WO2012044869A2 - Detachable handle mechanism for use in instrument positioning - Google Patents

Detachable handle mechanism for use in instrument positioning Download PDF

Info

Publication number
WO2012044869A2
WO2012044869A2 PCT/US2011/054101 US2011054101W WO2012044869A2 WO 2012044869 A2 WO2012044869 A2 WO 2012044869A2 US 2011054101 W US2011054101 W US 2011054101W WO 2012044869 A2 WO2012044869 A2 WO 2012044869A2
Authority
WO
WIPO (PCT)
Prior art keywords
surgical device
control
mechanical positioning
positioning mechanism
drape
Prior art date
Application number
PCT/US2011/054101
Other languages
French (fr)
Other versions
WO2012044869A3 (en
Inventor
Brooke Skora
How-Lun Chen
Jose Jacquez
Original Assignee
Carefusion 2200, Inc.
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
Priority claimed from US12/895,411 external-priority patent/US8740883B2/en
Priority claimed from US12/895,333 external-priority patent/US8640706B2/en
Application filed by Carefusion 2200, Inc. filed Critical Carefusion 2200, Inc.
Priority to EP11829932.0A priority Critical patent/EP2621394A4/en
Publication of WO2012044869A2 publication Critical patent/WO2012044869A2/en
Publication of WO2012044869A3 publication Critical patent/WO2012044869A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
    • A61B2017/00539—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated hydraulically
    • 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
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports
    • 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

