US20050119641A1 - Manipulator for an instrument for minimally invasive surgery and such an instrument - Google Patents

Manipulator for an instrument for minimally invasive surgery and such an instrument Download PDF

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Publication number
US20050119641A1
US20050119641A1 US10/966,547 US96654704A US2005119641A1 US 20050119641 A1 US20050119641 A1 US 20050119641A1 US 96654704 A US96654704 A US 96654704A US 2005119641 A1 US2005119641 A1 US 2005119641A1
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US
United States
Prior art keywords
instrument
manipulator
carriage
handle
mouthpiece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10/966,547
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English (en)
Inventor
Joris Jaspers
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Academisch Medisch Centrum
Original Assignee
Academisch Medisch Centrum
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Academisch Medisch Centrum filed Critical Academisch Medisch Centrum
Priority to US10/966,547 priority Critical patent/US20050119641A1/en
Assigned to ACADEMISCH MEDISCH CENTRUM reassignment ACADEMISCH MEDISCH CENTRUM ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: JASPERS, JORIS EMANUEL NICOLAAS
Publication of US20050119641A1 publication Critical patent/US20050119641A1/en
Priority to US13/278,502 priority patent/US8992564B2/en
Abandoned legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph

Definitions

  • the invention relates to a manipulator for an instrument for minimally invasive surgery, provided with a first moveable carriage, on which first carriage the instrument can be mounted, wherein the first carriage is positioned on a first arm of a parallelogram construction to provide the instrument with a virtual pivoting point in the plane in which—during use—the instrument intersects the body of a patient.
  • the invention also relates to an instrument to be used with such a manipulator, comprising a tube provided at its first end with a mouthpiece and wherein control means for the mouthpiece pass through the tube.
  • the manipulator according to the invention is characterised in that the proximal end of the manipulator is provided with a handle for operating the instrument, with the handle being placed on, or forming part of a second arm of the parallelogram construction opposite the first arm, such that a body axis of the handle always extends parallel to the instrument.
  • the manipulator according to the invention has the advantage that there are no motor drives, and with respect to positioning there is a one-to-one coupling between the handle of the manipulator and the instrument being operated with the aid of the manipulator. This is an inestimable advantage to the surgeon using the manipulator, which especially aids the operational ease and the applicability of the manipulator for surgical uses.
  • the handle is further advantageous for the handle to be positioned on a moveable second carriage coupled with the first carriage such that when moving the second carriage, the first carriage carries out a corresponding movement in the longitudinal direction of the instrument.
  • the instrument is further desirable for the instrument to be detachable from the first carriage. This affords the possibility of easily adapting the instrument to the actions to be carried out during the surgical operation, while the necessary sterilisation activities can be limited to this instrument.
  • the manipulator according to the invention may be suitably embodied such that a first carriage is provided with couplers designed to co-operate with control organs of the instruments, which couplers are coupled with the handle via interpositioned pull wires.
  • the application of pull wires is favourable both with respect to limiting the weight of the manipulator that has to be displaced during use, and also to limiting friction and to avoiding possible play.
  • the manipulator is characterised in that the instrument is coupled with the handle in order to be able to conduct in unison (not delayed) a rotation about the respective body axes.
  • the invention is also embodied in an instrument that is equipped for use with a manipulator as described above.
  • this instrument is characterised in that at a second end of the tube opposite to the first end comprising the mouthpiece, control organs are provided that are coupled with the control means for the mouthpiece that are passing through the tube.
  • control organs are flanges mounted on pull tubes passing through the tube and constituting part of the control means.
  • the use of flanges affords the possibility of a readily detachable coupling between the control organs of the instrument and the couplers of the manipulator, which in turn are operated by means of the handle.
  • the advantage of using pull tubes is that they are also suitable for exerting a pushing force.
  • the instrument according to the invention is preferably characterised in that the mouthpiece is a jaw-like gripping organ comprising two cooperating jaw portions, wherein each jaw portion is coupled with one of the pull tubes.
  • the jaw portions are spring-activated so as to force the jaw portions apart to open the gripping organ.
  • the freedom of movement of the manipulator may be designed to include the possibility of locking by means of (for example) break shoes operated by means of (for example) a foot pedal. In this way it is possible to use the manipulator hands-free so as to simultaneously allow other tasks to be performed.
