WO2000059384A9 - Suturing articulating device for tissue and needle manipulation during minimally invasive endoscopic procedure - Google Patents

Suturing articulating device for tissue and needle manipulation during minimally invasive endoscopic procedure

Info

Publication number
WO2000059384A9
WO2000059384A9 PCT/US2000/009201 US0009201W WO0059384A9 WO 2000059384 A9 WO2000059384 A9 WO 2000059384A9 US 0009201 W US0009201 W US 0009201W WO 0059384 A9 WO0059384 A9 WO 0059384A9
Authority
WO
WIPO (PCT)
Prior art keywords
jaw
rack
rod
distal end
housing
Prior art date
Application number
PCT/US2000/009201
Other languages
French (fr)
Other versions
WO2000059384A1 (en
Inventor
Kenneth Grace
Original Assignee
Computer Motion 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
Application filed by Computer Motion Inc filed Critical Computer Motion Inc
Priority to JP2000608952A priority Critical patent/JP4169142B2/en
Priority to DE60042301T priority patent/DE60042301D1/en
Priority to AU42073/00A priority patent/AU4207300A/en
Priority to AT00921806T priority patent/ATE432656T1/en
Priority to CA002334458A priority patent/CA2334458C/en
Priority to EP00921806A priority patent/EP1083830B1/en
Publication of WO2000059384A1 publication Critical patent/WO2000059384A1/en
Publication of WO2000059384A9 publication Critical patent/WO2000059384A9/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
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • 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
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor

