the inner shaft (5) and the linear movement of the inner shaft (5). opening and closing by rotational movement of the jaw (4) centered on a pin (61) a lever mechanism (6) that enables it to perform movement, connected to the opposite end of the end of the inner shaft (5) with the jaw (4), pulling on the inner shaft (5) by performing a shortening movement at least one that transmits the movement, can return to its former size by cooling smart material (7), with the force exerted by the user on the handle (3). electricity to generate heat on the smart material (7) proportionally. at least one trigger (8), which passes the current and The handle extending over the handle (3) over the disc [mi] (2) and inside the handle Cooling of the smart material (7) with the air inlet given over the at least one air duct providing the discharge of air, The inner shaft (5) and the inner shaft (5) surrounding the junction ends of the inner shaft (5) and the intelligent material (7). and at least one that enables the smart material (7) to be placed on the outer shaft (2). a bed (9), located at the end of the outer shaft (2) and the inner shaft (5) and together with the inner shaft (5) which moves linearly and provides bearing of the inner shaft (5) to the outer shaft (2). at least one extreme] (10), with the heating of the smart material (7) located between the bearing (9) and the three shafts. of the smart material, which is jammed between the bearing (9) and the end shaft and with the opening movement. (7) at least one spring (1 1), which creates additional force for its return to its former size, pressure applied to the tissue by the chin (4) and located on the chin (4) at least one array of tactile sensors (tactile sensor) (12), which measures the force of by measuring the displacement distance of the inner shaft (5) inside the outer shaft (2) and (4) at least one distance sensor (13) that measures the applied force value, - the distance between the end shaft and the outer shaft (2) and the reverse travel of the end shaft at least one film measuring the amount of sliding of the chin (4) over the tissue by measuring shaped shear voltage measurement sensor (14), - the tactile sensor array (12) determines the elasticity of the tissue based on the data it receives. the elongation of the smart material (7) by measuring and determining the required net force. at least one control unit that automatically adjusts the distance, - according to the data received from the shear tension measurement sensor (14) (4) detecting that there is slipping over the tissue and preventing slippage the elongation distance of the smart material (7) by determining the net force required for at least one control unit that provides automatic adjustment, - on the tissue in accordance with the data it receives from the distance sensor (13) at least one that compiles the applied force measurements and transmits them as data to the user. includes a control unit.

The subject of the invention is the laparoscopic gripping device (1), organs and organs outside the patient's body. a tooth that provides access to tissues] (2), tooth] (2) (2) and the organ or a jaw (4) that grips the tissues, an inner that transmits linear motion to the jaw (4)] (5), an intelligent material (7) that transmits motion to the inner shaft (5), outside the outer shaft (2) of the body. the handle (3) on the remaining part, the smart handle (3) on the handle it consists of a trigger (8) that heats the material (7) with electrical energy. Meet Is it inside the outer shaft (2) of the laparoscopic coupling device (1)? (5) contains the intelligent material (7), the bearing (9) and the end shaft (10) and inside it It acts as a body for the components in it. End of outer shaft (2) with a lever assembly (6) on the jaw (4), inner shaft] (5). It is connected and together with the directional movement of the inner shaft (5) into the outer shaft (2). makes a closing motion.

Grasping the tissue of the jaw (4) in the laparoscopic gripping device (l) which is the subject of the invention The closing action actuation force that it performs with the intelligent material (7) is carried out. The inner shaft (5), which is connected to the jaw (4) with the lever assembly (6), It is connected to the smart material (7) from the other end. by user When the force is applied on the trigger (8), the smart material (7) electric current is passed and the smart material (7) is heated with electric current. is provided. The heated smart material (7) performs a shortening movement and It exerts tensile force on the inner shaft (5) to which it is attached. on the inner shaft transfers the incoming pulling force onto the lever assembly (6) and the lever mechanism (6) closes the jaw (4) with a rotational movement centered on the pin (61). it provides.