Definitions

  • the technology relates generally to surgical instruments. More particularly, the technology relates to devices for positioning/holding a surgical instrument and methods of positioning/holding a surgical instrument.
  • Blade Endoscopic surgical procedures are performed using long slender surgical instruments inserted into the patient through small incisions.
  • an endoscope is also inserted into the patient through another incision.
  • a camera is attached to the endoscope, and the image is projected onto a nearby video display, which the surgeon looks at to monitor his/her activities inside the patient.
  • the endoscope In order to permit the surgeon to use both hands for the surgery the endoscope is held in the desired position by an assistant, a stationary adjustable arm, or a voice-controlled robotic positioning device. All three have significant drawbacks.
  • the assistant besides being a costly paid employee, can be difficult to communicate with, can get tired, and can lose concentration and let the endoscope position drift.
  • the stationary adjustable arms require that the surgeon reach over to adjust them with two hands, wasting valuable time and disrupting the procedure.
  • the voice-controlled robotic positioning devices are expensive, require significant set-up effort, and often require too much time communication time.
  • the detachable control handle comprises: a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising: a control handle; a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.
  • the surgical device comprises: a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move the instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with the mechanical positioning mechanism and is sealingly coupled with a drape interface mechanism of a sterile drape, the sterile drape being configured for isolating a portion of the surgical device within a sterile environment, the drape interface mechanism comprising a ring defining an opening through the sterile drape; and a connector operatively coupled with the control mechanism and the mechanical positioning mechanism and configured for causing the mechanical positioning mechanism to move the instrument by transmitting force applied by a human to the control mechanism through the connector.
  • FIG. 1 shows a perspective view of an embodiment of the present technology used in conjunction with various surgical devices during a surgical procedure.
  • FIG. 2 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a mechanical force-transmitting connector, in accordance with the present technology.
  • FIG. 3 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a hydraulic mechanical-force-transmission connector, in accordance with the present technology.
  • FIGS. 4a-4c show a schematic view of an embodiment of a closed-loop hydraulic system, in accordance with the present technology.
  • FIGS. 5a-f show a schematic view of the relationship between motions of an embodiment of the control mechanism and an embodiment of the positioning mechanism, in accordance with the present technology.
  • FIGS. 6a-c show a close-up schematic view of an embodiment of the positioning mechanism, in accordance with the present technology.
  • FIG. 7 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a push-pull cable mechanical-force-transmission connector, in accordance with the present technology.
  • FIG. 8 shows a close-up schematic view of an embodiment of the control mechanism that utilizes a push-pull cable mechanical-force-transmission connector, in accordance with the present technology.
  • FIG. 9 shows a close-up schematic view of an embodiment of the positioning mechanism that utilizes a push-pull cable mechanical-force-transmission connector, in accordance with the present technology.
  • FIG. 10 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a system of cables and pulleys, in accordance with the present technology.
  • FIGS. 1 la-c show a close-up view of an embodiment of the control mechanism that has an embodiment of a brake system, in accordance with the present technology.
  • FIG. 12 shows a block diagram of a surgical device for use in positioning an instrument for use in a surgical procedure, in accordance with embodiments of the present technology.
  • FIG. 13 shows a block diagram of a surgical device for use in a surgical procedure, in accordance with embodiments of the present technology.
  • FIG. 14 shows a flowchart of a method for using a surgical device, in accordance with embodiments of the present technology.
  • FIG.1 numerous surgical devices are shown inserted into a patient on an operating bed.
  • Laparoscopic instruments 5 are inserted through access ports 6 to cut, suture, manipulate tissue, etc.
  • An endoscope/camera assembly 3, used to visualize the surgical site, is also inserted through an access port 6, and is held in place by the positioning mechanism 2.
  • the positioning mechanism 2 is held by an adjustable arm 10, which is mounted on a support structure 7.
  • a control handle 9 is mounted on a support bracket 8.
  • the user controls the position of the endoscope/camera 3 by manipulating the control handle 9, which causes the positioning mechanism 2 to move the endoscope/camera 3 to the desired position. Once the user stops manipulating the control handle 9 the positioning mechanism 2 stops moving and holds the
  • a retractor 4 is shown attached to a positioning mechanism 2 in the same way as the endoscope/camera.
  • the retractor 4 is pushed against organs or tissue to hold them out of the surgeon's way.
  • the user manipulates the appropriate control handle 9 to cause the positioning mechanism 2 to move the retractor 4 in the appropriate direction.
  • the positioning mechanism 2 stops moving and holds the retractor 4 in the desired position.
  • instrument(s) any other instrument useful in a surgical procedure could be held and manipulated by embodiments of the devices of the present technology.
  • the variety of devices which can be thus moved and held by the positioning mechanism and control handle are referred to below as "instrument(s)".
  • the instruments may be permanently coupled to the positioning mechanism 2 or
  • an instrument is coupled to the positioning mechanism 2 prior to the instrument's insertion into the patient's body.
  • the instrument is first manually inserted into the body and positioned followed by coupling to the positioning mechanism 2.
  • the positioning mechanism is located outside of the patient's body and couples to an instrument outside of the patient's body.
  • Fig. 2 shows an embodiment of the positioning mechanism 2 and an embodiment of the control mechanism, control handle 9, connected by a mechanical force-transmitting connector 14.
  • This mechanical force-transmitting connector 14 transmits force signals from the control handle 9 to the position mechanism 2, allowing the user to move the positioning mechanism 2 by manipulating the control handle 9.
  • the mechanical force-transmitting connector 14 can be hydraulic, cable- pulley, push-pull cable, or other mechanical means.
  • the control mechanism can have any configuration which permits the surgeon to effectively manipulate the positioning mechanism.
  • the control mechanism is a particular control handle 9.
  • other control mechanisms are contemplated.
  • the control mechanism may have a glove-like configuration that engages the users arm, hand, and fingers.
  • the user moves the control handle 9 by pushing knob 13 in the desired direction. Force signals are transmitted from the control handle 9 to the positioning mechanism 2 via the mechanical force-transmitting connector 14, causing the positioning mechanism 2 to move in response.
  • the instrument 15 moves in several axes. In a preferred embodiment the instrument pivots about the point 1 1 where it enters the patient.
  • the patient's tissue at point 1 1 can serve as the pivot, or a pivot bearing (not shown) can be provided to cause the instrument 15 to pivot about point 1 1.
  • the positioning mechanism 2 pushes the instrument 15 forward-backward, side-to-side, or any combination of these two.
  • the instrument 15 constrained at point 11 by either the patient's tissue or a pivot bearing (not shown), tilts about point 1 1, with the result that the distal tip of the instrument 16 moves to a new position inside of the patient.
  • the preferred embodiment also contains an extend axis which permits the user to extend or retract the distal end of the instrument 16.
  • a preferred embodiment is shown in which the mechanical- force-transmission connection is hydraulic. Motions of the control handle 9 cause hydraulic fluid (not shown) to travel through tubing to the positioning mechanism 2, which responds to tilt and/or extend/retract the instrument 15 about point 1 1, thereby repositioning the distal tip 16 of the instrument 15 inside the patient.
  • Conventional hydraulic systems employing cylinders, pumps, valves, and reservoirs can be used.
  • a preferred hydraulic method is shown in Fig. 3.
  • Control hydraulic cylinder(s) 17 in the control handle 9 are connected in a closed-loop circuit to slave hydraulic cylinder(s) 18 in the positioning mechanism 2 via tubing 19.
  • FIGs. 4a-4c. show this action in schematic form.
  • a basic closed-loop hydraulic circuit 30 is shown in Fig. 4a.
  • the control cylinder 31 contains a piston 33 which is connected to a shaft 34.
  • the slave cylinder 32 contains a piston 37 connected to a shaft 38.
  • the back side of each cylinder is connected to the other by tubing 35.
  • the front side of each cylinder is connected to the front of the other by means of tubing 36.
  • Fig. 4c shows the reverse motion, in which the control shaft 34 is moved to the left, causing the slave shaft 38 to move to the right.
  • Figs. 5a-f show the relationship between motions of the control handle 9 and an embodiment of the positioning mechanism 2.
  • the knob 13 of control handle 9 has been pulled upward, forcing hydraulic fluid to travel between control cylinders in control handle 9 and slave cylinders in positioning mechanism 2, thereby causing positioning mechanism 2 to tilt the instrument 15 about point 1 1 and thus move the distal tip 6 of instrument 15 back in relation to the housing 1 of the positioning mechanism 2.
  • Fig. 5b similarly shows the knob 13 pushed downward, causing tip 16 to move away from the housing 1 of positioning mechanism 2.
  • Fig. 5c shows the knob 13 moved to the left, thereby driving tip 16 to the right relative to housing 1 of positioning mechanism 2.
  • Fig. 5a-f show the relationship between motions of the control handle 9 and an embodiment of the positioning mechanism 2.
  • the knob 13 of control handle 9 has been pulled upward, forcing hydraulic fluid to travel between control cylinders in control handle 9 and slave cylinders in positioning mechanism 2, thereby causing positioning mechanism 2 to tilt the instrument 15 about point 1 1 and thus move the distal tip
  • FIG. 5d shows the knob 13 moved to the right, thereby driving tip 16 to the left relative to housing 1 of positioning mechanism 2.
  • the knob 13 is pushed forward to extend tip 16 further into the patient, and similarly Fig. 5f shows the knob pulled backward to retract tip 16 from the patient.
  • All three of the motion axes comprise a slave cylinder and guide device.
  • the side-to-side motion is achieved by motion of slave cylinder 42, which pushes/pulls tilt slide assembly 44, which is free to move side-to-side as shown by arrow 47.
  • This motion is transmitted to instrument slide assembly 52 by a non-rigid pivot bearing 46.
  • This pivot bearing 46 allows the instrument slide assembly 52 to rotate about axis A-A and automatically assume the correct angle to permit the instrument 15 to pivot about point 1 1.
  • the forward/backward motion is achieved by motion of slave cylinder 48, which pushes and pulls guide device 49 along rollers 44 as shown by arrow 50.
  • the motion of guide device 49 is transmitted to instrument slide assembly 52 via non-rigid pivot bearing 51.
  • This pivot bearing 51 allows the instrument slide assembly 52 to rotate about axis B-B and automatically assume the correct angle to permit the instrument 15 to pivot about point 1.
  • the extend/retract motion is achieved by motion of slave cylinder 54, which pushes/pulls extend slide 55 in the direction indicated by arrow 57.
  • Instrument 15 is attached to extend slide 55 by clamp 56, and thus extended or retracted in the patient.
  • Fig. 6b shows a schematic depiction that more clearly shows the movable elements of an embodiment of the positioning mechanism 2. In the depicted
  • the mechanism consists of a novel arrangement of three sliders, two rotating joints, and one spherical joint.
  • a first slider 200 is mounted on adjustable arm 10, connected to support structure 7.
  • a second slider 204 is mounted on first slider 200.
  • a first rotating joint 46 is mounted on the second slider 204.
  • a second rotating joint 51 is mounted on first rotating joint 46.
  • a third slider 208 is mounted on second rotating joint 51.