Definitions

  • the present invention generally relates to surgical devices. More particularly, the present invention relates to a device for suturing during the performance of minimally invasive endoscopic surgical procedures and more particularly to an articulating device for use m endoscopic coronary artery by-pass grafting surgery.
  • Blockage of a coronary artery may deprive the heart of the blood and oxygen required to sustain life.
  • the blockage may be removed with medication or by an angioplasty.
  • a coronary artery bypass graft (CABG) is performed to bypass the blocked area of the artery.
  • CABG procedures are typically performed by splitting the sternum and pulling open the chest cavity to provide access to the heart .
  • An incision may be made m the artery ad acent to the blocked area.
  • the internal mammary artery (IMA) or some other arterial source of blood- flow may then be severed and attached to the artery at the point of incision.
  • the IMA bypasses the blocked area of the artery to again provide a full flow of blood to the heart .
  • Such minimally invasive procedures are conducted by inserting surgical instruments through small incisions, on the order of inches m the skin of the patient. Manipulating such instruments can be awkward, particularly when suturing a graft to an artery.
  • These systems utilize direct visualization of the surgical site. Such systems do not enable a completely endoscopic approach to the CABG procedure because of the need for direct visualization of the site. Additionally, such systems do not enable a fully endoscopic approach because of the incision size necessary to adequately manipulate the surgical instruments at the surgical site.
  • a fully endoscopic approach utilizes small holes to provide access to the thoracic cavity. Each of these holes is on the order of 3 -11mm m diameter. In order to perform a CABG procedure m a fully endoscopic fashion (i.e. using 3 -11mm holes) a robotic system much be used to filter hand tremors and scale motions made by the surgeon.
  • the present invention is an articulating device for tissue and needle manipulation, the device comprising :
  • An elongated housing having a proximal end and a distal end; an articulation rod extending interior the housing, the articulation rod having a proximal end and a distal end; an actuation rod extending interior the housing, the actuation rod having a proximal end and a distal end; a rack driver m communication with the actuation rod at the distal end thereof, the rack driver engaged with a cylindrical rack for translating the motion of the actuation rod substantially about ninety degrees; and a ⁇ aw m communication with the cylindrical rack, whereby movement of the cylindrical rack actuates the jaw, the ⁇ aw further m pivotal communication with the articulation rod such that linear movement of the articulation rod produces rotational movement of the law.
  • Figure 1 is a partial break-away perspective view of a device m accordance with the present invention in a closed angled configuration
  • Figure 2 is a partial break-away perspective view of a device m accordance with the present invention m an open angled configuration
  • Figure 3 is a cross-sectional perspective view of a device m accordance with the present invention m an opened straight configuration
  • Figures 1, 2 and 3 show a preferred embodiment of the articulating actuating device 10.
  • the device 10 includes a housing 12.
  • the housing extends substantially the length of the instrument 10 and has a proximal end 14 and a distal end 16 and a longitudinal axis X.
  • Disposed interiorly the housing 12 is an articulation rod 20 and an actuation rod 30.
  • Each of the articulation rod 20 and the actuation rod 30 have respective proximal ends 22, 32 and distal ends 24, 34.
  • the proximal ends 22, 32 of the rods may be attached to a robotic system for the performance of minimally invasive surgical procedures.
  • a robotic system for the performance of minimally invasive surgical procedures.
  • One such system is produced by Computer Motion, Inc., the assignee hereof, and is described m U.S. Patent number 5,855,583, which is incorporated herein by reference.
  • the rods 20, 30 are attached to actuators via attachment means taught m U.S. Patent 5,855,583. Other means for removably attaching a rod to an actuator are known m the art including the use of screws, clips or the like. In this way, each of the rods 20, 30 may be driven by the actuator which is connected to various user interfaces and power sources and are conducive to the performance of minimally invasive surgical procedures .
  • the articulation rod 20 extends substantially the length of the housing 12 along its longitudinal axis X.
  • the articulation rod 20 is pivotally connected to a aw 50. Such a pivotal connection may be accomplished through the use of a hinge 52 attached intermediate to articulation rod 20 and the jaw 50.
  • the aw 50 pivotally communicates with the housing 12 at the distal end 16 thereof through the use of a rack 60.
  • the rack 60 provides a pivot about which the jaw 50 rotates.
  • the actuation rod 30 provides for actuation of the jaw 50.
  • the actuation rod has a pm 36 disposed at the distal end 34 thereof.
  • the pm 36 seats m a rack channel 72 disposed m a rack driver 70.
  • the rack driver is pivotally attached to the housing 12 via a pm 74 or the like.
  • the housing has two longitudinal apertures 18, 19 formed therethrough at the distal end 16 thereof to provide for lateral movement of the rack driver 70 which shall be described m detail here below.
  • the rack driver 70 has a shoulder 76 which engages the rack 60. As the rack driver 70 pivots, the shoulder 76 causes the rack 60 to move laterally, which is orthogonal to the longitudinal motion of the actuation rod 30 and orthogonal to the longitudinal axis of the housing 12.
  • the rack 60 is slidably moveable within the housing 12 through two cylindrical apertures 13, 15 formed therethrough.
  • the jaw 50 is actuated.
  • the lateral movement of the rack 60 is transferred to a first jaw element 54.
  • a second jaw element 56 is pivotally connected to the first jaw element 54 via a p 58 or the like and is held stationary with respect to the first jaw element 54. In this way, as the first jaw element 54 is moved, the second jaw element 56 remains stationary and the jaw 50 is actuated. If each element has a sharp edge, then the jaw may function as a scissors .
  • the aw 50 is always m communication with the rack 60, even as it is articulated through the motion of the articulation rod 20. This is accomplished through the use of a cylindrical rack having a circumferential channel 66 formed therein. The channel 66 receives the shoulder 76 of the rack driver 70 as well as a shoulder 58 on the first jaw element 54.
  • the shoulder 58 on the first jaw element 54 rotates within the circumferential channel 66 the rack 60 maintaining communication therein and providing for actuation of the jaw 50 regardless of the articulated position of the jaw 50 caused through motion of the articulation rod 20.
  • the articulation of the jaw 50 and the actuation of the jaw 50 are decoupled. It is highly advantageous to provide for a rigidly linked device that is decoupled m this fashion for several reasons. First, the device is easily steralizable and secondly, the device is quite safe to use as there is no use of tensioned cables or the like.

Abstract

The present invention is a device having a rigidly linked jaw (50) that is decoupled from an articulating wrist. The device provides for articulating motion as well as actuation that may be used in grasping, cutting, suturing or the like as follows: An elongated housing (12) having a proximal end (14), and a distal end (16); an articulation rod extending interior the housing, the articulation rod (20) having a proximal end (22), and a distal end (24); an actuation rod extending interior the housing, the actuation rod having a proximal end, and a distal end; a rack driver (170) in communication with the actuation rod at the distal end thereof, the rack driver engaged with a cylindrical rack for translating the motion of the actuation rod substantially about 90 degrees; and a jaw in communication with the cylindrical rack, whereby movement of the cylindrical rack actuates the jaw, the jaw further in pivotal communication with the articulation rod such that linear movement of the articulation rod produces rotational movement of the jaw.

