WO2017217952A1

WO2017217952A1 - Innovative laparoscopic grasper

Info

Publication number: WO2017217952A1
Application number: PCT/TR2017/050250
Authority: WO
Inventors: Ilker Murat KOC; Mithat Can OZIN; Bilsay SUMER; Turgay ERAY
Original assignee: Istanbul Teknik Universitesi
Priority date: 2016-06-17
Filing date: 2017-06-06
Publication date: 2017-12-21
Also published as: GB2568400A; GB2568400B; GB201820440D0; TR201608291A1

Abstract

The present invention relates to a laparoscopic grasper (1); which enables to grasp the tissues or organs of the patient or take samples in laparoscopic surgical operations; and which basically comprises at least one outer shaft (2) which is passed through the small incision broached on the patient's body, at least one jaw (4), which is located at the outer end part of the outer shaft (2) inserted into the patient's body, and which, upon closing movement thereof, can grasp an organ or tissue of the patient, at least one inner shaft (5) which is located inside the outer shaft (2) and which transfers force for closing or opening of the jaw (4), a lever mechanism (6), which is located between the inner shaft (5) and the jaw (4), and which enables the jaw (4) to perform an opening and closing movement with a pin (61) centered rotational movement by means of the linear movement of the inner shaft (5), at least one smart material (7), which is connected to the end of the inner shaft (5) opposite to the end where the jaw (4) is located, at least one trigger (8) which is located on the handle (3) and which allows passing of electric current for formation of heat on the smart material (7) proportionate to the force applied by the user thereon.

Description

DESCRIPTION

INNOVATIVE LAPAROSCOPIC GRASPER

Field of the Invention

The present invention relates to a laparoscopic grasper, which is used for grasping diseased organs or tissues or taking samples, prevents hand tremor problem of the user, and can perform tissue analysis in laparoscopic surgeries. Background of the Invention

The word meaning of laparoscopy is examination of the inside of the abdomen. Viewing the organs in the body by the help of a camera inserted through a small incision is called laparoscopy. The surgeries performed during laparoscopy via surgical instruments are called laparoscopic surgery or closed surgery. Especially today, laparoscopic surgeries are more widely used and preferred over the open surgeries due to their advantages. One of the surgical instruments used during laparoscopy is laparoscopic grasper. In laparoscopic surgeries, a camera which takes images is used together with laparoscopic grasper. In laparoscopic surgeries, laparoscopic grasper is used such that it will directly reach the patient's tissue through small incisions broached on the patient's body. The laparoscopic grasper used in the state of the art is comprised of a shaft inserted into the patient's body, a jaw at the end part of the shaft that grasps the tissue, and a lever mechanism located on the part of the shaft remaining outside of the body and which enables the jaw to perform opening and closing movements when the user's hand exerts force thereon. In accordance with the magnitude of the force applied by the user (surgeon) on the grasping lever, the lever mechanism enables the jaw to be closed and take a sample from the tissue or grasp the tissue or the organ. In the laparoscopic graspers used in the state of the art, when the user (surgeon) uses the tool continuously throughout the surgery, hand fatigue occurs. Particularly due to transferring the force from the hand of the user to the jaw via the lever mechanism in the laparoscopic grasper used in the state of the art, hand fatigue is observed more in user (surgeon). In the state of the art, there is no control system for the force that will be applied by the user (surgeon). Thus, situations that may injure the tissue such as slippage of the grasper from the tissue or the jaw exerting too much force on the tissue occur, when there is indirect control on the jaw which collects samples from the tissue or the organ or enables to grasp the tissue or the organ, and when the force applied on the lever mechanism by the hand of the user using the laparoscopic grasper decreases or a loss of contact occurs at the force applied to the lever mechanism.

The invention disclosed in the United States patent document no. US5282800A, an application in the state of the art, relates to the fact that various parts of the laparoscopic graspers are disposable to enable reusability of the graspers. This technique has enabled reusability of the laparoscopic graspers by replacing their end parts.

The invention disclosed in the United States patent document no. US7828798B2, an application in the state of the art, relates to a bipolar laparoscopic grasper for grasping a tissue developed for sealing purposes.

The invention disclosed in the United States patent document no. US6358268B1, an application in the state of the art, relates to a tissue grasper which is comprised of a handle assembly that can be gripped by the user, a shaft, and a jaw provided at the end part of the shaft. The jaw in the mentioned tissue grasper is pivotable and this provides an advantage during surgeries. Problems Solved by the Invention

An objective of the present invention is to provide an innovative laparoscopic grasper comprising a trigger which allows electrical current flow to a smart material when the user applies force thereon.

Another objective of the present invention is to provide an innovative laparoscopic grasper comprising a smart material, which is heated by the electricity received from the activation of the trigger, and which, by moving upon getting heated, produces driving force for closing the jaw connected to the shaft.