  • Spherical joint 210 is formed by the incision 94 in the patient's tissue 95 (as depicted in Fig. 6C). The transverse motion of first slider 200 is transmitted, via second slider 204 and first (46) and second (51) rotating joints, to third slider 208.
  • This motion causes instrument 15 to pivot about incision 94, driving distal tip 16 in a direction opposite to the movement of the first slider.
  • transverse motion on second slider 204 is transmitted via first (46) and second (51) rotating joints to third slider 208.
  • This motion causes instrument 15 to pivot about incision 94, driving distal tip 16 in a direction opposite to the movement of the second slider 204.
  • Transverse motion of third slider 208 either extends the instrument 15 further into incision 94 or retracts the instrument further out of incision 94.
  • a second pivot device is required at point 1 1 to force the instrument to pivot about this point.
  • the tissue of the patient acts as a pivot bearing, allowing instrument 15 to tilt about point 1 1.
  • a guide shoe 58 is provided in order to aid the user in locating the positioning mechanism 2 optimally over the incision 94 at point 11 in the patient tissue 95.
  • a guide shoe 58 is provided in order to aid the user in locating the positioning mechanism 2 optimally over the incision 94 at point 11 in the patient tissue 95.
  • a guide shoe 58 is provided in order to aid the user in locating the positioning mechanism 2 optimally over the incision 94 at point 11 in the patient tissue 95.
  • a guide shoe 58 is provided in order to aid the user in locating the positioning mechanism 2 optimally over the incision 94 at point 11 in the patient tissue 95.
  • a guide shoe 58 is provided in order to aid the user in locating the positioning mechanism 2 optimally over the incision 94 at point 11 in the patient tissue 95.
  • a guide shoe 58 is
  • the mechanical force transmission connector 14 is a system of push-pull cable assemblies.
  • Basic push-pull cable assemblies are well known in the art.
  • push- pull cable assemblies comprise a flexible cable carried within a flexible guide tube. By pushing or pulling on one end of the cable, motion is transmitted to the other end of the cable, as is commonly seen in bicycle gear changing mechanisms.
  • the extend axis is shown driven by a push-pull cable assembly 62 which is attached to the extend mechanism 63 in control handle 9 and to the extend slide 55 in positioning mechanism 2.
  • the knob 13 By pushing/pulling the knob 13 the cable in cable assembly 62 is pushed/pulled, causing the extend slide 55 in positioning mechanism 2 to move in response.
  • Fig. 8 shows more detail of the push-pull cable used in the extend axis of control handle 9.
  • Push-pull assembly 62 comprises a rigid shaft 64 that is anchored to the extend mechanism 63 by coupling 69. As knob 13 is pushed-pulled, the extend mechanism 63 pushes or pulls on shaft 64 via coupling 69. Shaft 64 is pushed-pulled into housing 65. Within housing 65 the shaft 64 is connected to flexible cable 68, which slides within flexible guide 67. The resulting motion of cable 68 is indicated by arrow 70.
  • the cable assembly 62 terminates at the instrument slide assembly 52 of the positioning mechanism 2.
  • the motion of the flexible cable 68, indicated by arrow 70, is transmitted to the extend slide 55 by rigid shaft 73.
  • the resulting motion of extend slide 55 is indicated by arrow 76.
  • FIG. 10 Another embodiment is shown in Fig. 10.
  • the mechanical force transmission connector 14 is a system of cables and pulleys, shown in semi- schematic form.
  • Fig. 10 depicts the extend axis driven by a cable/pulley arrangement.
  • a flexible cable 80 is attached to the extend mechanism 63 on control handle 9 at coupling 82.
  • Cable 80 is directed around several pulleys 84 to connect the extend mechanism 63 of the control handle 9 to the extend slide 55 on the positioning mechanism 2 at coupling 86.
  • Motion of the extend mechanism 63 results in motion of the cable 80 as shown by arrow 88. This motion is transmitted to the extend slide 55 by cable 80, resulting in motion of the instrument 15 shown by arrow 90.
  • FIG. 10 shows only the extend axis driven by a cable/pulley arrangement, but this technology contemplates that all motion axes described herein could be similarly driven with cable/pulley arrangements.
  • This technology also contemplates the use of other mechanical force transmission connections.
  • this technology includes devices utilizing rigid rods connected by universal joints and couplings, push-pull tapes, belts, chains, and ball drives.
  • FIG. 1 la a brake mechanism 100 is shown attached to the control handle 9.
  • the brake 100 is normally on, i.e. the brake is active and preventing motion, unless deactivated by the user.
  • the user grasps the brake mechanism 100, applies force to deactivate the brake, and repositions the instrument.
  • the new position is reached the user releases the brake mechanism 100, thus reactivating the brake.
  • Fig. 1 lb an embodiment of the brake mechanism 100 is shown, with one wall removed for clarity, in the actuated position.
  • the mechanical force transmission connector is hydraulic, but it is contemplated that a brake mechanism could be used with embodiments having any mechanical force transmission connector (for example, one utilizing push-pull cables or cable and pulley systems).
  • hydraulic tubing 1 (only one tube is shown for clarity) is pinched between pinch point 107 on brake housing 106 and brake lever 105 due to force applied by spring 108. Flow of hydraulic fluid through tubing 14 is thereby prevented, thus preventing motion of the instrument.
  • Fig. l ib shows an embodiment of the brake mechanism 100 in the deactivated position.
  • the mechanical force transmission connector is hydraulic, but it is contemplated that a brake mechanism could be used with
  • any mechanical force transmission connector for example, one utilizing push-pull cables or cable and pulley systems.
  • the brake lever 105 has been pulled back toward knob 13, compressing spring 108 and causing brake lever 105 to rotate away from pinch point 107, thereby releasing pressure on, and allowing flow through, tubing 14. In this position motion is allowed and the instrument can be repositioned.
  • FIG. 12 a block diagram of a surgical device 1200 for use in positioning an instrument 1210 for use in a surgical procedure is shown in accordance with embodiments of the present technology.
  • the surgical device 1200 includes a mechanical positioning mechanism 1205, a control mechanism 1220 and a connector 1255.
  • the mechanical positioning mechanism 1205 is configured to couple with instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215.
  • the control mechanism 1220 comprises a detachable control handle 1225 configured to be detachably coupled with the mechanical positioning mechanism 1205.
  • the mechanical positioning mechanism 1205 and the control mechanism 1220 are sealingly coupled with a first portion 1230 and a second portion 1235 of a drape interface mechanism 1240 of a sterile drape 1245, respectively.
  • the sterile drape 1245 is configured for isolating a portion of the surgical device 1200 within a sterile environment.
  • the mechanical positioning mechanism 1205 is on the side of the sterile drape 1245 as the patient's body 1215 and "isolated" from the control mechanism 1220 on the opposite side of the sterile drape 1245.
  • the portion of the surgical device 1200 that is isolated is intended to remain as sterile as possible during the functioning of the surgical device 1200.
  • the function of the sterile drape 1245 is to keep the fluids within the control mechanism from being contaminated by and from contaminating other areas of the surgical device 1200.
  • sealingly coupled refers to a coupling in which a seal is formed between a first and a second component of the surgical device 1200.
  • the seal prevents movement of fluids and other matter from one area to another through the seal.
  • a connector 1255 is operatively coupled with the control mechanism 1220 and the mechanical positioning mechanism 1205.
  • the control mechanism 1220 is configured for causing the mechanical positioning mechanism 1205 to move the instrument 1210 by transmitting force 1260 applied by a human 1265 to the control mechanism 1220 through the connector 1255.
  • the connector 1255 travels through the sterile drape 1255 the a drape interface mechanism 1240 providing a seal to engage the connector 1255, without letting any other material pass through the seal.
  • the connector 1255 travels around the sterile drape 1245 to connect with the mechanical positioning mechanism 1205.
  • the connector may be made from any material capable of carrying hydraulic fluid, or retaining cables within, the distance from the control mechanism 1220 to the mechanical positioning mechanism 1205. This distance may vary. For example, but not limited to, in one embodiment, this distance may be that of a few feet. While in another embodiment, the distance may be that of a few yards.
  • the first portion 1230 of the drape interface mechanism 1240 is positioned on a first surface 1270 of the sterile drape 1245.
  • the second portion 1235 of the drape interface mechanism 1240 is positioned on a second surface 1275 opposite the first surface 1270 of the sterile drape 1245.
  • Sterile drape 1245 may be coupled with the drape interface mechanism 1240 by any number of attachment locations and means.
  • the sterile drape 1245 may be attached to the outer edges of the drape interface mechanism 1240 through a type of adhesive.
  • the sterile drape 1245 may be manufactured to be such that an edge closest to the drape interface mechanism 1240 is wedged and sealed in between the first portion 1230 and the second portion 1235 of the drape interface mechanism 1240.
  • the drape interface mechanism 1240 is formed as part of the sterile drape 1245 such that a seal is formed between the drape interface mechanism 1240 and the sterile drape 1245.
  • the drape interface mechanism 1240 is designed such that it may receive a specific component or components of the surgical device 1200. These components may be attached, detached, and reattached to the sterile drape 1245.
  • one component that may be attached detached, and then reattached is the detachable control handle 1225.
  • the detachable control handle 1225 may be detached, washed, sterilized, and then reattached to the sterile drape 1245.
  • the connector 1255 operatively couples with the control mechanism 1220 through the drape interface mechanism 1240.
  • the connector 1255 carries there within a communication of a desired movement, as directed by the control mechanism in combination with the movement of hydraulic fluid within the control and slave cylinders.
  • the connector 1255 operatively couples with the control mechanism 1220 around the sterile drape 1245.
  • the connector 1255 may be just long enough to make it around the sterile drape 1245 that covers the control mechanism 1220, or it may even be long enough to stretch from one room to another.
  • the connector 1255 comprises a hydraulic system. In another embodiment, the connector 1255 comprises a closed-loop hydraulic system. In yet another embodiment, the connector 1255 comprises a push-pull cable system. In another embodiment, the connector 1255 comprises a cable and pulley system.
  • the connector 1255 includes more than one of a hydraulic system, a push-pull cable system, and a cable and pulley system.
  • the mechanical positioning mechanism 1205 is configured for utilizing tissue of a patient to create a pivot point for positioning of the instrument 1210 within the patient's body 1215.
  • a portion of the mechanical positioning mechanism 1205 may be attached to a patient's skin as a foundation for movement. In one example, the attachment is by means of an adhesive. The portion of the mechanical positioning mechanism 1205 holding an instrument, may then pivot, using the foundation as a set point, and swing the instrument from a first location to a second location in the patient's body 1215.
  • the mechanical positioning mechanism 1205 comprises non-rigid pivot elements.
  • the mechanical positioning mechanism 1205 comprises a braking mechanism 1280 for locking the instrument 1210 into a particular position, and wherein the control mechanism 1220 comprises an actuator 1285 for the braking mechanism 1280.
  • a detachable control handle 1225 of a surgical device 1200 for use in positioning an instrument 1210 for us in a surgical procedure is shown according to one embodiment of the present technology.
  • the detachable control handle 1225 comprises a handle assembly 1287 for communicating with a mechanical positioning mechanism 1205 via a connector 1255.
  • the mechanical positioning mechanism 1205 is configured to couple with the instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215.
  • the handle assembly 1287 comprises a control handle 1290 and .a detaching mechanism 1295 coupled with the control handle 1290.
  • the detaching mechanism 1295 is configured for detachably coupling the control handle 1290 with the mechanical positioning mechanism 1205.