Leaving the tissue of the jaw (4) in the laparoscopic gripping device (1) which is the subject of the invention The driving force of the opening movement for the smart material (7) is carried out. Intelligent, which is cooled by the air passing through the cooling channel the material (7) performs an elongation movement and the pushing force on the inner shaft (5) applies. The inner shaft puts the pushing force on the lever assembly (6). and the lever assembly (6) rotates the jaw (4) centered on the pin (61). it opens with.

In one embodiment of the invention, a tactile sensor array located on the jaw (4) (12) are available. The tactile sensor array (12) is applied by the chin (4) to the tissue. measures the pressure force. Tactile sensor index in an embodiment of the invention (12) in line with the data it receives, the smart material that is activated with the trigger (8) (7) a control unit that controls the amount of heat transmitted to it are available. The aforementioned control unit receives from the tactile sensor array (12). The net jaw (4) pressure force required in line with the pressure data Calculates and calculates the force value of the smart material (7). it provides heating.

In one embodiment of the invention, it measures the displacement of the inner shaft (5) and There is a distance sensor (13) that measures the displacement (5).

In an embodiment of the invention, in accordance with the data it receives from the distance sensor (13). measures the force applied to the tissue and calculates the elastic properties of the tissue, and There is a control unit that defines the texture. Thus, the jaw (4) whether the tissue it grasps is a damaged tissue, a cancerous tissue, etc. situations can be detected.

In one embodiment of the invention, it is located between the tip [10] and the outer shaft (2) and slipping of the jaw (4) over the tissue by measuring the backward movement distance of the shaft (10) There is a shear voltage measurement sensor (14) that measures the amount of your chin (4) opening or closing movement of the inner shaft (5) via the lever mechanism (6). causes it. Possible slipping of the chin (4) over the tissue In the case of the inner shaft (5) and the inner shaft (5), the three shafts (10) move together. is doing. The slip voltage measurement sensor (14) detects the said movement. and sends it as a signal to the control unit. Control unit shear voltage The measurement sensor (14) is placed on the smart material (7) in accordance with the data it receives. It adjusts the amount of heat to be transmitted and determines the potential of the chin (4) over the tissue. Heating the smart material (7) in a way that will prevent the sliding movement. it provides.

In one embodiment of the invention, the control unit is a shear voltage measurement sensor (`14), any of the tactile sensor array (12) and the distance sensor (13), or by compiling the data from all of them and determining the net force (7) provides automatic adjustment of the elongation distance.

In one embodiment of the invention, the intelligent material (7) is a cable-shaped outer shaft (2) and extends over the trigger (8). The intelligent material in the form of a cable (7) is a cable. It moves in the channel and the heating and cooling applied on it. In the processes, the smart material (7) moves linearly in the channel.

In one embodiment of the invention, the distance sensor ([3) is placed on the smart material (7). It is a potentiometer that measures the applied voltage. Distance to potentiometer electrical voltage passing the sensor (13) to the control unit on the smart material (7) The control unit transmits its data and the data it receives is applied to the chin (4). detects strength.

In one embodiment of the invention, the smart material (7) is a biocompatible nickel titanium. based shape memory alloy.

In one embodiment of the invention, the smart material (7) is electrically activated and electrically it is elongated.

In one embodiment of the invention, the one on the handle (3) or with the control unit. There is an interface that communicates. controller distance sensor (13), shear tension measurement sensor (14) and tactile sensor array (12). It transfers the data to the user via the interface and provides the flexibility of the texture, It presents its feature and necessary forces to the user as data.

In one embodiment of the invention, the interface is a screen.

Claims (19)