A further objective of the present invention is to provide an innovative laparoscopic grasper comprising a smart material which comprises openable/clo sable air ducts that enable to cool the smart material for opening the jaw.

Another objective of the present invention is to provide an innovative laparoscopic grasper which, by measuring the displacement of the drive shaft that applies force to close the jaw, enables to measure the jaw closing displacement and determining tissue elasticity.

A further objective of the present invention is to provide an innovative laparoscopic grasper which, by means of a contact pressure sensor placed on the jaw, enables to determine elasticity of the tissue to be grasped.

Detailed Description of the Invention

The innovative laparoscopic grasper developed to fulfill the objectives of the present invention is illustrated in the accompanying figures, in which: Figure 1 is a side view of the innovative laparoscopic grasper of the present invention.

Figure 2 is a side view of detail E-E of the innovative laparoscopic grasper of the present invention.

The components in the figures are each given reference numbers as follows:

1. Laparoscopic grasper

2. Outer shaft

3. Handle

4. Jaw

5. Inner shaft

6. Lever mechanism

6.1. Pin

7. Smart material

8. Trigger

9. Bearing

10. Tip shaft

11. Spring

12. Contact force sensor

13. Distance sensor

14. Shear force sensor

A laparoscopic grasper (1), which enables to grasp the tissues or organs of the patient or take samples, does not require the user to exert gripping force continuously, and can perform tissue analysis in laparoscopic surgical operations, comprises

at least one outer shaft (2) which is passed through the small incision broached on the patient's body,

- at least one handle (3) which is located on the part of the outer shaft (2) remaining outside of the patient's body so as to be gripped by the user, at least one jaw (4), which is located at the outer end part of the outer shaft (2) inserted into the patient's body, and which, upon closing movement thereof, can grasp an organ or tissue of the patient,

at least one inner shaft (5) which is located inside the outer shaft (2) and which transfers force for closing or opening of the jaw (4),

a lever mechanism (6), which is located between the inner shaft (5) and the jaw (4), and which enables the jaw (4) to perform an opening and closing movement with a pin (61) centered rotational movement by means of the linear movement of the inner shaft (5),

- at least one smart material (7), which is connected to the end of the inner shaft (5) opposite to the end where the jaw (4) is located, and which, when heat is applied thereon, contracts and transfers a pulling movement to the inner shaft (5) and returns to its original form when cooled,

at least one trigger (8) which is located on the handle (3) and which allows passing of electric current for formation of heat on the smart material (7) proportionate to the force applied by the user thereon,

at least one air duct, which extends from the handle (3) onto the outer shaft (2), and which, by means of the air supplied to it via the handle, enables to cool the smart material (7) and discharge the air,

- at least one cylindrical housing (9), which envelopes the connection ends of the inner shaft (5) and the smart material (7), and which enables the inner shaft (5) and the smart material (7) to be housed in the outer shaft (2), at least one tip shaft (10), which is located at the end parts of the outer shaft (2) and the inner shaft (5), and moves linearly together with the inner shaft (5), and enables the inner shaft (5) to be housed in the outer shaft (2), at least one spring (11), which is located between the cylindrical housing (9) and the tip shaft and is compressed between the cylindrical housing (9) and the tip shaft when the smart material (7) is heated, and which, with stretching movement thereof, provides additional force for the smart material (7) to return to its original form, at least one contact force sensor (12) which is located on the jaw (4) and which measures the pressure force applied by the jaw (4) on the tissue, at least one displacement sensor (13) which calculates the value of the force applied to the jaw (4) by measuring the displacement of the inner shaft (5) within the outer shaft (2),

at least one shear force sensor (14) in the form of a film, which is located between the tip shaft and the outer shaft (2), and which, by measuring the backward displacement of the tip shaft, measures the amount of slippage of the jaw (4) from the tissue,

at least one control unit which calculates elasticity of the tissue in accordance with the data received from the contact force sensor (12), and upon determining the required net force, enables to automatically adjust the elongation/contraction of the smart material (7),

at least one control unit, which detects slippage of the jaw (4) from the tissue in accordance with the data received from the shear force sensor (14), and which enables to automatically adjust the elongation/contraction of the smart material (7) by determining the net force required for preventing slippage,

at least one control unit which compiles the measurements of the forces applied on the tissue in accordance with the data received from the contact force sensor (12) and transmits them as data to the user.