  • the control handle 1290 and the mechanical positioning mechanism 1205 are sealingly coupled with a first 1230 and a second 1235 portion of a drape interface mechanism 1240 of a sterile drape 1245, respectively.
  • the sterile drape 1245 is configured for isolating a portion of the surgical device 1200 within a sterile environment.
  • the control handle 1290 and the detaching mechanism 1295 comprise a single component.
  • control handle 1290 and the detaching mechanism 1295 may be manufactured as one piece, such that just a portion of the control handle 1290 is operable to attach to and detach from the drape interface mechanism 1240.
  • the detaching mechanism 1295 is detachably coupled with the control handle 1290.
  • the control handle 1290 and the detaching mechanism 1295 may be manufactured as two separate pieces such that they may be separated from each other and then reattached or replaced by another attachable piece.
  • the surgical device 1300 comprises a mechanical positioning mechanism 1205, a control mechanism 1220, a drape interface mechanism 1240 and a connector 1255.
  • the mechanical positioning mechanism 1205 is configured to couple with an instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 to the patient's body 1215.
  • the control mechanism 1220 comprises a detachable control handle 1290 configured to be detachable coupled with the mechanical positioning mechanism 1205.
  • the drape interface mechanism 1240 sealingly couples the mechanical positioning mechanism 1205 and the control mechanism 1220 with a sterile drape 1245.
  • the sterile drape 1245 is configured for isolating a portion of the surgical device 1300 within a sterile environment 1 1315.
  • the drape interface mechanism 1240 comprises a ring 1305 defining an opening 1297 through the sterile drape 1245 and is configured for sealingly receiving and retaining there within a portion of the mechanical positioning mechanism 1205 and a portion of the control mechanism 1220.
  • an end portion of the mechanical positioning mechanism 1205 and the control mechanism 1220 may be placed within the drape interface mechanism 1240 and coupled therein.
  • the drape interface mechanism 1240 will be such that it provides a tight seal around the edges of an object placed therein.
  • the drape interface mechanism 1240 may be formed such that a set of sealable material is connected to the opposing surfaces of the drape interface mechanism 1240, the material having a small hole therein. A portion of the control mechanism 1220 may then be wedged through the hole and lie within the interior of the drape interface mechanism 1240. Similarly, a portion of the mechanical positioning mechanism 1205 may be wedged through the hole in the material lying on the opposite side of the drape interface mechanism 1240 and also be attached to the control mechanism 1220 while lying within the drape interface mechanism 1240. In this manner, the mechanical positioning mechanism 1205 and the control mechanism 1220 are able to be coupled with each other without becoming part of each other's sterilized or unsterilized environment.
  • the connector 1255 is operatively coupled with the control mechanism 1220 and the positioning mechanism 1205.
  • the control mechanism 1220 is configured for causing the positioning mechanism 1205 to move the instrument 1210 by transmitting force 1260 applied by a human 1265 to the control mechanism 1220 through the connector 1255.
  • a surgical device comprising a drape interface mechanism 1240 is shown in accordance with embodiments of the present technology.
  • the drape interface mechanism 1240 is configured for sealingly coupling a detachable control handle 1225 of a control mechanism 1220 with a sterile drape 1245.
  • the sterile drape 1245 is configured for isolating a portion of the surgical device 1200/1300 within a sterile environment.
  • the drape interface mechanism 1240 comprises a ring 1305 defining an opening 1297 through the sterile drape 1245.
  • the ring 1305 comprises a first portion 1230 and a second portion 1325.
  • the first portion 1230 is configured for detachably and sealingly coupling with the control mechanism 1220.
  • the second portion 1325 is configured for sealingly coupling with the sterile drape 1245.
  • the drape interface mechanism 1240 is waterproof.
  • the second portion 1325 comprises a locking mechanism 1310 configured for detachably coupling the ring 1305 with the detachable control handle 1225.
  • the detachable control handle 1225 comprises a handle assembly 1287 configured for communicating with a mechanical positioning mechanism 1205 via a connector 1255, wherein the mechanical positioning mechanism 1205 is configured to couple with the instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215.
  • the handle assembly 1287 comprises a control handle 1290, a detaching mechanism 1295 coupled with the control handle 1290.
  • the detaching mechanism 1295 is configured for detachably coupling the control handle 1290 with the mechanical positioning mechanism 1205, wherein the control handle 1290 and the mechanical positioning mechanism 1205 are sealingly coupled with the first portion 1230 and a third portion 1330 of the drape interface mechanism 1240, respectively, wherein the sterile drape 1245 is configured for isolating a portion of the surgical device
  • the ring 1305 is round. In another embodiment, the ring 1305 is square. It should be appreciated, that the ring 1305 may be any shape that defines an opening 1297.
  • the control handle 1290 and the detaching mechanism 1295 comprise a single component. In another embodiment, the control handle 1290 and the detaching mechanism 1295 comprise separate detachable components.
  • a surgical device 1200 comprising a mechanical positioning mechanism 1205, a control mechanism 1220 and a connector 1255.
  • the mechanical positioning mechanism 1205 is configured to couple with an instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215.
  • the control mechanism 1220 comprises a detachable control handle 1290 configured to be detachably coupled with the mechanical positioning mechanism 1205.
  • the detachable control handle is sealingly coupled with the drape interface mechanism 1240 of a sterile drape.
  • the sterile drape 1245 is configured for isolating a portion of the surgical device within a sterile environment.
  • the drape interface mechanism 1240 comprises a ring 1305 defining an opening 1297 through the sterile drape 1245.
  • the ring 1305 comprises a first portion 1230 and a second portion 1325.
  • the first portion 1230 is configured for detachably and sealingly coupling with the control mechanism 1220.
  • the second portion 1325 is configured for sealingly coupling with the sterile drape 1245.
  • the connector 1255 is operatively couple with the control mechanism 1220 and the mechanical positioning mechanism 1205.
  • the control mechanism 1220 is configured for causing the mechanical positioning mechanism 1205 to move the instrument 1210 by transmitting force 1260 applied by a human 1265 to the control mechanism 1220 through the connector 1255.
  • control handle 1290 comprises a handle assembly 1287 configured for communicating with the mechanical positioning mechanism 1205 via a connector 1255.
  • the handle assembly 1287 comprises a control handle 1290 and a detaching mechanism 1295, as described herein.
  • the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by hydraulic communication through the drape interface mechanism 1205. In another embodiment, the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by a cable and pulley system through the drape interface mechanism 1240. In yet another embodiment, the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by a push- pull cable system. [0083] In yet another embodiment, the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by a connection around the sterile drape 1245.
  • a force 1260 is transmitted to a control mechanism 1220 through a connector 1255 to move a mechanical positioning mechanism 1205, the connector 1255 operatively coupled with the control mechanism 1220 and a mechanical positioning mechanism 1205, the mechanical positioning mechanism 1205 being configured to couple with an instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215, wherein the control mechanism 1220 comprises a control handle 1290 configured to be detachably coupled with said mechanical positioning mechanism 1205, wherein control handle 1290 is sealingly coupled with a drape interface mechanism 1240 of a sterile drape 1245, the sterile drape 1245 being configured for isolating a portion of the surgical device 1200 within a sterile environment, the drape interface mechanism 1240 comprising a ring 1305 defining an opening 1297 through
  • the ring 1305 comprises a first portion 1230, a second portion 1325 and a connector 1255.
  • the first portion 1230 is configured for detachably and sealingly coupling with the control mechanism 1220.
  • the second portion 1325 is configured for sealingly coupling with the sterile drape 1245.
  • the connector 1255 is operatively coupled with the control mechanism 1220 and the mechanical positioning mechanism 1205, wherein the control mechanism 1220 is configured for causing the mechanical positing mechanism 1205 to move the instrument 1210 by transmitting force applied by a human to the control mechanism through the connector.
  • a surgical device for use in positioning an instrument for use in a surgical procedure comprising:
  • a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body;
  • a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said control mechanism and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment;
  • a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
  • a detachable control handle of a surgical device for use in positioning an instrument for use in a surgical procedure comprising: a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
  • a control handle a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.
  • a surgical device for use in positioning an instrument for use in a surgical procedure comprising:
  • a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body;
  • a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism;
  • said drape interface mechanism sealingly coupling said mechanical positioning mechanism and said control mechanism with a sterile drape, said sterile drape configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape and configured for sealingly receiving and retaining there within a portion of said mechanical positioning mechanism and a portion of said control mechanism;
  • a connector operatively coupled with said control mechanism and said positioning mechanism, wherein said control mechanism is configured for causing said positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
  • a surgical device comprising:
  • a drape interface mechanism configured for sealingly coupling a detachable control handle of a control mechanism with a sterile drape, said sterile drape configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising: a first portion configured for detachably and sealingly coupling with said control mechanism; and
  • a second portion configured for sealingly coupling with said sterile drape.
  • a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
  • a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with said first portion and a third portion of said drape interface mechanism, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.
  • a surgical device for use in positioning an instrument for use in a surgical procedure comprising:
  • a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body;
  • a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said detachable control handle is sealingly coupled with a drape interface mechanism of a sterile drape, said sterile drape being configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising: a first portion configured for detachably and sealingly coupling with said control mechanism; and
  • a second portion configured for sealingly coupling with said sterile drape; and a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
  • control handle comprises: a handle assembly configured for communicating with said mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
  • a detaching mechanism coupled with said detachable control handle, said detaching mechanism configured for detachably coupling said control handle with said sterile drape.
  • a method for using a surgical device comprising:
  • control mechanism transmitting force to a control mechanism through a connector to move a mechanical positioning mechanism, said connector operatively coupled with said control mechanism and a mechanical positioning mechanism, said mechanical positioning mechanism being configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body
  • said control mechanism comprises a control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said control handle is sealingly coupled with a drape interface mechanism of a sterile drape, said sterile drape being configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising:
  • a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to the control mechanism through the connector.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