  • FIGS. 1 and 2 the manipulator with the instrument according to the invention
  • FIG. 3 the whole instrument according to the invention and a detailed view of the mouthpiece
  • FIG. 4 the whole instrument according to the invention, as well as a detailed view of a first end and a detailed view of a second end;
  • FIG. 5 the instrument according to the invention as shown in FIG. 4 , with the mouthpiece being slightly rotated;
  • FIG. 6 the instrument according to the invention in mounted position together with a portion of the manipulator.
  • FIG. 1 this figure shows an instrument 1 for laparoscopic surgery, which may be partly within the body of a patient and enjoying six degrees of freedom indicated at the mouthpiece of the instrument, being the three translations x, y and z and the three rotations ⁇ , ⁇ and ⁇ . All these movements are controlled by operating a handle 2 , which enjoys the same degrees of freedom, and which during operation of the handle relays the same one-to-one to the mouthpiece of the instrument.
  • a handle 2 which enjoys the same degrees of freedom, and which during operation of the handle relays the same one-to-one to the mouthpiece of the instrument.
  • there is a seventh degree of freedom formed by the open and close movement of the handle 2 and the open and close movement of the jaws of the mouthpiece coupled thereto, as will be explained below.
  • the instrument 1 has, according to the invention, an invariant point 3 .
  • this invariant point 3 forms a virtually fixed point of rotation for the instrument 1 .
  • the basis of the manipulator is formed by a main axis 4 that is capable of carrying out a rotation ⁇ due to said main axis 4 being accommodated in a bearings 5 coupled with the solid world.
  • This solid world is preferably formed by an operating table.
  • a known so-called parallelogram mechanism is connected of which plates 6 and 7 and a tube 8 are elements.
  • a rotation ⁇ of the handle 2 about axis 9 a is translated into a correspondihg rotation ⁇ about the axes 9 b and 9 c and axis 10 , which is located outside the parallelogram mechanism and (in its extended direction) intersects the main rotation axis 4 .
  • the instrument is capable of, there are, for example, pull-wires leading from the handle 2 through the manipulator to the instrument.
  • the movement of handle 2 and instrument 1 in the longitudinal direction z of the instrument occurs, for example, due to the handle and instrument being situated on carriages 12 and 13 that are moveable along guidings.
  • the mouthpiece of the instrument 1 is embodied as jaw-like gripping organ comprising two cooperating jaw portions 15 , 16 , each of which is able to rotate individually about axis 17 .
  • the rotations ⁇ and ⁇ of the jaw portions 15 and 16 are each controlled separately by means of cables that are connected to pull tubes 23 and 22 extending in the instrument 1 (see also FIG. 4 ).
  • the jaw portions are also spring-activated by means of a spring 18 (see FIG. 3 ), which produces an opening force for the jaw portions 15 , 16 .
  • FIG. 5 shows that when only pull tube 22 is contracted and pull tube 23 is slack, both jaw portions 15 , 16 will rotate about axis 17 in direction ⁇ .
  • the instrument 1 is further embodied such that the jaw portions 15 , 16 are also able to rotate about an axis 19 .
  • a pull-push tube is used which, when pushing in the direction of the jaw portions 15 , 16 , will rotate the same in the direction of rotation indicated by ⁇ .
  • FIGS. 4 and 5 further show that at the end furthest from the jaw portions 15 , 16 , the pull tubes 22 and 23 are provided with flanges 25 and 26 . At the respective end, pull-push rod 24 is provided with a ball 27 .
  • the function of the flanges 25 and 26 and the ball 27 will become clear in the explanation below referring to FIG. 6 .
  • FIG. 6 shows the instrument 1 mounted on the carriage 13 and moveable along a guiding.
  • the flanges 25 and 26 that are coupled via the above-mentioned pull rods with the jaw portions 15 , 16 of the mouthpiece, are operated by means of levers 28 and 29 , which are part of the manipulator.
  • the pull-push rod 24 is operated by a disc 30 connected to the ball 27 .
  • This latter connection is designed such that thanks to the shape of the ball 27 , the instrument 1 is rotatable about its longitudinal axis.
  • the ball 27 and the disc 30 cooperating therewith may be replaced by another construction working in a similar manner, for example, by a rotatable flange controlled by means of a moveable carriage.
  • Rotation ⁇ of the instrument 1 is effected by operating the disc 31 .
  • the coupling of the levers 28 and 29 and disc 30 with the handle 2 is in the present exemplary embodiment effected by means of pull wires.
  • Such couplings may be bowden cables, hydraulics, chains, bands or the like. All this lies within the scope of the person skilled in the art and requires no further explanation.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
US10/966,547 2002-04-16 2004-10-15 Manipulator for an instrument for minimally invasive surgery and such an instrument Abandoned US20050119641A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US10/966,547 US20050119641A1 (en) 2002-04-16 2004-10-15 Manipulator for an instrument for minimally invasive surgery and such an instrument
US13/278,502 US8992564B2 (en) 2002-04-16 2011-10-21 Instrument for minimally invasive surgery

