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
  • A61B17/28—Surgical forceps
  • A61B17/29—Forceps for use in minimally invasive surgery
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
  • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
  • A61B2017/003—Steerable
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/28—Surgical forceps
  • A61B17/29—Forceps for use in minimally invasive surgery
  • A61B2017/2901—Details of shaft
  • A61B2017/2902—Details of shaft characterized by features of the actuating rod
  • A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • 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
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/28—Surgical forceps
  • A61B17/29—Forceps for use in minimally invasive surgery
  • A61B2017/2926—Details of heads or jaws
  • A61B2017/2932—Transmission of forces to jaw members
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/28—Surgical forceps
  • A61B17/29—Forceps for use in minimally invasive surgery
  • A61B2017/2926—Details of heads or jaws
  • A61B2017/2932—Transmission of forces to jaw members
  • A61B2017/2939—Details of linkages or pivot points
• • 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
  • A61B34/71—Manipulators operated by drive cable mechanisms

Definitions

• the present invention finds application in the field of robotic surgery and specifically refers to pliers suitable for minimally invasive robotic laparoscopic surgery.
• the pliers of the present invention comprise a kinematic arrangement provided with jaw means that can be opened and closed which are mounted on a rotating body.
• the pliers of the invention further include first means for transmitting movement of the jaw means and second means for transmitting movement of the rotating body.
• robotic arm devices are employed actuating pliers capable of holding certain tools and instruments.
• direct contact of the surgeon on the patient can be reduced by such mechanisms, with consequent reduction of infections.
• cameras and/or pliers are introduced into the patient to perform various operations with minimal trauma and negligible postoperative pain sequel.
• the term pliers as used herein according to the intended use for the object of this invention should be understood as a tool designed to be coupled to a robotic arm end.
• This robotic arm is usually operated remotely by a surgeon skilled in robotic laparoscopic operations and it is designed to grip and even to hold over any useful tool, body or device.
• laparoscopic pliers exist based on their movement and geometry, which aspects depend to a great extent on the type of operation to which the pliers are ultimately intended.
• a laparoscopic surgical operation several pliers are typically used, which usually have a configuration such that its distal end is provided with jaws having different configurations as mentioned above, for example, with or without teeth, having a straight or curved shape, etc.
• a further example of transmission of movement of the pliers is by means of gears.
• a surgical instrument is described consisting of pliers including a fixed finger and a movable finger.
• the moving finger of the pliers is driven through a gear train mechanism.
• the invention provides laparoscopic surgical pliers having a configuration that allows movement to be transmitted through a kinematic assembly comprising various rotating members, from driving means to rotating members.
• This kinematic assembly of the pliers comprises members allowing the pliers to be positioned and members allowing jaw means of pliers to be moved.
• the present invention provides pliers suitable for being used in a robotic arm. More specifically, the invention relates to pliers intended to be used to carry out minimally invasive laparoscopic surgical operations, driven by robotic arms.
• pliers for use in robotic laparoscopic surgical operations are provided including a main body having a proximal end and a distal end. The proximal end of the body is adapted to receive a universal joint capable to perform two passive rotations.
• a kinematic assembly is coupled formed by a rotating body that is rotatably mounted on that end and being provided with jaw means. This rotating body is capable of performing several active rotations.
• the jaw means of the pliers of the invention comprise at least two moving parts or fingers that can be rotatably driven independently.
• the movement of the fingers of the pliers is performed by first movement transmission means.
• the rotary movement of the rotating body is carried out through second movement transmission means.
• Said first and second transmission means are driven by driving means comprising, for example, electric motors.
• the combination of the driving means and the first and second transmission means allows the pliers to be suitably positioned and allows the jaw means to be opened and closed, moving the fingers towards and away to each other.
• both the first and second movement transmission means comprise tendons extending inside the main body therealong, between the proximal end and the distal end.
• said tendons can be moved lengthways along said main body.
• the pliers comprise at least one tendon associated with the first movement transmission means and one tendon associated with the second movement transmission means.