A detachable control handle of a surgical device for use in positioning an instrument for use in a surgical procedure. The detachable control handle comprises: a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising: a control handle; a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.

Description

DETACHABLE HANDLE MECHANISM FOR USE IN INSTRUMENT
POSITIONING
RELATED APPLICATION
[0001] International Patent Publication Number 2008/070685 A2 entitled Instrument Positioning/Holding Devices, by Mark C. Doyle and Jimmy C. Caputo, assigned to the assignee of the present technology, filed December 4, 2007.
FIELD
[0002] The technology relates generally to surgical instruments. More particularly, the technology relates to devices for positioning/holding a surgical instrument and methods of positioning/holding a surgical instrument.
BACKGROUND
[0003] Blade Endoscopic surgical procedures are performed using long slender surgical instruments inserted into the patient through small incisions. In order to visualize the surgical site an endoscope is also inserted into the patient through another incision. A camera is attached to the endoscope, and the image is projected onto a nearby video display, which the surgeon looks at to monitor his/her activities inside the patient.
[0004] In order to permit the surgeon to use both hands for the surgery the endoscope is held in the desired position by an assistant, a stationary adjustable arm, or a voice- controlled robotic positioning device. All three have significant drawbacks. The assistant, besides being a costly paid employee, can be difficult to communicate with, can get tired, and can lose concentration and let the endoscope position drift. The stationary adjustable arms require that the surgeon reach over to adjust them with two hands, wasting valuable time and disrupting the procedure. The voice-controlled robotic positioning devices are expensive, require significant set-up effort, and often require too much time communication time.
[0005] During many procedures an assistant also positions and holds a retracting instrument in order to push tissue or organs out of the way of the surgeon's instrument. The same issues of communication, concentration, and fatigue are present in this task also.
SUMMARY
[0006] This writing presents a detachable control handle of a surgical device for use in positioning an instrument for use in a surgical procedure. The detachable control handle comprises: a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising: a control handle; a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment. [0007] This writing also presents a surgical device for use in positioning an instrument for use in a surgical procedure. The surgical device comprises: a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move the instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with the mechanical positioning mechanism and is sealingly coupled with a drape interface mechanism of a sterile drape, the sterile drape being configured for isolating a portion of the surgical device within a sterile environment, the drape interface mechanism comprising a ring defining an opening through the sterile drape; and a connector operatively coupled with the control mechanism and the mechanical positioning mechanism and configured for causing the mechanical positioning mechanism to move the instrument by transmitting force applied by a human to the control mechanism through the connector.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present technology and, together with the description, serve to explain principles discussed below:
[0009] FIG. 1 shows a perspective view of an embodiment of the present technology used in conjunction with various surgical devices during a surgical procedure.
[0010] FIG. 2 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a mechanical force-transmitting connector, in accordance with the present technology.
[0011] FIG. 3 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a hydraulic mechanical-force-transmission connector, in accordance with the present technology.
[0012] FIGS. 4a-4c show a schematic view of an embodiment of a closed-loop hydraulic system, in accordance with the present technology.
[0013] FIGS. 5a-f show a schematic view of the relationship between motions of an embodiment of the control mechanism and an embodiment of the positioning mechanism, in accordance with the present technology.
[0014] FIGS. 6a-c show a close-up schematic view of an embodiment of the positioning mechanism, in accordance with the present technology.
[0015] FIG. 7 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a push-pull cable mechanical-force-transmission connector, in accordance with the present technology.
[0016] FIG. 8 shows a close-up schematic view of an embodiment of the control mechanism that utilizes a push-pull cable mechanical-force-transmission connector, in accordance with the present technology.
[0017] FIG. 9 shows a close-up schematic view of an embodiment of the positioning mechanism that utilizes a push-pull cable mechanical-force-transmission connector, in accordance with the present technology.
[0018] FIG. 10 shows a schematic view of an embodiment of the positioning mechanism and an embodiment of the control mechanism connected by a system of cables and pulleys, in accordance with the present technology.
[0019] FIGS. 1 la-c show a close-up view of an embodiment of the control mechanism that has an embodiment of a brake system, in accordance with the present technology.
[0020] FIG. 12 shows a block diagram of a surgical device for use in positioning an instrument for use in a surgical procedure, in accordance with embodiments of the present technology.
[0021] FIG. 13 shows a block diagram of a surgical device for use in a surgical procedure, in accordance with embodiments of the present technology.
[0022] FIG. 14 shows a flowchart of a method for using a surgical device, in accordance with embodiments of the present technology. [0023] The drawings referred to in this description should not be understood as being drawn to scale unless specifically noted.
DESCRIPTION OF EMBODIMENTS
[0024] Reference will now be made in detail to embodiments of the present technology, examples of which are illustrated in the accompanying drawings. While the present technology will be described in conjunction with various embodiment(s), it will be understood that they are not intended to limit the present technology to these embodiments. On the contrary, the present technology is intended to cover alternatives, modifications and equivalents, which may be included within the spirit and scope of the various embodiments as defined by the appended claims.
[0025] Certain embodiments of the technology will now be described with reference to the figures.
[0026] Referring to Fig.1 , numerous surgical devices are shown inserted into a patient on an operating bed. Laparoscopic instruments 5 are inserted through access ports 6 to cut, suture, manipulate tissue, etc. An endoscope/camera assembly 3, used to visualize the surgical site, is also inserted through an access port 6, and is held in place by the positioning mechanism 2. The positioning mechanism 2 is held by an adjustable arm 10, which is mounted on a support structure 7. A control handle 9 is mounted on a support bracket 8. In use, the user controls the position of the endoscope/camera 3 by manipulating the control handle 9, which causes the positioning mechanism 2 to move the endoscope/camera 3 to the desired position. Once the user stops manipulating the control handle 9 the positioning mechanism 2 stops moving and holds the
endoscope/camera 3 in the new position.
[0027] Other instruments can also be positioned and held in this way. For example, a retractor 4 is shown attached to a positioning mechanism 2 in the same way as the endoscope/camera. The retractor 4 is pushed against organs or tissue to hold them out of the surgeon's way. The user manipulates the appropriate control handle 9 to cause the positioning mechanism 2 to move the retractor 4 in the appropriate direction. Once the user stops moving the control handle 9 the positioning mechanism 2 stops moving and holds the retractor 4 in the desired position. Of course any other instrument useful in a surgical procedure could be held and manipulated by embodiments of the devices of the present technology. The variety of devices which can be thus moved and held by the positioning mechanism and control handle are referred to below as "instrument(s)". The instruments may be permanently coupled to the positioning mechanism 2 or
interchangeable attached. In some embodiments, an instrument is coupled to the positioning mechanism 2 prior to the instrument's insertion into the patient's body. In other embodiments, the instrument is first manually inserted into the body and positioned followed by coupling to the positioning mechanism 2. In some embodiments, the positioning mechanism is located outside of the patient's body and couples to an instrument outside of the patient's body.
[0028] With the positioning mechanism 2 and control handle 9 arrangement described above the surgeon can reposition and hold various instruments without the need for an assistant - thereby avoiding the problems of communicating with that assistant, or the problems of fatigue and loss of attention of the assistant.
[0029] Fig. 2 shows an embodiment of the positioning mechanism 2 and an embodiment of the control mechanism, control handle 9, connected by a mechanical force-transmitting connector 14. This mechanical force-transmitting connector 14 transmits force signals from the control handle 9 to the position mechanism 2, allowing the user to move the positioning mechanism 2 by manipulating the control handle 9. As discussed below, the mechanical force-transmitting connector 14 can be hydraulic, cable- pulley, push-pull cable, or other mechanical means.
[0030] The control mechanism can have any configuration which permits the surgeon to effectively manipulate the positioning mechanism. In the depicted embodiment, the control mechanism is a particular control handle 9. However, other control mechanisms are contemplated. By way of non-limiting example, the control mechanism may have a glove-like configuration that engages the users arm, hand, and fingers.
[0031] In use, the user moves the control handle 9 by pushing knob 13 in the desired direction. Force signals are transmitted from the control handle 9 to the positioning mechanism 2 via the mechanical force-transmitting connector 14, causing the positioning mechanism 2 to move in response. The instrument 15 moves in several axes. In a preferred embodiment the instrument pivots about the point 1 1 where it enters the patient. The patient's tissue at point 1 1 can serve as the pivot, or a pivot bearing (not shown) can be provided to cause the instrument 15 to pivot about point 1 1. The positioning mechanism 2 pushes the instrument 15 forward-backward, side-to-side, or any combination of these two. The instrument 15, constrained at point 11 by either the patient's tissue or a pivot bearing (not shown), tilts about point 1 1, with the result that the distal tip of the instrument 16 moves to a new position inside of the patient. The preferred embodiment also contains an extend axis which permits the user to extend or retract the distal end of the instrument 16.
[0032] Referring to Fig. 3, a preferred embodiment is shown in which the mechanical- force-transmission connection is hydraulic. Motions of the control handle 9 cause hydraulic fluid (not shown) to travel through tubing to the positioning mechanism 2, which responds to tilt and/or extend/retract the instrument 15 about point 1 1, thereby repositioning the distal tip 16 of the instrument 15 inside the patient. Conventional hydraulic systems, employing cylinders, pumps, valves, and reservoirs can be used. A preferred hydraulic method is shown in Fig. 3. Control hydraulic cylinder(s) 17 in the control handle 9 are connected in a closed-loop circuit to slave hydraulic cylinder(s) 18 in the positioning mechanism 2 via tubing 19. When the user moves the control handle 9 to a new position, the shaft of the control cylinder 17 is pushed or pulled, thereby displacing hydraulic fluid in the control cylinder 17. This hydraulic fluid is forced through tubing 19 to the responding slave cylinder 18 in the positioning mechanism 2, causing the shaft of the slave cylinder 18 to move. This movement is used to tilt and/or extend/retract the instrument.
[0033] Figs. 4a-4c. show this action in schematic form. A basic closed-loop hydraulic circuit 30 is shown in Fig. 4a. The control cylinder 31 contains a piston 33 which is connected to a shaft 34. Similarly, the slave cylinder 32 contains a piston 37 connected to a shaft 38. The back side of each cylinder is connected to the other by tubing 35. Similarly, the front side of each cylinder is connected to the front of the other by means of tubing 36.
[0034] As shown in Fig. 4b, the shaft 34 of the control cylinder 31, located in the control handle 9, is pulled to the right, pulling the piston 33 to the right. This action causes hydraulic fluid to travel from the front of control cylinder 31 to the front of slave cylinder 32 via tubing 36. This forces the shaft 38 and piston 37 in slave cylinder 32 to move to the left. This drives hydraulic fluid from the back of slave cylinder 32 to the back of control cylinder 31 via tubing 35. The motion of slave shaft 38 is used in the positioning mechanism 2 to reposition the tip 16 of the instrument to the desired location.
[0035] Fig. 4c shows the reverse motion, in which the control shaft 34 is moved to the left, causing the slave shaft 38 to move to the right.
[0036] Figs. 5a-f show the relationship between motions of the control handle 9 and an embodiment of the positioning mechanism 2. In Fig. 5a the knob 13 of control handle 9 has been pulled upward, forcing hydraulic fluid to travel between control cylinders in control handle 9 and slave cylinders in positioning mechanism 2, thereby causing positioning mechanism 2 to tilt the instrument 15 about point 1 1 and thus move the distal tip 6 of instrument 15 back in relation to the housing 1 of the positioning mechanism 2. Fig. 5b similarly shows the knob 13 pushed downward, causing tip 16 to move away from the housing 1 of positioning mechanism 2. Fig. 5c shows the knob 13 moved to the left, thereby driving tip 16 to the right relative to housing 1 of positioning mechanism 2. Similarly Fig. 5d shows the knob 13 moved to the right, thereby driving tip 16 to the left relative to housing 1 of positioning mechanism 2. In Fig. 5e the knob 13 is pushed forward to extend tip 16 further into the patient, and similarly Fig. 5f shows the knob pulled backward to retract tip 16 from the patient.
[0037] Referring to Fig. 6a, more detail of an embodiment of the positioning mechanism is provided. All three of the motion axes comprise a slave cylinder and guide device. The side-to-side motion is achieved by motion of slave cylinder 42, which pushes/pulls tilt slide assembly 44, which is free to move side-to-side as shown by arrow 47. This motion is transmitted to instrument slide assembly 52 by a non-rigid pivot bearing 46. This pivot bearing 46 allows the instrument slide assembly 52 to rotate about axis A-A and automatically assume the correct angle to permit the instrument 15 to pivot about point 1 1. The forward/backward motion is achieved by motion of slave cylinder 48, which pushes and pulls guide device 49 along rollers 44 as shown by arrow 50. The motion of guide device 49 is transmitted to instrument slide assembly 52 via non-rigid pivot bearing 51. This pivot bearing 51 allows the instrument slide assembly 52 to rotate about axis B-B and automatically assume the correct angle to permit the instrument 15 to pivot about point 1. The extend/retract motion is achieved by motion of slave cylinder 54, which pushes/pulls extend slide 55 in the direction indicated by arrow 57. Instrument 15 is attached to extend slide 55 by clamp 56, and thus extended or retracted in the patient.
[0038] Fig. 6b shows a schematic depiction that more clearly shows the movable elements of an embodiment of the positioning mechanism 2. In the depicted