The laparoscopic grasper (1) of the present invention is comprised of an outer shaft (2) which enables to access the organs and tissues from outside of the patient's body, a jaw (4) which is located on the outer shaft (2) and grasps the organs or tissues, an inner shaft (5) which transmits linear movement to the jaw (4), a smart material (7) which transmits movement to the inner shaft (5), a handle (3) which is located on the part of the outer shaft (2) remaining outside of the patient's body, a trigger (8) which is located on the handle (3) that turns on the heating of the smart material (7) via electric energy. The outer shaft (2) provided in the laparoscopic grasper (1) of the present invention includes therein an inner shaft (5), a smart material (7), a cylindrical housing (9) and a tip shaft (10), and serves as a body for the said components. The jaw (4) located on the end part of the outer shaft (2) is connected onto the inner shaft (5) via a lever mechanism (6), and it performs a closing movement when the inner shaft (5) moves towards inside of the outer shaft (2).

In the laparoscopic grasper (1) of the present invention, the driving force of the closing movement performed by the jaw (4) in order to grasp the tissue is provided by the smart material (7). The inner shaft (5) which is connected to the jaw (4) via the lever mechanism (6) is connected to the smart material (7) from the other end thereof. When the user starts to apply force on the trigger (8), electric current passes onto the smart material (7) thereby enabling heating of the smart material (7) by means of the electric current. The heated smart material (7) contracts and thus applies a pulling force on the inner shaft (5) to which it is connected. The inner shaft transfers the received pulling force to the lever mechanism (6) and the lever mechanism (6) enables the jaw (4) to be closed by means of its pin (61) centered rotational movement.

In the laparoscopic grasper (1) of the present invention, the driving force of the opening movement performed by the jaw (4) in order to release the tissue is provided by the smart material (7). The smart material (7) which is cooled by the air passing through the cooling duct elongates and thus applies a pushing force on the inner shaft (5). The inner shaft transfers the received pushing force to the lever mechanism (6), and the lever mechanism (6) enables the jaw (4) to be opened by means of its pin (61) centered rotational movement.

In one embodiment of the invention, a contact force sensor (12) is provided on the jaw (4). The contact force sensor (12) measures the pressure force applied by the jaw (4) on the tissue. In one embodiment of the invention, there is provided a control unit which controls the amount of the heat that will be transferred onto the smart material (7) that is activated by the trigger (8) in accordance with the data received from the contact force sensor (12). The said control unit calculates the required net jaw (4) pressure force in accordance with the data received from the contact force sensor (12) and enables to heat the smart material (7) so as to produce the said force value.

In one embodiment of the invention, there is provided a displacement sensor (13) which measures the amount of displacement of the inner shaft (5). In one embodiment of the invention, there is provided a control unit which measures the force applied on the tissue in accordance with the data received from the distance sensor (13) and the contact force sensor (12) and calculates tissue elasticity and identifies the tissue. Thus, it is possible to detect whether the tissue grasped by the jaw (4) is a damaged tissue, cancerous tissue or similar situations.

In one embodiment of the invention, a shear force sensor (14) is provided, which is located between the tip shaft (10) and the outer shaft (2), and which, by measuring the backward displacement of the tip shaft (10), measures the amount of slippage of the jaw (4) from the tissue. Opening or closing movement of the jaw (4) causes the inner shaft (5) to move via the lever mechanism (6). In the case that the jaw (4) possibly slips from the tissue, the inner shaft (5) and the tip shaft (10) on the inner shaft (5) move together. The shear force sensor (14) detects the said movement and sends a signal to the control unit. In accordance with the data received from the shear force sensor (14), the control unit adjusts the amount of heat to be transferred onto the smart material (7) and enables to heat the smart material (7) so as to prevent possible slippage movement of the jaw (4) from the tissue.

In one embodiment of the invention, the control unit compiles the data received from any or all of the shear force sensor (14), contact force sensor (12) and displacement sensor (13), and by determining the net force, enables to automatically adjust the elongation/contraction of the smart material (7). In one embodiment of the invention, the smart material (7) is in the form of a wire extending on the outer shaft (2) and the trigger (8). The smart material (7) which is in the form of a wire moves within a cable channel; and the smart material (7) moves linearly within the channel in the processes of heating and cooling applied thereon.

In one embodiment of the invention, the displacement sensor (13) is a potentiometer which measures the elongation/contraction value of the smart material (7). The displacement sensor (13), which is a potentiometer, transmits the data of the elongation/contraction value of the smart material (7) to the control unit, and with the received data, the control unit determines the force applied on the jaw (4).

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

In one embodiment of the invention, the smart material (7) is a structure which is activated and contracts via electricity. In one embodiment of the invention, there is provided an interface which is located on the handle (3) or is in communication with the control unit. The control unit transfers the data it receives from the displacement sensor (13), shear force sensor (14) and contact force sensor (12) to the user via the interface, and presents the user the data of tissue elasticity, tissue properties and the required forces.