Description

SUTURING ARTICULATING DEVICE FOR TISSUE AND NEEDLE MANIPULATION DURING MINIMALLY INVASIVE ENDOSCOPIC PROCEDURE
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a continuation-in-part of Application No. 09/262,134, filed March 3, 1999, now issued as U.S. Patent No. 5,855,583, which is a contmuation-in-part of Application No. 08/873,190, filed June 11, 1997, pending, which is a contmuation- m-part of Application No. 08/755,063, filed November 22, 1996, pending.
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention generally relates to surgical devices. More particularly, the present invention relates to a device for suturing during the performance of minimally invasive endoscopic surgical procedures and more particularly to an articulating device for use m endoscopic coronary artery by-pass grafting surgery.
2. Description of Related Art
Blockage of a coronary artery may deprive the heart of the blood and oxygen required to sustain life. The blockage may be removed with medication or by an angioplasty. For severe blockage, a coronary artery bypass graft (CABG) is performed to bypass the blocked area of the artery. CABG procedures are typically performed by splitting the sternum and pulling open the chest cavity to provide access to the heart . An incision may be made m the artery ad acent to the blocked area. The internal mammary artery (IMA) or some other arterial source of blood- flow may then be severed and attached to the artery at the point of incision. The IMA bypasses the blocked area of the artery to again provide a full flow of blood to the heart .
Splitting the sternum and opening the chest cavity can create tremendous trauma on the patient . Additionally, the cracked sternum prolongs the recovery period of the patient . As such, there have been developed systems that enable minimally invasive CABG procedures. These systems utilize hand held tools and small incisions, on the order of 3-5 inches m length, to provide access to the thoracic region of a patient.
Such minimally invasive procedures are conducted by inserting surgical instruments through small incisions, on the order of inches m the skin of the patient. Manipulating such instruments can be awkward, particularly when suturing a graft to an artery. These systems utilize direct visualization of the surgical site. Such systems do not enable a completely endoscopic approach to the CABG procedure because of the need for direct visualization of the site. Additionally, such systems do not enable a fully endoscopic approach because of the incision size necessary to adequately manipulate the surgical instruments at the surgical site. A fully endoscopic approach utilizes small holes to provide access to the thoracic cavity. Each of these holes is on the order of 3 -11mm m diameter. In order to perform a CABG procedure m a fully endoscopic fashion (i.e. using 3 -11mm holes) a robotic system much be used to filter hand tremors and scale motions made by the surgeon.
To facilitate the performance of an endoscopic surgical procedure, it would be useful to employ surgical instruments that can maneuver to the surgical site as well as manipulate tissue or sutures to perform and anastomosis.
To help minimize risk to the patient, and to minimize operating time, what is needed m the art is a robotically actuated surgical device that can articulate as well as actuate without being overly complex m design.
SUMMARY OF THE INVENTION
The present invention is an articulating device for tissue and needle manipulation, the device comprising :
An elongated housing having a proximal end and a distal end; an articulation rod extending interior the housing, the articulation rod having a proximal end and a distal end; an actuation rod extending interior the housing, the actuation rod having a proximal end and a distal end; a rack driver m communication with the actuation rod at the distal end thereof, the rack driver engaged with a cylindrical rack for translating the motion of the actuation rod substantially about ninety degrees; and a ηaw m communication with the cylindrical rack, whereby movement of the cylindrical rack actuates the jaw, the ηaw further m pivotal communication with the articulation rod such that linear movement of the articulation rod produces rotational movement of the law.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a partial break-away perspective view of a device m accordance with the present invention in a closed angled configuration;
Figure 2 is a partial break-away perspective view of a device m accordance with the present invention m an open angled configuration;
Figure 3 is a cross-sectional perspective view of a device m accordance with the present invention m an opened straight configuration;
DETAILED DESCRIPTION OF THE INVENTION
Referring to the drawings more particularly by reference numbers, Figures 1, 2 and 3 show a preferred embodiment of the articulating actuating device 10. The device 10 includes a housing 12. The housing extends substantially the length of the instrument 10 and has a proximal end 14 and a distal end 16 and a longitudinal axis X. Disposed interiorly the housing 12 is an articulation rod 20 and an actuation rod 30. Each of the articulation rod 20 and the actuation rod 30 have respective proximal ends 22, 32 and distal ends 24, 34.