embodiment, the mechanism consists of a novel arrangement of three sliders, two rotating joints, and one spherical joint. A first slider 200 is mounted on adjustable arm 10, connected to support structure 7. A second slider 204 is mounted on first slider 200. A first rotating joint 46 is mounted on the second slider 204. A second rotating joint 51 is mounted on first rotating joint 46. A third slider 208 is mounted on second rotating joint 51. Spherical joint 210 is formed by the incision 94 in the patient's tissue 95 (as depicted in Fig. 6C). The transverse motion of first slider 200 is transmitted, via second slider 204 and first (46) and second (51) rotating joints, to third slider 208. This motion causes instrument 15 to pivot about incision 94, driving distal tip 16 in a direction opposite to the movement of the first slider. Similarly, transverse motion on second slider 204 is transmitted via first (46) and second (51) rotating joints to third slider 208. This motion causes instrument 15 to pivot about incision 94, driving distal tip 16 in a direction opposite to the movement of the second slider 204. Transverse motion of third slider 208 either extends the instrument 15 further into incision 94 or retracts the instrument further out of incision 94.
[0039] Because non-rigid pivot bearings 46 and 51 are free to move, a second pivot device is required at point 1 1 to force the instrument to pivot about this point. In a preferred embodiment the tissue of the patient acts as a pivot bearing, allowing instrument 15 to tilt about point 1 1. This embodiment is shown most clearly in Fig. 6C. In order to aid the user in locating the positioning mechanism 2 optimally over the incision 94 at point 11 in the patient tissue 95, a guide shoe 58 is provided. During setup the user locates the center of the shoe 58 over the incision 94 at point 1 1, then inserts the instrument 15 into the incision 94 in patient tissue 95, and attaches it to the extend slide 55 with clamp 56. Such a setup is depicted in Fig. 6A. In another embodiment a spherical bearing (not shown) is provided to create the second pivot bearing, which would be located over the incision at point 1 1 as well.
[0040] Referring to Fig. 7, an alternative embodiment is shown. In this embodiment, the mechanical force transmission connector 14 is a system of push-pull cable assemblies. Basic push-pull cable assemblies are well known in the art. Generally, push- pull cable assemblies comprise a flexible cable carried within a flexible guide tube. By pushing or pulling on one end of the cable, motion is transmitted to the other end of the cable, as is commonly seen in bicycle gear changing mechanisms. By example, in Fig. 7 the extend axis is shown driven by a push-pull cable assembly 62 which is attached to the extend mechanism 63 in control handle 9 and to the extend slide 55 in positioning mechanism 2. By pushing/pulling the knob 13 the cable in cable assembly 62 is pushed/pulled, causing the extend slide 55 in positioning mechanism 2 to move in response.
[0041] Fig. 8 shows more detail of the push-pull cable used in the extend axis of control handle 9. Push-pull assembly 62 comprises a rigid shaft 64 that is anchored to the extend mechanism 63 by coupling 69. As knob 13 is pushed-pulled, the extend mechanism 63 pushes or pulls on shaft 64 via coupling 69. Shaft 64 is pushed-pulled into housing 65. Within housing 65 the shaft 64 is connected to flexible cable 68, which slides within flexible guide 67. The resulting motion of cable 68 is indicated by arrow 70.
[0042] Referring now to Fig. 9, the cable assembly 62 terminates at the instrument slide assembly 52 of the positioning mechanism 2. The motion of the flexible cable 68, indicated by arrow 70, is transmitted to the extend slide 55 by rigid shaft 73. The resulting motion of extend slide 55 is indicated by arrow 76.
[0043] For clarity and simplicity Figures 7, 8, and 9 show only the extend axis driven by a push-pull cable assembly, but this technology contemplates that all motion axes described herein could be similarly be driven with push-pull cables.
[0044] Another embodiment is shown in Fig. 10. In this embodiment the mechanical force transmission connector 14 is a system of cables and pulleys, shown in semi- schematic form. Fig. 10 depicts the extend axis driven by a cable/pulley arrangement. A flexible cable 80 is attached to the extend mechanism 63 on control handle 9 at coupling 82. Cable 80 is directed around several pulleys 84 to connect the extend mechanism 63 of the control handle 9 to the extend slide 55 on the positioning mechanism 2 at coupling 86. Motion of the extend mechanism 63 results in motion of the cable 80 as shown by arrow 88. This motion is transmitted to the extend slide 55 by cable 80, resulting in motion of the instrument 15 shown by arrow 90.
[0045] For clarity and simplicity Fig. 10 shows only the extend axis driven by a cable/pulley arrangement, but this technology contemplates that all motion axes described herein could be similarly driven with cable/pulley arrangements.
[0046] This technology also contemplates the use of other mechanical force transmission connections. For example, this technology includes devices utilizing rigid rods connected by universal joints and couplings, push-pull tapes, belts, chains, and ball drives.
[0047] Other embodiments are illustrated in Figures 1 la-b. Referring to Fig. 1 la, a brake mechanism 100 is shown attached to the control handle 9. In the depicted embodiment, the brake 100 is normally on, i.e. the brake is active and preventing motion, unless deactivated by the user. To reposition the instrument, the user grasps the brake mechanism 100, applies force to deactivate the brake, and repositions the instrument. When the new position is reached the user releases the brake mechanism 100, thus reactivating the brake.
[0048] Referring to Fig. 1 lb, an embodiment of the brake mechanism 100 is shown, with one wall removed for clarity, in the actuated position. In this embodiment, the mechanical force transmission connector is hydraulic, but it is contemplated that a brake mechanism could be used with embodiments having any mechanical force transmission connector (for example, one utilizing push-pull cables or cable and pulley systems). In this embodiment, hydraulic tubing 1 (only one tube is shown for clarity) is pinched between pinch point 107 on brake housing 106 and brake lever 105 due to force applied by spring 108. Flow of hydraulic fluid through tubing 14 is thereby prevented, thus preventing motion of the instrument.
[0049] Fig. l ib shows an embodiment of the brake mechanism 100 in the deactivated position. Again, in this embodiment, the mechanical force transmission connector is hydraulic, but it is contemplated that a brake mechanism could be used with
embodiments having any mechanical force transmission connector (for example, one utilizing push-pull cables or cable and pulley systems). The brake lever 105 has been pulled back toward knob 13, compressing spring 108 and causing brake lever 105 to rotate away from pinch point 107, thereby releasing pressure on, and allowing flow through, tubing 14. In this position motion is allowed and the instrument can be repositioned.
[0050] Referring now to Figure 12, a block diagram of a surgical device 1200 for use in positioning an instrument 1210 for use in a surgical procedure is shown in accordance with embodiments of the present technology. The surgical device 1200 includes a mechanical positioning mechanism 1205, a control mechanism 1220 and a connector 1255.
[0051] In one embodiment, the mechanical positioning mechanism 1205 is configured to couple with instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215.
[0052] Further, in one embodiment, the control mechanism 1220 comprises a detachable control handle 1225 configured to be detachably coupled with the mechanical positioning mechanism 1205. The mechanical positioning mechanism 1205 and the control mechanism 1220 are sealingly coupled with a first portion 1230 and a second portion 1235 of a drape interface mechanism 1240 of a sterile drape 1245, respectively. The sterile drape 1245 is configured for isolating a portion of the surgical device 1200 within a sterile environment. For example, but not limited to, as shown in Figure 12, the mechanical positioning mechanism 1205 is on the side of the sterile drape 1245 as the patient's body 1215 and "isolated" from the control mechanism 1220 on the opposite side of the sterile drape 1245. The portion of the surgical device 1200 that is isolated is intended to remain as sterile as possible during the functioning of the surgical device 1200.
[0053] In one embodiment, the function of the sterile drape 1245 is to keep the fluids within the control mechanism from being contaminated by and from contaminating other areas of the surgical device 1200.
[0054] In one embodiment, "sealingly coupled" refers to a coupling in which a seal is formed between a first and a second component of the surgical device 1200. The seal prevents movement of fluids and other matter from one area to another through the seal.
[0055] In one embodiment, a connector 1255 is operatively coupled with the control mechanism 1220 and the mechanical positioning mechanism 1205. The control mechanism 1220 is configured for causing the mechanical positioning mechanism 1205 to move the instrument 1210 by transmitting force 1260 applied by a human 1265 to the control mechanism 1220 through the connector 1255.
[0056] In one embodiment, the connector 1255 travels through the sterile drape 1255 the a drape interface mechanism 1240 providing a seal to engage the connector 1255, without letting any other material pass through the seal. In another embodiment, the connector 1255 travels around the sterile drape 1245 to connect with the mechanical positioning mechanism 1205. The connector may be made from any material capable of carrying hydraulic fluid, or retaining cables within, the distance from the control mechanism 1220 to the mechanical positioning mechanism 1205. This distance may vary. For example, but not limited to, in one embodiment, this distance may be that of a few feet. While in another embodiment, the distance may be that of a few yards.
[0057] In one embodiment, the first portion 1230 of the drape interface mechanism 1240 is positioned on a first surface 1270 of the sterile drape 1245. In one embodiment, the second portion 1235 of the drape interface mechanism 1240 is positioned on a second surface 1275 opposite the first surface 1270 of the sterile drape 1245.
[0058] Sterile drape 1245 may be coupled with the drape interface mechanism 1240 by any number of attachment locations and means. For example, the sterile drape 1245 may be attached to the outer edges of the drape interface mechanism 1240 through a type of adhesive. Furthermore, the sterile drape 1245 may be manufactured to be such that an edge closest to the drape interface mechanism 1240 is wedged and sealed in between the first portion 1230 and the second portion 1235 of the drape interface mechanism 1240.
[0059] Significantly, the drape interface mechanism 1240 is formed as part of the sterile drape 1245 such that a seal is formed between the drape interface mechanism 1240 and the sterile drape 1245. In one embodiment, the drape interface mechanism 1240 is designed such that it may receive a specific component or components of the surgical device 1200. These components may be attached, detached, and reattached to the sterile drape 1245.
[0060] For example, one component that may be attached detached, and then reattached is the detachable control handle 1225. After being used, the detachable control handle 1225 may be detached, washed, sterilized, and then reattached to the sterile drape 1245.
[0061] In one embodiment, the connector 1255 operatively couples with the control mechanism 1220 through the drape interface mechanism 1240. For example, the connector 1255 carries there within a communication of a desired movement, as directed by the control mechanism in combination with the movement of hydraulic fluid within the control and slave cylinders. In another embodiment, the connector 1255 operatively couples with the control mechanism 1220 around the sterile drape 1245. The connector 1255 may be just long enough to make it around the sterile drape 1245 that covers the control mechanism 1220, or it may even be long enough to stretch from one room to another.
[0062] In one embodiment, the connector 1255 comprises a hydraulic system. In another embodiment, the connector 1255 comprises a closed-loop hydraulic system. In yet another embodiment, the connector 1255 comprises a push-pull cable system. In another embodiment, the connector 1255 comprises a cable and pulley system.
Furthermore, in one embodiment, the connector 1255 includes more than one of a hydraulic system, a push-pull cable system, and a cable and pulley system.
[0063] In one embodiment, the mechanical positioning mechanism 1205 is configured for utilizing tissue of a patient to create a pivot point for positioning of the instrument 1210 within the patient's body 1215. For example, but not limited to, a portion of the mechanical positioning mechanism 1205 may be attached to a patient's skin as a foundation for movement. In one example, the attachment is by means of an adhesive. The portion of the mechanical positioning mechanism 1205 holding an instrument, may then pivot, using the foundation as a set point, and swing the instrument from a first location to a second location in the patient's body 1215.
[0064] In another embodiment, the mechanical positioning mechanism 1205 comprises non-rigid pivot elements. In yet another embodiment, the mechanical positioning mechanism 1205 comprises a braking mechanism 1280 for locking the instrument 1210 into a particular position, and wherein the control mechanism 1220 comprises an actuator 1285 for the braking mechanism 1280.
[0065] Referring still to Figure 2, a detachable control handle 1225 of a surgical device 1200 for use in positioning an instrument 1210 for us in a surgical procedure is shown according to one embodiment of the present technology. In one embodiment, the detachable control handle 1225 comprises a handle assembly 1287 for communicating with a mechanical positioning mechanism 1205 via a connector 1255. The mechanical positioning mechanism 1205 is configured to couple with the instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215.
[0066] In one embodiment, the handle assembly 1287 comprises a control handle 1290 and .a detaching mechanism 1295 coupled with the control handle 1290. The detaching mechanism 1295 is configured for detachably coupling the control handle 1290 with the mechanical positioning mechanism 1205. The control handle 1290 and the mechanical positioning mechanism 1205 are sealingly coupled with a first 1230 and a second 1235 portion of a drape interface mechanism 1240 of a sterile drape 1245, respectively. The sterile drape 1245 is configured for isolating a portion of the surgical device 1200 within a sterile environment. [0067] In one embodiment, the control handle 1290 and the detaching mechanism 1295 comprise a single component. For example, the control handle 1290 and the detaching mechanism 1295 may be manufactured as one piece, such that just a portion of the control handle 1290 is operable to attach to and detach from the drape interface mechanism 1240. In another embodiment, the detaching mechanism 1295 is detachably coupled with the control handle 1290. For example, the control handle 1290 and the detaching mechanism 1295 may be manufactured as two separate pieces such that they may be separated from each other and then reattached or replaced by another attachable piece.
[0068] Referring now to both Figures 12 and Figure 13, in one embodiment, the surgical device 1300 comprises a mechanical positioning mechanism 1205, a control mechanism 1220, a drape interface mechanism 1240 and a connector 1255. The mechanical positioning mechanism 1205 is configured to couple with an instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 to the patient's body 1215. The control mechanism 1220 comprises a detachable control handle 1290 configured to be detachable coupled with the mechanical positioning mechanism 1205.
[0069] In one embodiment, the drape interface mechanism 1240 sealingly couples the mechanical positioning mechanism 1205 and the control mechanism 1220 with a sterile drape 1245. The sterile drape 1245 is configured for isolating a portion of the surgical device 1300 within a sterile environment 1 1315. The drape interface mechanism 1240 comprises a ring 1305 defining an opening 1297 through the sterile drape 1245 and is configured for sealingly receiving and retaining there within a portion of the mechanical positioning mechanism 1205 and a portion of the control mechanism 1220. For example, instead of the mechanical positioning mechanism 1205 and the control mechanism 1220 coupling with the drape interface mechanism 1240 through an attachment means, an end portion of the mechanical positioning mechanism 1205 and the control mechanism 1220 may be placed within the drape interface mechanism 1240 and coupled therein. In this case, the drape interface mechanism 1240 will be such that it provides a tight seal around the edges of an object placed therein.
