WO2022238258A3 - End effector and surgical instrument for minimally invasive surgery - Google Patents

End effector and surgical instrument for minimally invasive surgery Download PDF

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Publication number
WO2022238258A3
WO2022238258A3 PCT/EP2022/062324 EP2022062324W WO2022238258A3 WO 2022238258 A3 WO2022238258 A3 WO 2022238258A3 EP 2022062324 W EP2022062324 W EP 2022062324W WO 2022238258 A3 WO2022238258 A3 WO 2022238258A3
Authority
WO
WIPO (PCT)
Prior art keywords
leg
surgical instrument
end effector
pivot axis
pivot
Prior art date
Application number
PCT/EP2022/062324
Other languages
French (fr)
Other versions
WO2022238258A2 (en
Inventor
Frederik Emil Cederfeldt LARSEN
Peter Sølbeck
Original Assignee
Flexlogical Aps
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Flexlogical Aps filed Critical Flexlogical Aps
Priority to CN202280041295.XA priority Critical patent/CN117460470A/en
Publication of WO2022238258A2 publication Critical patent/WO2022238258A2/en
Publication of WO2022238258A3 publication Critical patent/WO2022238258A3/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
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/2804—Surgical forceps with two or more pivotal connections
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A61B2017/294—Connection of actuating rod to jaw, e.g. releasable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2944—Translation of jaw members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2945—Curved jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2947—Pivots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B2018/1452—Probes having pivoting end effectors, e.g. forceps including means for cutting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B2018/1452—Probes having pivoting end effectors, e.g. forceps including means for cutting
    • A61B2018/1455—Probes having pivoting end effectors, e.g. forceps including means for cutting having a moving blade for cutting tissue grasped by the jaws

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Surgical Instruments (AREA)

Abstract

A surgical instrument (1) and an end effector (3) for a surgical instrument (1), the end effector (3) comprising a first leg (4) and a second leg (5) configured to pivot in different directions to and from a plane (PL). The first leg (4) is configured to pivot around a first pivot axis (PA1), the second leg (5) is configured to pivot around the first pivot axis (PA1) or a second pivot axis (PA2) parallel with the first pivot axis (PA1). The surgical instrument (1) comprises a hollow shaft (2) and an actuating arrangement (6) extending within the hollow shaft (2) and generating the pivoting movement of the first leg (4) and/or the second leg (5). The hollow shaft (2) may comprise an electrically conductive material core layer (2a) and a peripheral layer (2b) comprising at least one of a section of anodized conductive material and/or an anodized coating applied onto the conductive material. The first leg (4) may have a first tissue engagement surface (4a) comprising a plurality of first serrations (13), and the second leg (5) may have a second tissue engagement surface (5a) configured to compress tissue together with the first tissue engagement surface (4a) of the first leg (4). The serrations may have a non-linear extent.
PCT/EP2022/062324 2021-05-10 2022-05-06 End effector and surgical instrument for minimally invasive surgery WO2022238258A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202280041295.XA CN117460470A (en) 2021-05-10 2022-05-06 End effector and surgical instrument for minimally invasive surgery

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA202170220A DK181495B1 (en) 2021-05-10 2021-05-10 End effector for minimally invasive surgery
DKPA202170220 2021-05-10

Publications (2)

Publication Number Publication Date
WO2022238258A2 WO2022238258A2 (en) 2022-11-17
WO2022238258A3 true WO2022238258A3 (en) 2022-12-15

Family

ID=82016274

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/062324 WO2022238258A2 (en) 2021-05-10 2022-05-06 End effector and surgical instrument for minimally invasive surgery

Country Status (3)

Country Link
CN (1) CN117460470A (en)
DK (3) DK181495B1 (en)
WO (1) WO2022238258A2 (en)

Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4815460A (en) * 1984-09-26 1989-03-28 Michael Porat Gripper teeth for medical instruments
US5047026A (en) * 1989-09-29 1991-09-10 Everest Medical Corporation Electrosurgical implement for tunneling through tissue
US5380320A (en) * 1993-11-08 1995-01-10 Advanced Surgical Materials, Inc. Electrosurgical instrument having a parylene coating
US5458598A (en) * 1993-12-02 1995-10-17 Cabot Technology Corporation Cutting and coagulating forceps
US5496317A (en) * 1993-05-04 1996-03-05 Gyrus Medical Limited Laparoscopic surgical instrument
US5853412A (en) * 1996-03-06 1998-12-29 Aesculap Ag & Co. Kg Bipolar surgical grasping instrument
US6019758A (en) * 1996-01-11 2000-02-01 Symbiosis Corporation Endoscopic bipolar multiple sample bioptome
US6585735B1 (en) * 1998-10-23 2003-07-01 Sherwood Services Ag Endoscopic bipolar electrosurgical forceps
US6723094B1 (en) * 1998-12-18 2004-04-20 Kai Desinger Electrode assembly for a surgical instrument provided for carrying out an electrothermal coagulation of tissue
US20040143276A1 (en) * 2003-01-22 2004-07-22 Sturtz Karrie L. Surgical clamp inserts with micro-tractive surfaces
US6818007B1 (en) * 1999-09-16 2004-11-16 Syclix Limited Tool and an effector
US20090264897A1 (en) * 2008-03-18 2009-10-22 Wohl Daniel L Tonsil forceps
US20090318954A1 (en) * 2004-02-27 2009-12-24 Applied Medical Resources Corporation System and method for actuating a laparoscopic surgical instrument
US20120232552A1 (en) * 2011-03-10 2012-09-13 Interventional Spine, Inc. Method and apparatus for minimally invasive insertion of intervertebral implants
US20140128890A1 (en) * 2012-11-02 2014-05-08 Boston Scientific Scimed, Inc. Medical device and related methods of use
US20150073462A1 (en) * 2013-09-10 2015-03-12 Erbe Elektromedizin Gmbh Surgical instrument comprising plastic shaft
US20150088128A1 (en) * 2013-09-24 2015-03-26 Covidien Lp Electrode for use in a bipolar electrosurgical instrument
US20170056038A1 (en) * 2015-08-26 2017-03-02 Ethicon Endo-Surgery, Llc Dissecting surgical jaws
US20210038291A1 (en) * 2019-08-05 2021-02-11 Karl Storz Se & Co. Kg Endoscopic device

Patent Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4815460A (en) * 1984-09-26 1989-03-28 Michael Porat Gripper teeth for medical instruments
US5047026A (en) * 1989-09-29 1991-09-10 Everest Medical Corporation Electrosurgical implement for tunneling through tissue
US5496317A (en) * 1993-05-04 1996-03-05 Gyrus Medical Limited Laparoscopic surgical instrument
US5380320A (en) * 1993-11-08 1995-01-10 Advanced Surgical Materials, Inc. Electrosurgical instrument having a parylene coating
US5458598A (en) * 1993-12-02 1995-10-17 Cabot Technology Corporation Cutting and coagulating forceps
US6019758A (en) * 1996-01-11 2000-02-01 Symbiosis Corporation Endoscopic bipolar multiple sample bioptome
US5853412A (en) * 1996-03-06 1998-12-29 Aesculap Ag & Co. Kg Bipolar surgical grasping instrument
US6585735B1 (en) * 1998-10-23 2003-07-01 Sherwood Services Ag Endoscopic bipolar electrosurgical forceps
US6723094B1 (en) * 1998-12-18 2004-04-20 Kai Desinger Electrode assembly for a surgical instrument provided for carrying out an electrothermal coagulation of tissue
US6818007B1 (en) * 1999-09-16 2004-11-16 Syclix Limited Tool and an effector
US20040143276A1 (en) * 2003-01-22 2004-07-22 Sturtz Karrie L. Surgical clamp inserts with micro-tractive surfaces
US20090318954A1 (en) * 2004-02-27 2009-12-24 Applied Medical Resources Corporation System and method for actuating a laparoscopic surgical instrument
US20090264897A1 (en) * 2008-03-18 2009-10-22 Wohl Daniel L Tonsil forceps
US20120232552A1 (en) * 2011-03-10 2012-09-13 Interventional Spine, Inc. Method and apparatus for minimally invasive insertion of intervertebral implants
US20140128890A1 (en) * 2012-11-02 2014-05-08 Boston Scientific Scimed, Inc. Medical device and related methods of use
US20150073462A1 (en) * 2013-09-10 2015-03-12 Erbe Elektromedizin Gmbh Surgical instrument comprising plastic shaft
US20150088128A1 (en) * 2013-09-24 2015-03-26 Covidien Lp Electrode for use in a bipolar electrosurgical instrument
US20170056038A1 (en) * 2015-08-26 2017-03-02 Ethicon Endo-Surgery, Llc Dissecting surgical jaws
US20210038291A1 (en) * 2019-08-05 2021-02-11 Karl Storz Se & Co. Kg Endoscopic device

Also Published As

Publication number Publication date
CN117460470A (en) 2024-01-26
DK202370195A1 (en) 2023-05-04
DK181495B1 (en) 2024-03-12
DK202170220A1 (en) 2022-11-21
DK202370196A1 (en) 2023-05-09
WO2022238258A2 (en) 2022-11-17

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