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

Claims

A laparoscopic grasper (1), which enables to grasp the tissues or organs of the patient or take samples in laparoscopic surgical operations, comprising

- at least one outer shaft (2) which is passed through the small incision broached on the patient's body,

- at least one handle (3) which is located on the part of the outer shaft (2) remaining outside of the patient's body so as to be gripped by the user,

- at least one jaw (4), which is located at the outer end part of the outer shaft (2) inserted into the patient's body, and which, upon closing movement thereof, can grasp an organ or tissue of the patient,

- at least one inner shaft (5) which is located inside the outer shaft (2) and which transfers force for closing or opening of the jaw (4),

- a lever mechanism (6), which is located between the inner shaft (5) and the jaw (4), and which enables the jaw (4) to perform an opening and closing movement with a pin (6.1) centered rotational movement by means of the linear movement of the inner shaft (5), and characterized by

- at least one trigger (8) which is located on the handle (3) and which allows passing of electric current for formation of heat on the smart material (7) proportionate to the force applied by the user thereon.

Laparoscopic grasper (1) according to Claim 1, comprising at least one air duct, which extends from the handle (3) onto the outer shaft

(2), and which, by means of the air supplied to it via the handle, enables to cool the smart material (7) and discharge the air.

3. Laparoscopic grasper (1) according to Claim 1, comprising at least one cylindrical housing (9), which envelopes the connection ends of the inner shaft (5) and the smart material (7), and which enables the inner shaft (5) and the smart material (7) to be supported on the outer shaft (2).

4. Laparoscopic grasper (1) according to Claim 1, comprising at least one tip shaft (10), which is located at the end parts of the outer shaft (2) and the inner shaft (5), and moves linearly together with the inner shaft (5), and enables the inner shaft (5) to be supported on the outer shaft (2).

5. Laparoscopic grasper (1) according to Claim 1, comprising at least one spring (11), which is located between the cylindrical housing (9) and the tip shaft (10) and is compressed between the cylindrical housing (9) and the tip shaft (10) when the smart material (7) is heated, and which, with stretching movement thereof, provides additional force for the smart material (7) to return to its original form.

6. Laparoscopic grasper (1) according to Claim 1, comprising at least one contact force sensor (12) which is located on the jaw (4) and which measures the contact force applied by the jaw (4) on the tissue.

7. Laparoscopic grasper (1) according to Claim 1 or 6, comprising at least one control unit which calculates elasticity of the tissue in accordance with the data received from the contact force sensor (12), and upon determining the required net force, enables to automatically adjust the elongation/contraction of the smart material (7).

8. Laparoscopic grasper (1) according to Claim 1, comprising at least one displacement sensor (13) which measures the elongation/contraction value of the smart material (7)by measuring the distance of displacement of the inner shaft (5) within the outer shaft (2).

9. Laparoscopic grasper (1) according to Claim 1 or 8, comprising at least one electronic control unit which compiles the measurements of the forces applied on the tissue in accordance with the data received from the displacement sensor (13) and transmits the data to the user.

10. Laparoscopic grasper (1) according to Claim 1, comprising at least one shear force sensor (14), which is located between the tip shaft (10) and the outer shaft (2), and which, by measuring the backward movement distance of the tip shaft (10), measures the amount of slippage of the jaw (4) from the tissue.

11. Laparoscopic grasper (1) according to Claim 1 or 10, comprising at least one electronic control unit, which detects slippage of the jaw (4) from the tissue in accordance with the data received from the shear force sensor (14), and which enables to automatically adjust the elongation/contraction value of the smart material (7) by determining the net force required for preventing slippage.

12. Laparoscopic grasper (1) according to Claims 6 to 11, comprising at least one control unit, which compiles the data received from any or all of the shear force sensor (14), contact force sensor (12) and displacement sensor (13), and which, by determining the net force, enables to automatically adjust the elongation/contraction value of the smart material (7).

13. Laparoscopic grasper (1) according to Claim 1, comprising smart material (7) which is a wire.

14. Laparoscopic grasper (1) according to Claim 1 or 13, comprising at least one channel, through which the smart material (7) passes, and which enables linear movement of the smart material (7) within the handle (3) and the outer shaft (2).

15. Laparoscopic grasper (1) according to Claim 8, 9 or 12, comprising the displacement sensor (13) which is a potentiometer that measures the elongation/contraction value of the smart material (7).

16. Laparoscopic grasper (1) according to any one of the preceding claims, comprising smart material (7) which is a biocompatible nickel-titanium based shape memory alloy.

17. Laparoscopic grasper (1) according to any one of the preceding claims, comprising smart material (7) which is activated and contracted via electric current.

18. Laparoscopic grasper (1) according to Claims 7, 9, 11 or 12, comprising at least one interface, which transmits the data received from the control unit to the user, and transmits to the user data regarding elasticity and properties of the tissue.

19. Laparoscopic grasper (1) according to Claim 18, comprising an interface which is a screen.