[0070] In one example, but not limited to, the drape interface mechanism 1240 may be formed such that a set of sealable material is connected to the opposing surfaces of the drape interface mechanism 1240, the material having a small hole therein. A portion of the control mechanism 1220 may then be wedged through the hole and lie within the interior of the drape interface mechanism 1240. Similarly, a portion of the mechanical positioning mechanism 1205 may be wedged through the hole in the material lying on the opposite side of the drape interface mechanism 1240 and also be attached to the control mechanism 1220 while lying within the drape interface mechanism 1240. In this manner, the mechanical positioning mechanism 1205 and the control mechanism 1220 are able to be coupled with each other without becoming part of each other's sterilized or unsterilized environment.
[0071] In one embodiment, the connector 1255 is operatively coupled with the control mechanism 1220 and the positioning mechanism 1205. The control mechanism 1220 is configured for causing the positioning mechanism 1205 to move the instrument 1210 by transmitting force 1260 applied by a human 1265 to the control mechanism 1220 through the connector 1255. [0072] Referring still to Figures 12 and 13, a surgical device comprising a drape interface mechanism 1240 is shown in accordance with embodiments of the present technology. In one embodiment, the drape interface mechanism 1240 is configured for sealingly coupling a detachable control handle 1225 of a control mechanism 1220 with a sterile drape 1245. The sterile drape 1245 is configured for isolating a portion of the surgical device 1200/1300 within a sterile environment. The drape interface mechanism 1240 comprises a ring 1305 defining an opening 1297 through the sterile drape 1245.
[0073] In one embodiment, the ring 1305 comprises a first portion 1230 and a second portion 1325. The first portion 1230 is configured for detachably and sealingly coupling with the control mechanism 1220. The second portion 1325 is configured for sealingly coupling with the sterile drape 1245.
[0074] In one embodiment, the drape interface mechanism 1240 is waterproof. In another embodiment the second portion 1325 comprises a locking mechanism 1310 configured for detachably coupling the ring 1305 with the detachable control handle 1225.
[0075] In one embodiment, the detachable control handle 1225 comprises a handle assembly 1287 configured for communicating with a mechanical positioning mechanism 1205 via a connector 1255, wherein the mechanical positioning mechanism 1205 is configured to couple with the instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215.
[0076] In one embodiment, the handle assembly 1287 comprises a control handle 1290, a detaching mechanism 1295 coupled with the control handle 1290. The detaching mechanism 1295 is configured for detachably coupling the control handle 1290 with the mechanical positioning mechanism 1205, wherein the control handle 1290 and the mechanical positioning mechanism 1205 are sealingly coupled with the first portion 1230 and a third portion 1330 of the drape interface mechanism 1240, respectively, wherein the sterile drape 1245 is configured for isolating a portion of the surgical device
1200/1300 within a sterile environment.
[0077] In one embodiment, the ring 1305 is round. In another embodiment, the ring 1305 is square. It should be appreciated, that the ring 1305 may be any shape that defines an opening 1297. In one embodiment the control handle 1290 and the detaching mechanism 1295 comprise a single component. In another embodiment, the control handle 1290 and the detaching mechanism 1295 comprise separate detachable components.
[0078] In one embodiment, and referring still to Figures 12 and 13, a surgical device 1200 is shown comprising a mechanical positioning mechanism 1205, a control mechanism 1220 and a connector 1255. The mechanical positioning mechanism 1205 is configured to couple with an instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215. The control mechanism 1220 comprises a detachable control handle 1290 configured to be detachably coupled with the mechanical positioning mechanism 1205. The detachable control handle is sealingly coupled with the drape interface mechanism 1240 of a sterile drape. The sterile drape 1245 is configured for isolating a portion of the surgical device within a sterile environment. The drape interface mechanism 1240 comprises a ring 1305 defining an opening 1297 through the sterile drape 1245. [0079] In one embodiment, the ring 1305 comprises a first portion 1230 and a second portion 1325. The first portion 1230 is configured for detachably and sealingly coupling with the control mechanism 1220. The second portion 1325 is configured for sealingly coupling with the sterile drape 1245.
[0080] In one embodiment, the connector 1255 is operatively couple with the control mechanism 1220 and the mechanical positioning mechanism 1205. The control mechanism 1220 is configured for causing the mechanical positioning mechanism 1205 to move the instrument 1210 by transmitting force 1260 applied by a human 1265 to the control mechanism 1220 through the connector 1255.
[0081] Further, in one embodiment and as describe herein, the control handle 1290 comprises a handle assembly 1287 configured for communicating with the mechanical positioning mechanism 1205 via a connector 1255. The handle assembly 1287 comprises a control handle 1290 and a detaching mechanism 1295, as described herein.
[0082] In one embodiment, the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by hydraulic communication through the drape interface mechanism 1205. In another embodiment, the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by a cable and pulley system through the drape interface mechanism 1240. In yet another embodiment, the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by a push- pull cable system. [0083] In yet another embodiment, the connector 1255 operatively couples the control mechanism 1220 with the mechanical positioning mechanism 1205 by a connection around the sterile drape 1245.
[0084] Referring now to Figure 14, a flowchart 1400 of a method for using a surgical device is shown in accordance with embodiments of the present technology. Referring now to 1405 of Figure 14, in one embodiment, a force 1260 is transmitted to a control mechanism 1220 through a connector 1255 to move a mechanical positioning mechanism 1205, the connector 1255 operatively coupled with the control mechanism 1220 and a mechanical positioning mechanism 1205, the mechanical positioning mechanism 1205 being configured to couple with an instrument 1210 outside of a patient's body 1215 and to move the instrument 1210 relative to the patient's body 1215, wherein the control mechanism 1220 comprises a control handle 1290 configured to be detachably coupled with said mechanical positioning mechanism 1205, wherein control handle 1290 is sealingly coupled with a drape interface mechanism 1240 of a sterile drape 1245, the sterile drape 1245 being configured for isolating a portion of the surgical device 1200 within a sterile environment, the drape interface mechanism 1240 comprising a ring 1305 defining an opening 1297 through the sterile drape 1245.
[0085] In one embodiment, the ring 1305 comprises a first portion 1230, a second portion 1325 and a connector 1255. The first portion 1230 is configured for detachably and sealingly coupling with the control mechanism 1220. The second portion 1325 is configured for sealingly coupling with the sterile drape 1245. The connector 1255 is operatively coupled with the control mechanism 1220 and the mechanical positioning mechanism 1205, wherein the control mechanism 1220 is configured for causing the mechanical positing mechanism 1205 to move the instrument 1210 by transmitting force applied by a human to the control mechanism through the connector.
[0086] Although the subject matter has been described in a language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
[0087] All elements, parts and steps described herein are preferably included. It is to be understood that any of these elements, parts and steps may be replaced by other elements, parts and steps or deleted altogether as will be obvious to those skilled in the art.
CONCEPTS
[0088] This writing has disclosed at least the following concepts.
Concept 1. A surgical device for use in positioning an instrument for use in a surgical procedure, said surgical device comprising:
a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said control mechanism and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment;
a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
Concept 2. The surgical device of Concept 1, wherein said first portion of said drape interface mechanism is positioned on a first surface of said sterile drape, and said second portion of said drape interface mechanism is positioned on a second surface of said sterile drape opposite said first surface. Concept 3. The surgical device of Concept 1, wherein said connector operatively couples with said control mechanism through said drape interface mechanism.
Concept 4. The surgical device of Concept 3, wherein said connector is configured for carrying there within a communication of a desired movement, said desired movement directed by said control mechanism and a movement of hydraulic fluid.
Concept 5. The surgical device of Concept 1 , wherein said connector operatively couples with said control mechanism around said sterile drape.
Concept 6. The surgical device of Concept 1, wherein said connector comprises a hydraulic system.
Concept 7. The surgical device of Concept 6, wherein said hydraulic system comprises a closed-loop hydraulic system.
Concept 8. The surgical device of Concept 1, wherein said connector comprises a push-pull cable system.
Concept 9. The surgical device of Concept 1, wherein said connector comprises a cable and pulley system. Concept 10. The surgical device of Concept 1, wherein said connector includes more than one of a hydraulic system, a push-pull cable system, and a cable and pulley system.
Concept 11. The surgical device of Concept 1, wherein said mechanical positioning mechanism is configured for utilizing tissue of a patient to create a pivot point for positioning of said instrument within said patient's body.
Concept 12. The surgical device of Concept 1, wherein said mechanical positioning mechanism comprises non-rigid pivot elements.
Concept 13. The surgical device of Concept 1, wherein said mechanical positioning mechanism comprises a braking mechanism configured for locking said instrument into a particular position, and wherein said control mechanism comprises an actuator for said braking mechanism.
Concept 14. A detachable control handle of a surgical device for use in positioning an instrument for use in a surgical procedure, said detachable control handle comprising: a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
a control handle; a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.
Concept 15. The detachable control handle of Concept 14, wherein said control handle and said detaching mechanism comprise a single component.
Concept 16. The detachable control handle of Concept 14, wherein said detaching mechanism is detachably coupled with said control handle.
Concept 17. The detachable control handle of Concept 14, wherein said connector comprises a hydraulic system.
Concept 18. The detachable control handle of Concept 17, wherein said connector comprises a closed-loop hydraulic system.
Concept 19. The detachable control handle of Concept 14, wherein said connector comprises a cable and pulley system. Concept 20. A surgical device for use in positioning an instrument for use in a surgical procedure, comprising:
a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism;
drape interface mechanism sealingly coupling said mechanical positioning mechanism and said control mechanism with a sterile drape, said sterile drape configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape and configured for sealingly receiving and retaining there within a portion of said mechanical positioning mechanism and a portion of said control mechanism; and
a connector operatively coupled with said control mechanism and said positioning mechanism, wherein said control mechanism is configured for causing said positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
Concept 21. A surgical device, comprising:
a drape interface mechanism configured for sealingly coupling a detachable control handle of a control mechanism with a sterile drape, said sterile drape configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising: a first portion configured for detachably and sealingly coupling with said control mechanism; and
a second portion configured for sealingly coupling with said sterile drape.
Concept 22. The surgical device of Concept 21 , wherein said drape interface mechanism is waterproof.
Concept 23. The surgical device of Concept 21, wherein said first portion comprises a locking mechanism configured for detachably coupling said ring with said detachable control handle.
Concept 24. The surgical device of Concept 21 wherein said detachable control handle comprises:
a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
a control handle;
a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with said first portion and a third portion of said drape interface mechanism, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.
Concept 25. The surgical device of Concept 24, wherein said ring is round.
Concept 26. The surgical device of Concept 24, wherein said ring is square.
Concept 27. The surgical device of Concept 24, wherein said control handle and said detaching mechanism comprise a single component.
Concept 28. The surgical device of Concept 21, wherein said control handle and said detaching mechanism comprise separate detachable components.
Concept 29. A surgical device for use in positioning an instrument for use in a surgical procedure, said surgical device comprising:
a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said detachable control handle is sealingly coupled with a drape interface mechanism of a sterile drape, said sterile drape being configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising: a first portion configured for detachably and sealingly coupling with said control mechanism; and
a second portion configured for sealingly coupling with said sterile drape; and a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
Concept 30. The surgical device of Concept 29, wherein said control handle comprises: a handle assembly configured for communicating with said mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
a control handle; and
a detaching mechanism coupled with said detachable control handle, said detaching mechanism configured for detachably coupling said control handle with said sterile drape.
Concept 31. The surgical device of Concept 30, wherein said ring is round. Concept 32. The surgical device of Concept 30, wherein said ring is square. Concept 33. The surgical device of Concept 30, wherein said control handle and said detaching mechanism comprise a single component.
Concept 34. The surgical device of Concept 21 , wherein said control handle and said detaching mechanism comprise separate detachable components.
Concept 35. The surgical device of Concept 29, wherein said drape interface mechanism is waterproof.
Concept 36. The surgical device of Concept 29, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by hydraulic communication through said drape interface mechanism.
Concept 37. The surgical device of Concept 29, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by a cable and pulley system through said drape interface mechanism.
Concept 38. The surgical device of Concept 29, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by a push- pull cable system. Concept 39. The surgical device of Concept 29, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by a connection around said sterile drape.
Concept 40. A method for using a surgical device, said method comprising:
transmitting force to a control mechanism through a connector to move a mechanical positioning mechanism, said connector operatively coupled with said control mechanism and a mechanical positioning mechanism, said mechanical positioning mechanism being configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body, wherein said control mechanism comprises a control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said control handle is sealingly coupled with a drape interface mechanism of a sterile drape, said sterile drape being configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising:
a first portion configured for detachably and sealingly coupling with said control mechanism; and
a second portion configured for sealingly coupling with said sterile drape; and
a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to the control mechanism through the connector.