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
NL1020396A NL1020396C2 (nl) 2002-04-16 2002-04-16 Manipulator voor een instrument voor minimaal-invasieve chirurgie, alsmede een dergelijk instrument.
NL1020396 2002-04-16
PCT/NL2003/000165 WO2003086219A2 (en) 2002-04-16 2003-03-05 Manipulator for an instrument for minimally invasive surgery and such an instrument
US10/966,547 US20050119641A1 (en) 2002-04-16 2004-10-15 Manipulator for an instrument for minimally invasive surgery and such an instrument

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2003/000165 Continuation WO2003086219A2 (en) 2002-04-16 2003-03-05 Manipulator for an instrument for minimally invasive surgery and such an instrument

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US13/278,502 Division US8992564B2 (en) 2002-04-16 2011-10-21 Instrument for minimally invasive surgery

Publications (1)

Publication Number Publication Date
US20050119641A1 true US20050119641A1 (en) 2005-06-02

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
US10/966,547 Abandoned US20050119641A1 (en) 2002-04-16 2004-10-15 Manipulator for an instrument for minimally invasive surgery and such an instrument
US13/278,502 Expired - Fee Related US8992564B2 (en) 2002-04-16 2011-10-21 Instrument for minimally invasive surgery

Family Applications After (1)

Application Number Title Priority Date Filing Date
US13/278,502 Expired - Fee Related US8992564B2 (en) 2002-04-16 2011-10-21 Instrument for minimally invasive surgery

Country Status (9)

Country Link
US (2) US20050119641A1 (de)
EP (1) EP1496811B1 (de)
JP (1) JP4300472B2 (de)
AT (1) ATE334631T1 (de)
AU (1) AU2003212707A1 (de)
CA (1) CA2482160C (de)
DE (1) DE60307257T2 (de)
NL (1) NL1020396C2 (de)
WO (1) WO2003086219A2 (de)

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WO2008070685A2 (en) * 2006-12-05 2008-06-12 Allegiance Corporation Instrument positioning/holding devices
US20100121347A1 (en) * 2007-04-24 2010-05-13 Academisch Medisch Centrum Van De Universiteit Van Amsterdam Manipulator for an Instrument for Minimally Invasive Surgery, and a Positioning Aid for Positioning Such an Instrument
KR100978222B1 (ko) 2009-08-28 2010-08-26 주식회사 래보 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법
US20100241136A1 (en) * 2006-12-05 2010-09-23 Mark Doyle Instrument positioning/holding devices
US20120041478A1 (en) * 2002-04-16 2012-02-16 Academisch Medisch Centrum Instrument for Minimally Invasive Surgery
CN102469995A (zh) * 2009-07-03 2012-05-23 伊顿株式会社 混合手术机器人系统及手术机器人的控制方法
US20120158013A1 (en) * 2010-12-17 2012-06-21 Ethicon Endo-Surgery, Inc. Surgical System and Methods for Mimicked Motion
US20120232339A1 (en) * 2009-09-02 2012-09-13 Laszlo Csiky Surgical device and accessories
WO2013018985A1 (ko) * 2011-08-03 2013-02-07 (주)미래컴퍼니 수술용 로봇 시스템
US20130338679A1 (en) * 2007-05-04 2013-12-19 Technische Universiteit Eindhoven Surgical Robot
US20140257091A1 (en) * 2013-03-11 2014-09-11 The Board Of Trustees Of The Leland Stanford Junior University Master-slave apparatus and approach
CN110236677A (zh) * 2019-04-30 2019-09-17 汕头大学 一种平行四边形结构微创手术机械臂