• the first movement transmission means may comprise one or two tendons depending on the embodiment of the pliers, either for controlling one or more fingers of the pliers, depending on the application to which the pliers are intended.
• Each of said tendons is formed of several steel cables, preferably three, which are arranged packed inside a sheath that encloses them therein.
• the cables forming each tendon have preferably a circular cross-section to obtain the greater stiffness as possible, and thus avoid buckling when under compression. With this section, friction of tendon with the sheath thereof is also reduced.
• the packaging of several cables to form each tendon for transmitting the movement of the pliers provides the necessary stiffness both for being able to work to compression and to traction, allowing efficient power transmission as if it were a rod transmission.
• the cross-sectional geometry of each tendon is defined by the arrangement of the cables forming the tendon.
• the arrangement of cables is such that the tendon, in the vicinity of the distal end of the main body, has a cross-section with variable geometry along its length. This is met at least for tendons associated with the first movement transmission means. Therefore, the variation in the cross-sectional geometry of the tendon allows a very efficient operation of the jaw means.
• the pliers can be rotated about a first axis and the rotating body can be rotated about a second axis.
• the first axis and the second axis may be disposed substantially orthogonal to each other.
• the variation of the cross-sectional geometry of each tendon is as follows.
• the tendons extend lengthways through the interior of the main body, defining a first cross-sectional geometry arrangement of the tendons in which the respective cables are arranged, in cross-section, with their longitudinal axes in a radial distribution.
• the cross-sectional geometry of the tendons is changed into a second arrangement in which the respective cables are arranged, in cross-section, with their longitudinal axes in a distribution in a first orientation.
• the cross-sectional geometry of the tendons is changed into a third arrangement, in which the respective cables are arranged, in cross-section, with their longitudinal axes in a second orientation, different from said first orientation.
• the cables of each tendon in most of the length of the main body are arranged radially, so that the cross-section of the tendon is substantially circular in shape.
• the cables would be arranged, in such a case, with their respective longitudinal axes in a substantially triangular arrangement, in cross section.
• the cross-section of the same tendon is changed into said second arrangement in which its cables are arranged with their respective longitudinal axes aligned transversely in a first orientation, for example horizontally aligned.
• the first and second movement transmission means comprising said tendons further include rotating drums for tangential winding of tendons.
• These drums allow, in said distal end of the assembly, the longitudinal movement from the tendons to be converted into a rotational movement in two directions, i.e., both to traction and to compression, to rotatably drive the rotating body of the pliers and their jaw means.
• Said drums have a grooved periphery suitable for winding of the tendons.
• the rotating body of the pliers is formed by two of said drums, which are arranged overlapped. Each of said two drums for winding of the rotating body is integral with each jaw finger, respectively.
• the change in the cross-section configuration of tendons (at least that of those associated with the first transmission means), as it moves along its length toward the distal end of the main body, allows an effective winding and twisting of the tendon in respective drums in both directions of travel.
• Each changing orientation module includes a block fixed to the interior of the elongated body within which elongated channels are formed that are shaped to guide the cables of each tendon in one rotation (e.g. at 90°).
• Each changing orientation module may have a first dimension (width or height) corresponding, for example, to a diameter of a cable used and a second dimension (width or height) corresponding, for example, to three of said diameters. Between two changing orientation modules in the same tendon length, the cables thereof are housed inside a flat sheath suitable to maintain the configuration thereof.
• driving means For the transmission of movement through the displacement of the tendons along the elongated body driving means are used, as stated above, such as electric motors.
• other means may be adapted to rotatably drive internally threaded tubes which are mounted axially retained within the main body. Inside such internally threaded tubes a corresponding externally threaded tube is received that is fixed to the outer sheath within which tendon cables are disposed.
• the externally threaded tube can be rotated to said internally threaded tube (retained axially within the main body) so that the rotation thereof through the driving means results in a longitudinal movement of the outer threaded tube and consequently, a longitudinal movement of the tendon of the first transmission means (to drive the fingers from the pliers jaw means) or the second transmission means (for rotatably driving the moving body for positioning the jaw means).