Claims

CLAIMS What is claimed is:
1. A surgical device for use in positioning an instrument for use in a surgical procedure, said surgical device comprising:
a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said control mechanism and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment;
a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
2. The surgical device of Claim 1, wherein said first portion of said drape interface mechanism is positioned on a first surface of said sterile drape, and said second portion of said drape interface mechanism is positioned on a second surface of said sterile drape opposite said first surface.
3. The surgical device of Claim 1, wherein said connector operatively couples with said control mechanism through said drape interface mechanism.
4. The surgical device of Claim 3, wherein said connector is configured for carrying there within a communication of a desired movement, said desired movement directed by said control mechanism and a movement of hydraulic fluid.
5. The surgical device of Claim 1, wherein said connector operatively couples with said control mechanism around said sterile drape.
6. The surgical device of Claim 1, wherein said connector comprises a hydraulic system.
7. The surgical device of Claim 6, wherein said hydraulic system comprises a closed-loop hydraulic system.
8. The surgical device of Claim 1, wherein said connector comprises a push-pull cable system.
9. The surgical device of Claim 1, wherein said connector comprises a cable and pulley system.
10. The surgical device of Claim 1, wherein said connector includes more than one of a hydraulic system, a push-pull cable system, and a cable and pulley system.
11. The surgical device of Claim 1, wherein said mechanical positioning mechanism is configured for utilizing tissue of a patient to create a pivot point for positioning of said instrument within said patient's body.
12. The surgical device of Claim 1, wherein said mechanical positioning mechanism comprises non-rigid pivot elements.
13. The surgical device of Claim 1, wherein said mechanical positioning mechanism comprises a braking mechanism configured for locking said instrument into a particular position, and wherein said control mechanism comprises an actuator for said braking mechanism.
14. A detachable control handle of a surgical device for use in positioning an instrument for use in a surgical procedure, said detachable control handle comprising: a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
a control handle; a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with a first and second portion of a drape interface mechanism of a sterile drape, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.
15. The detachable control handle of Claim 14, wherein said control handle and said detaching mechanism comprise a single component.
16. The detachable control handle of Claim 14, wherein said detaching mechanism is detachably coupled with said control handle.
17. The detachable control handle of Claim 14, wherein said connector comprises a hydraulic system.
18. The detachable control handle of Claim 17, wherein said connector comprises a closed-loop hydraulic system.
19. The detachable control handle of Claim 14, wherein said connector comprises a cable and pulley system.
20. A surgical device for use in positioning an instrument for use in a surgical procedure, comprising:
a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism;
drape interface mechanism sealingly coupling said mechanical positioning mechanism and said control mechanism with a sterile drape, said sterile drape configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape and configured for sealingly receiving and retaining there within a portion of said mechanical positioning mechanism and a portion of said control mechanism; and
a connector operatively coupled with said control mechanism and said positioning mechanism, wherein said control mechanism is configured for causing said positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
21. A surgical device, comprising:
a drape interface mechanism configured for sealingly coupling a detachable control handle of a control mechanism with a sterile drape, said sterile drape configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising: a first portion configured for detachably and sealingly coupling with said control mechanism; and
a second portion configured for sealingly coupling with said sterile drape.
22. The surgical device of Claim 21, wherein said drape interface mechanism is waterproof.
23. The surgical device of Claim 21, wherein said first portion comprises a locking mechanism configured for detachably coupling said ring with said detachable control handle.
24. The surgical device of Claim 21 wherein said detachable control handle comprises:
a handle assembly configured for communicating with a mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
a control handle;
a detaching mechanism coupled with said control handle, said detaching mechanism configured for detachably coupling said control handle with said mechanical positioning mechanism, wherein said control handle and said mechanical positioning mechanism are sealingly coupled with said first portion and a third portion of said drape interface mechanism, respectively, wherein said sterile drape is configured for isolating a portion of said surgical device within a sterile environment.
25. A surgical device for use in positioning an instrument for use in a surgical procedure, said surgical device comprising:
a mechanical positioning mechanism configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body; a control mechanism comprising a detachable control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said detachable control handle is sealingly coupled with a drape interface mechanism of a sterile drape, said sterile drape being configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising:
a first portion configured for detachably and sealingly coupling with said control mechanism; and
a second portion configured for sealingly coupling with said sterile drape; and
a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to said control mechanism through said connector.
26. The surgical device of Claim 25, wherein said control handle comprises: a handle assembly configured for communicating with said mechanical positioning mechanism via a connector, wherein said mechanical positioning mechanism is configured to couple with said instrument outside of a patient's body and to move said instrument relative to said patient's body, said handle assembly comprising:
a control handle; and
a detaching mechanism coupled with said detachable control handle, said detaching mechanism configured for detachably coupling said control handle with said sterile drape.
27. The surgical device of Claim 24 or 26, wherein said ring is round.
28. The surgical device of Claim 24 or 26, wherein said ring is square.
29. The surgical device of Claim 24 or 26, wherein said control handle and said detaching mechanism comprise a single component.
30. The surgical device of Claim 21, wherein said control handle and said detaching mechanism comprise separate detachable components.
31. The surgical device of Claim 25, wherein said drape interface mechanism is waterproof.
32. The surgical device of Claim 25, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by hydraulic communication through said drape interface mechanism.
33. The surgical device of Claim 25, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by a cable and pulley system through said drape interface mechanism.
34. The surgical device of Claim 25, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by a push-pull cable system.
35. The surgical device of Claim 25, wherein said connector operatively couples said control mechanism with said mechanical positioning mechanism by a connection around said sterile drape.
36. A method for using a surgical device, said method comprising:
transmitting force to a control mechanism through a connector to move a mechanical positioning mechanism, said connector operatively coupled with said control mechanism and a mechanical positioning mechanism, said mechanical positioning mechanism being configured to couple with an instrument outside of a patient's body and to move said instrument relative to said patient's body, wherein said control mechanism comprises a control handle configured to be detachably coupled with said mechanical positioning mechanism, wherein said control handle is sealingly coupled with a drape interface mechanism of a sterile drape, said sterile drape being configured for isolating a portion of said surgical device within a sterile environment, said drape interface mechanism comprising a ring defining an opening through said sterile drape, said ring comprising:
a first portion configured for detachably and sealingly coupling with said control mechanism; and
a second portion configured for sealingly coupling with said sterile drape; and a connector operatively coupled with said control mechanism and said mechanical positioning mechanism, wherein said control mechanism is configured for causing said mechanical positioning mechanism to move said instrument by transmitting force applied by a human to the control mechanism through the connector.
PCT/US2011/054101 2010-09-30 2011-09-29 Detachable handle mechanism for use in instrument positioning WO2012044869A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11829932.0A EP2621394A4 (en) 2010-09-30 2011-09-29 Detachable handle mechanism for use in instrument positioning

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US12/895,411 2010-09-30
US12/895,411 US8740883B2 (en) 2010-09-30 2010-09-30 Detachable handle mechanism for use in instrument positioning
US12/895,333 US8640706B2 (en) 2010-09-30 2010-09-30 Interface mechanism between a drape and a handle
US12/895,333 2010-09-30

Publications (2)

Publication Number Publication Date
WO2012044869A2 true WO2012044869A2 (en) 2012-04-05
WO2012044869A3 WO2012044869A3 (en) 2012-06-07

Family

ID=45893756

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/054101 WO2012044869A2 (en) 2010-09-30 2011-09-29 Detachable handle mechanism for use in instrument positioning

Country Status (2)

Country Link
EP (1) EP2621394A4 (en)
WO (1) WO2012044869A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014094716A1 (en) * 2012-12-20 2014-06-26 avateramedical GmBH Retaining and positioning device of a surgical instrument and/or an endoscope for minimally invasive surgery and surgical robot system
WO2016081286A1 (en) * 2014-11-18 2016-05-26 Covidien Lp Sterile barrier assembly for use in robotic surgical system
WO2017189040A2 (en) 2015-11-03 2017-11-02 Edwards Lifesciences Corporation Adapter for prosthesis delivery and methods of use

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006061272A (en) 2004-08-25 2006-03-09 Olympus Corp Medical instrument holding device
US20070282311A1 (en) 2006-06-01 2007-12-06 Scott Christopher P Multi-joint fixture system
US20100241136A1 (en) 2006-12-05 2010-09-23 Mark Doyle Instrument positioning/holding devices

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7699855B2 (en) * 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US7371210B2 (en) * 1998-02-24 2008-05-13 Hansen Medical, Inc. Flexible instrument
US7674270B2 (en) * 2002-05-02 2010-03-09 Laparocision, Inc Apparatus for positioning a medical instrument
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
US8182470B2 (en) * 2005-12-20 2012-05-22 Intuitive Surgical Operations, Inc. Telescoping insertion axis of a robotic surgical system
DE102007021182B4 (en) * 2007-05-05 2012-09-20 Ziehm Imaging Gmbh Localization unit for a surgical X-ray diagnostic device with sterile cover foil

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006061272A (en) 2004-08-25 2006-03-09 Olympus Corp Medical instrument holding device
US20070282311A1 (en) 2006-06-01 2007-12-06 Scott Christopher P Multi-joint fixture system
US20100241136A1 (en) 2006-12-05 2010-09-23 Mark Doyle Instrument positioning/holding devices

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2621394A4

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014094716A1 (en) * 2012-12-20 2014-06-26 avateramedical GmBH Retaining and positioning device of a surgical instrument and/or an endoscope for minimally invasive surgery and surgical robot system
CN104869935A (en) * 2012-12-20 2015-08-26 阿瓦特拉医学有限公司 Retaining and positioning device of a surgical instrument and/or an endoscope for minimally invasive surgery and surgical robot system
US9795454B2 (en) 2012-12-20 2017-10-24 avateramedical GmBH Holding and positioning apparatus of a surgical instrument and/or an endoscope for minimally invasive surgery and a robotic surgical system
WO2016081286A1 (en) * 2014-11-18 2016-05-26 Covidien Lp Sterile barrier assembly for use in robotic surgical system
US11246673B2 (en) 2014-11-18 2022-02-15 Covidien Lp Sterile barrier assembly for use in robotic surgical system
WO2017189040A2 (en) 2015-11-03 2017-11-02 Edwards Lifesciences Corporation Adapter for prosthesis delivery and methods of use
US11259920B2 (en) 2015-11-03 2022-03-01 Edwards Lifesciences Corporation Adapter for prosthesis delivery device and methods of use

Also Published As

Publication number Publication date
WO2012044869A3 (en) 2012-06-07
EP2621394A2 (en) 2013-08-07
EP2621394A4 (en) 2017-06-07

Similar Documents

Publication Publication Date Title
US8740883B2 (en) Detachable handle mechanism for use in instrument positioning
US8640706B2 (en) Interface mechanism between a drape and a handle
US20120118098A1 (en) Instrument positioning/holding devices
CN110882042B (en) Rotary auxiliary port
US9872605B2 (en) Mechanisms for positioning and/or holding surgical instruments and performing other functions, and methods of manufacture and use thereof
WO2011084422A1 (en) User interface support devices for endoscopic surgical instruments
CA2811730C (en) Micro laparoscopy devices and deployments thereof
US20100241136A1 (en) Instrument positioning/holding devices
WO2011084420A1 (en) Interface systems for aiding clinicians in controlling and manipulating at least one endoscopic surgical instrument and a cable controlled guide tube system
TW202320714A (en) Surgical apparatus and surgical instrument thereof
US9775641B2 (en) Holding device for holding a manually operated medical device
EP2621394A2 (en) Detachable handle mechanism for use in instrument positioning
EP3784142B1 (en) Laparoscopic instruments
US20100331879A1 (en) Articulating Surgical Hand Tool
US11019985B2 (en) Medical tools and related methods of use
US20210307771A1 (en) Articulating lumen with a grasping end effector

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11829932

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2011829932

Country of ref document: EP