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US9696700B2 (en) 2011-07-27 2017-07-04 Ecole Polytechnique Federale De Lausanne Mechanical teleoperated device for remote manipulation
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US8617203B2 (en) 2011-12-02 2013-12-31 Ethicon Endo-Surgery, Inc. Jaw assembly for surgical devices
US9131987B2 (en) 2011-12-02 2015-09-15 Ethicon Endo-Surgery, Inc. Elbow assembly for surgical devices
JP6283747B2 (ja) 2013-08-28 2018-02-21 インスティテュート オブ テクニカル エジュケーション 器具を誘導するためのシステムおよび装置
EP3102139B1 (de) 2014-02-03 2018-06-13 DistalMotion SA Mechanische fernbetriebene vorrichtung mit einem austauschbaren distalen instrument
EP3185808B1 (de) 2014-08-27 2022-02-23 DistalMotion SA Chirurgisches system für mikrochirurgische verfahren
EP3232974B1 (de) 2014-12-19 2018-10-24 DistalMotion SA Beweglicher griff für mechanischen telemanipulator
US10864052B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Surgical instrument with articulated end-effector
EP4342412A3 (de) 2014-12-19 2024-06-05 DistalMotion SA Wiederverwendbares chirurgisches instrument für minimalinvasive eingriffe
WO2016097871A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Docking system for mechanical telemanipulator
EP3232973B1 (de) 2014-12-19 2020-04-01 DistalMotion SA Sterile schnittstelle für gelenkige chirurgische instrumente
EP3280343A1 (de) * 2015-04-09 2018-02-14 DistalMotion SA Mechanische ferngesteuerte vorrichtung zur fernmanipulation
EP3280337B1 (de) 2015-04-09 2019-11-13 DistalMotion SA Gelenkiges tragbares instrument
CN104739462A (zh) * 2015-04-24 2015-07-01 杨明 一种外科手术系统
US10786272B2 (en) 2015-08-28 2020-09-29 Distalmotion Sa Surgical instrument with increased actuation force
CN105397805B (zh) * 2015-12-23 2017-03-22 江苏久信医疗科技有限公司 一种远程运动中心机构
JP6474366B2 (ja) * 2016-08-05 2019-02-27 株式会社メディカロイド マニピュレータアーム、患者側システム、および、外科手術システム
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US10413374B2 (en) 2018-02-07 2019-09-17 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof

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Cited By (23)

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Publication number Priority date Publication date Assignee Title
US20120041478A1 (en) * 2002-04-16 2012-02-16 Academisch Medisch Centrum Instrument for Minimally Invasive Surgery
US8992564B2 (en) * 2002-04-16 2015-03-31 Academisch Medisch Centrum Van De Universiteit Van Amsterdam Instrument for minimally invasive surgery
WO2008070685A3 (en) * 2006-12-05 2008-07-24 Kinetic Surgical Llc Instrument positioning/holding devices
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CA2482160A1 (en) 2003-10-23
WO2003086219A3 (en) 2003-12-18
DE60307257T2 (de) 2007-06-28
JP4300472B2 (ja) 2009-07-22
NL1020396C2 (nl) 2003-10-17
AU2003212707A1 (en) 2003-10-27
JP2005522262A (ja) 2005-07-28
ATE334631T1 (de) 2006-08-15
US20120041478A1 (en) 2012-02-16
US8992564B2 (en) 2015-03-31
WO2003086219A2 (en) 2003-10-23
CA2482160C (en) 2011-12-20
EP1496811B1 (de) 2006-08-02
DE60307257D1 (de) 2006-09-14
EP1496811A2 (de) 2005-01-19

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