• variable geometry cross-section configuration of the tendons of the driving means of the pliers for each change of orientation of said section it is possible, according to the invention, to dispense with the use of idler pulleys or gears for transverse rotation of parts where the tendons run.
• the configuration of the invention further allows a very robust assembly to be obtained with a large durability of the cables as well as the drums around which they are to be rolled up.
• Figure 1 is a perspective part view of the main body of the minimally invasive laparoscopic surgical pliers of the present invention
• Figure 2 is a perspective view of one embodiment of one module for changing the orientation in the tendon of pliers
• Figure 3 is a perspective part view of the minimally invasive laparoscopic surgical pliers of the present invention, with jaw means and rotating body mounted at the distal end in the main body of the assembly;
• Figure 4 is a perspective part view of the pliers of the present invention in which the configuration of the tendons and the change of orientation thereof are diagrammatically shown. Detailed description of a preferred embodiment
• Pliers 10 include, in the exemplary embodiment shown, an elongated shaped main body 20 having a proximal end 30 (left-hand side in the figures) and a distal end 40 (right-hand side in the figures).
• the main body 20 of the pliers 10 with its proximal end 30 is partly shown in the Figure 1 of the drawings.
• the distal end 40 of the main body 20 is shown in the Figure 3 and 4 of the drawings.
• the proximal end 30 of the body 20 of the pliers 10 can be attached to a robotic arm 50 through a universal joint 55.
• the universal joint 55 is shown in said figure 1 separated from the main body 20.
• the universal joint 55 allows the assembly to perform two passive rotations GP1 , GP2, as shown in Figure 1 by respective arrows.
• a kinematic assembly is coupled comprising a body 60 pivotally mounted on the distal end 40.
• the rotating body 60 is provided with jaw means (jaws 70), which will be described in greater detail hereinafter.
• the jaws 70 of the embodiment illustrated by way of an example in Figures 3 and 4 include two scoop-shaped fingers 71 , 72.
• the fingers 71 , 72 of the jaws 70 have a flat, rough inner surface.
• the fingers 71 , 72 of the jaws 70 have a curved, smooth inner surface. It will be understood, however, that fingers 71 , 72 of pliers 70 may have any other configuration as well as an inner surface having different surface finishes as required.
• the fingers 71 , 72 of the jaws 70 may be rotatably driven in a coordinated and independent way according to active rotating movements GA2, GA3 shown in Figure 3, about a first axis X, for moving towards and/or away to each other. This allows the pliers 10 to grip and even to hold over any useful tool, body or device (not shown).
• the kinematic assembly of the pliers 10 can also be rotated around the longitudinal axis Z of the main body 20 according to the passive angular movement GA4 depicted in Figure 1 .
• This passive rotation GA4 is performed at an angle greater than 360° and allows positioning of the working plane of the pliers 10.
• Each finger 71 , 72 of the jaws 70 is integral with a winding drum 81 , 82 respectively, which will be described in detail further on.
• first movement transmission means 100 are provided for causing the fingers 71 , 72 of the jaws 70 to be rotated towards and away from each other, as depicted in Figure 3 by GA2 and GA3 for each finger 71 , 72, respectively.
• Second movement transmission means 200 are also provided for causing the rotating body 60 to be rotated according to GA1 around a second axis Y, as shown in figure 3, for positioning the pliers 10 sideways in the space when used in a laparoscopic intervention.
• first axis X and the second axis Y form an angle of 90° to each other.
• the first transmission means 100 include tendons 300, 350, and the second transmission means comprise one tendon 400, respectively.
• Tendon 350 is arranged symmetrically with respect to tendon 300 and it is therefore hidden in Figure 3 of the drawings (shown in dashed lines). It is clear that in other embodiments of the invention, the pliers 70 could comprise a single mobile finger, the other one being fixed, so that the first transmission means 100 would include, in this case, a single tendon (300 or 350).