REQUESTS 1. In laparoscopic surgical operations, the patient's tissues or organs are grasped or parts are removed and; At least one handle (3) located on the part of the outer shaft (2) outside the patient's body, which is passed through the small slit opened into the patient's body, in such a way that the user can grasp it by hand, is located on the outer end of the outer shaft (2) that passes into the patient and At least one inner shaft (5), which is in the outer shaft (2) of the jaw that can grasp the organ or tissue of the patient with the closing movement, and that transmits force in the direction of the closing or opening of the jaw (4), the inner shaft] (5) and the jaw (4) A lever assembly (6) is connected to the opposite end of the end of the inner shaft (5) with the jaw (4), which is located between At least one intelligent material (7), which transmits a pulling motion on the inner shaft (5) by performing a shortening movement by applying heat to the first one, and can return to its original size upon cooling, is located on the handle (3), in proportion to the force exerted on it by the user. A laparoscopic gripping device (1), which is characterized by at least one trigger (8) and provides the passage of electric current to generate heat on the intelligent material (7); 2. A laparoscopic gripping device as in Claim 1, which extends over the handle (3) over the outer shaft (2) and includes at least one air channel that provides cooling of the smart material (7) and evacuation of the air with the air inlet supplied through the handle. one). . A laparoscopic clutch as in Claim 1, comprising at least one bearing (9) that surrounds the joining ends of the inner shaft (5) and the intelligent material (7) and provides the internal shaft (5) and the intelligent material (7) to be mounted on the outer shaft (2). device (1). . Claim 1, which includes at least one end shaft (10) located at the end of the outer shaft (2) and the inner shaft (5) and moves linearly with the inner shaft (5) and provides the bearing of the inner shaft (5) to the outer shaft (2)" a laparoscopic gripping device as in . At least the minimum force between the bearing (9) and the three shaft (10) and which gets stuck between the bearing (9) and the three shaft (10) due to the heating of the intelligent material (7) and which creates an additional force for the transition of the intelligent material (7) to its former size with the opening movement. A laparoscopic gripping device (1) as in claim 1, comprising a spring (11). . Including at least one tactile sensor array (12) on the chin (4) that measures the pressure exerted on the tissue by the chin (4) A laparoscopic gripping device (1) as in claim 1. . A laparoscopic gripping device (1) as in Claim 1 or 6, comprising at least one control unit that measures the flexibility of the tissue in accordance with the data it receives from the tactile sensor array (12) and provides automatic adjustment of the elongation distance of the smart material (7) by determining the required net force. . A laparoscopic gripping device (1) as in Claim 13, comprising at least one distance sensor (13) that measures the force value applied to the jaw (4) by measuring the displacement distance of the inner shaft (5) within the outer shaft (2). . A laparoscopic gripping device (l) as in Claim 1 or 8, comprising at least one control unit that compiles the force measurements applied on the tissue in accordance with the data it receives from the distance sensor (13) and transmits the data to the user. 10. As in Claim 1, comprising at least one shear stress measurement sensor (14) located between the three shaft (10) and the outer shaft (2) and which measures the amount of slippage of the jaw (4) over the tissue by measuring the back-movement distance of the three shaft (10) a laparoscopic gripping device (1). 11. Claim 1 or 10 containing at least one control unit, which detects the slipping of the jaw (4) over the tissue in accordance with the data received from the shear tension measurement sensor (14), and determines the net force required to prevent slipping, and provides automatic adjustment of the elongation distance of the smart material (7). A laparoscopic gripping device (1) as in °. 12. Containing at least one control unit that compiles the data from any or all of the shear tension measurement sensor (14), the tactile sensor array (12) and the distance sensor (13) and provides automatic adjustment of the elongation distance of the smart material (7) by determining the net force. A laparoscopic gripping device (1) as in claim 6 to ”. 13. A laparoscopic gripping Device (1) as in claim 1, comprising intelligent material (7), which is a cable. 14. A laparoscopic gripping device (1) as in Claim 1 or 13, comprising at least one channel that provides linear movement of the intelligent material (7), through which the intelligent material (7) passes, within the handle (3) and the outer shaft (2). . 15. A laparoscopic gripping device (1) as in Claim 8, 9 or 129, comprising a distance sensor (13), which is a potentiometer that measures the voltage applied on the smart material (7). 16. A laparoscopic gripping device (1) as in any one of the preceding claims comprising a biocompatible nickel-titanium-based shape memory alloy smart material (7). 17. A laparoscopic gripping device (1) as in any one of the above claims, comprising intelligent material (7) that extends activated by electric current. 18. A laparoscopic gripping device (1) as in Claim 7, 9, 11 or 12, comprising at least one interface that transmits the data it receives from the control unit to the user and transmits data about the flexibility and properties of the tissue to the user. 19. A laparoscopic gripping Device (1) as in Claim 18, comprising a screen interface.