• Tendons 300, 350, 400 all extend along the main body 20, from proximal end 30 to distal end 40, as it can be seen in Figures 3 and 4 of the drawings. Tendons 300, 350, 400 are adapted to be moved lengthways within the main body 20 therealong to drive the pliers 10, as will be described in detail below.
• tendons 300, 350, 400 of transmission means 100, 200 are each formed by three steel cables 500 having a circular cross-section arranged packaged within a sheath that encloses them (not shown) providing the necessary rigidity for working * both to traction and to compression.
• tendons 300, 350, 400 are shown in figures 2 and 4.
• Figure 4 shows the various arrangements A, B, C of the cross-sectional geometries taken on by at least tendons 300, 350 associated with the first transmission means 100. This variation in the cross- sectional geometry of tendons 300, 350 is defined by the arrangement or orientation of cables 500 forming each tendon.
• the arrangement of cables 500 in tendons 300, 350 is such that, near the distal end 40 of the main body 20, tendons have their cross-sectional geometry changed as they advance lengthways towards the distal end 40 of main body 20 of the pliers 10.
• This variation in the cross-sectional geometry of tendon 300, 350 allows the rotational movement GA2, GA3 of the fingers 71 , 72 of the jaws 70 around axis X in both directions and allows tendons 300, 350 associated with the first transmission means 100 to be passed through the joint of the rotating body 60, as it will be described below.
• each tendon 300, 400 The variation in the cross-sectional geometry of each tendon 300, 400 will be described below with reference to Figure 4 of the drawings.
• the cross- sectional geometry of each tendon 300, 350 is changed twice on its path, so there is a first cross-sectional geometry arrangement A of tendon 300, 350, a second cross-sectional geometry arrangement B of tendon 300, 350, and a third cross-sectional geometry arrangement C of tendon 300, 350.
• Arrangements A, B and C are schematically shown in figure 4. According to Figure 4, in most of the length of the main body 20 tendons 300, 350 run with their respective cables 500 arranged radially from the proximal end 30 to the distal end 40.
• This radial arrangement of the cables 500 is achieved by a substantially triangular arrangement thereof, as seen in cross- section, defining a substantially circular shape for the first cross-sectional geometry arrangement A of tendon 300, 350.
• the cross-sectional geometry of the same tendon 300, 350 is changed from a first arrangement of cables 500 (radially) with their longitudinal axes triangularly distributed into a second arrangement B with their longitudinal axes aligned in a first orientation, horizontally aligned, as seen in cross-section such as shown in Figure 4.
• the cross-sectional geometry of tendon 300, 350 is changed again from this second arrangement B of the cables 500 (in the first orientation, with their longitudinal axes aligned horizontally) into an arrangement in which said longitudinal axes are aligned in a second orientation, thus defining a third arrangement C of the cross- sectional geometry of tendon 300, 350, as shown in Figure 4.
• the first orientation in the second arrangement B of the cross-section of tendon 300, 350 forms an angle of substantially 90° to the second orientation of the third arrangement C of the cross-section of the tendon 300, 350. Therefore, the third arrangement C of the cross-section of tendon 300, 350 corresponds to one in which its cables 500 are arranged vertically aligned, as seen in cross-section, as shown seen in figure 4.
• the cross-section of tendons 300, 350 of pliers 10 provides the rigidity needed for working to traction and to compression, and at the same time it allows tendons to be wound around each drum 81 , 82, 83 accordingly.
• the change in orientation of at least tendons 300, 350 in the first transmission means 100 (not needed for tendon 400 associated with the second transmission means 200 in the embodiment shown) further allows the passage of the tendons 300, through joint 350 associated with axis Y, to be adapted, i.e., that allowing rotation of the body 60 according to rotation GA1 .
• the first and second movement transmission means 100, 200 formed by the respective tendons 300, 350, 400 further include rotating drums 81 , 82, 83 around which the above mentioned corresponding tendons 300, 350, 400 are wound.
• drums 81 , 82 are arranged coaxially one above the other forming the rotating body 60 of the pliers 10 and they are adapted to be rotatably driven independently by actuation of the first transmission means 100, that is by tendon 300, and tendon 350 (symmetric thereto, not visible) respectively.
• tendon 350 which extends along the interior of the main body 20, surrounds the periphery of drum 82.
• tendon 400 which also extends along the interior of the main body 20, surrounds the periphery of drum 83.
• Displacement of tendons 300, 350 associated with the first transmission means 100 causes respective independent rotation of respective drums 81 , 82 of the rotating body 60 of pliers 10, causing the fingers 71 , 27 of the jaws 70 to be rotated independently around axis X according to the respective active rotating movements GA2, GA3 depicted in Figure 3, rotating around axis X towards or away from each other, as desired, to grip, hold over, etc. instruments, organs, etc.
• Displacement of tendon 400 associated with the second transmission means 200 causes rotation of the drum 83 making the rotating body 60 of the pliers 10 to be rotated around axis Y according to active movement GA1 shown in Figure 3, for proper positioning of pliers 10 in the space.
• drums 81 , 82, 83 For a proper rotating movement of drums 81 , 82, 83, they are provided with a grooved periphery (not shown) suitable for winding of the respective tendons 300, 350, 400.
• Each winding drum 81 , 82 defining the rotating body 60 is integral with each respective finger 71 , 72 of the jaws 70.
• a module 600 for changing orientation of tendons 300, 350 is further provided.
• One example of one of these changing orientation modules 600 is shown in figure 2.
• a module 600 for changing orientation of tendons 300, 350 is shown designed for causing a change in the cross-sectional geometry arrangement A, B, C of each tendon 300, 350 in said first transmission means 100 at different planes in the vicinity of the distal end 40 of the main body 20 of pliers 10.
• the changing orientation module 600 includes an integrated block fixed inside the main body 20.
• an elongated inner channel 650 is provided inside the changing orientation module 600 shaped to guide the cables 500 of each tendon 300, 350 and to force them to be rotated about 90° as they are passed through the interior of the channel 650.
• two changing orientation modules 600 are provided for each tendon 300, 350 of the first transmission means 100.
• Modules 600 associated with said first movement transmission means 100 i.e., those causing the change in orientation of tendons 300 and 350 when moving lengthways around the main body 20, are arranged one just at the distal end 40 of the main body 20 and the other one in the vicinity of each of the respective drums 81 , 82 of the rotating body 60.
• each changing orientation module 600 may have a first dimension d corresponding to the diameter of cable used (typically 0.3 mm) and a second dimension D corresponding to three of said diameters (0.9 mm). It will be understood that said dimensions d, D in a particular orientation may correspond to width and height of said channel 650 in the example shown, although the geometry of the module 600 can be defined by other dimensions.
• cables 500 are housed inside a flat sheath suitable to maintain their configuration in that path between two modules 600.
• driving means M comprise several electric motors 700 adapted for rotatably driving outer tubes 800.
• These outer tubes 800 are provided with an inner thread and they are axially retained in the proximal end 30, inside the main body 20, as shown in Figure 1 .
• Inside the outer tubes 800 corresponding inner tubes are threadably received having an outer thread 850, attached to the exterior of respective tendons 300, 350, 400.
• the inner tubes 850 can be rotated relative to the respective outer tubes 800 which, as noted above, are axially retained within the main body 20.
• each outer tube 800 through the corresponding motor 700 results in longitudinal movement of the inner tube 850 and, consequently, in a corresponding longitudinal movement of the tendon 300, 350 of the first transmission means 100 for actuating the fingers 71 , 72 of the jaws 70 of the pliers 10 around axis X (independent movements GA2, GA3), and/or of the second transmission means 200, for rotatably driving the movable body 60 for positioning the jaws 70 around the axis Y (movement GA1 ).

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