The proximal ends 22, 32 of the rods may be attached to a robotic system for the performance of minimally invasive surgical procedures. One such system is produced by Computer Motion, Inc., the assignee hereof, and is described m U.S. Patent number 5,855,583, which is incorporated herein by reference.
The rods 20, 30 are attached to actuators via attachment means taught m U.S. Patent 5,855,583. Other means for removably attaching a rod to an actuator are known m the art including the use of screws, clips or the like. In this way, each of the rods 20, 30 may be driven by the actuator which is connected to various user interfaces and power sources and are conducive to the performance of minimally invasive surgical procedures .
The articulation rod 20 extends substantially the length of the housing 12 along its longitudinal axis X. The articulation rod 20 is pivotally connected to a aw 50. Such a pivotal connection may be accomplished through the use of a hinge 52 attached intermediate to articulation rod 20 and the jaw 50.
The aw 50 pivotally communicates with the housing 12 at the distal end 16 thereof through the use of a rack 60. In this way, motion of the articulation rod 20 results m rotation of the jaw 50. The rack 60 provides a pivot about which the jaw 50 rotates. The actuation rod 30 provides for actuation of the jaw 50. The actuation rod has a pm 36 disposed at the distal end 34 thereof. The pm 36 seats m a rack channel 72 disposed m a rack driver 70. The rack driver is pivotally attached to the housing 12 via a pm 74 or the like. The housing has two longitudinal apertures 18, 19 formed therethrough at the distal end 16 thereof to provide for lateral movement of the rack driver 70 which shall be described m detail here below.
Longitudinal motion of the actuation rod 30 moves the p 36 m the rack channel 72 which translates the longitudinal motion of the actuation rod 30 into a pivotal motion of the rack driver 70. The rack driver 70 pivots about the pivot point defined by the p 74 which attaches the rack driver 70 to the housing 12. The rack driver 70 may move outside of the space defined as the interior of the housing through the longitudinal apertures 18, 19.
The rack driver 70 has a shoulder 76 which engages the rack 60. As the rack driver 70 pivots, the shoulder 76 causes the rack 60 to move laterally, which is orthogonal to the longitudinal motion of the actuation rod 30 and orthogonal to the longitudinal axis of the housing 12. The rack 60 is slidably moveable within the housing 12 through two cylindrical apertures 13, 15 formed therethrough. As the rack 60 moves laterally, the jaw 50 is actuated. The lateral movement of the rack 60 is transferred to a first jaw element 54. A second jaw element 56 is pivotally connected to the first jaw element 54 via a p 58 or the like and is held stationary with respect to the first jaw element 54. In this way, as the first jaw element 54 is moved, the second jaw element 56 remains stationary and the jaw 50 is actuated. If each element has a sharp edge, then the jaw may function as a scissors .
The aw 50 is always m communication with the rack 60, even as it is articulated through the motion of the articulation rod 20. This is accomplished through the use of a cylindrical rack having a circumferential channel 66 formed therein. The channel 66 receives the shoulder 76 of the rack driver 70 as well as a shoulder 58 on the first jaw element 54.
As such, as the jaw 50 is articulated, the shoulder 58 on the first jaw element 54 rotates within the circumferential channel 66 the rack 60 maintaining communication therein and providing for actuation of the jaw 50 regardless of the articulated position of the jaw 50 caused through motion of the articulation rod 20.
In this fashion, the articulation of the jaw 50 and the actuation of the jaw 50 are decoupled. It is highly advantageous to provide for a rigidly linked device that is decoupled m this fashion for several reasons. First, the device is easily steralizable and secondly, the device is quite safe to use as there is no use of tensioned cables or the like.
While certain exemplary embodiments have been described and shown m the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention, and that this invention not be limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those ordinarily skilled m the art.

Claims

CLAIMSWhat is claimed is:
1. An articulating device for tissue and needle manipulation, the device comprising: an elongated housing having a proximal end and a distal end; an articulation rod extending interior the housing, the articulation rod having a proximal end and a distal end; an actuation rod extending interior the housing, the actuation rod having a proximal end and a distal end; a rack driver m communication with the actuation rod at the distal end thereof, the rack driver engaged with a cylindrical rack for translating the motion of the actuation rod substantially about ninety degrees; and a jaw m communication with the cylindrical rack, whereby movement of the cylindrical rack actuates the jaw, the jaw further m pivotal communication with the articulation rod such that linear movement of the articulation rod produces rotational movement of the jaw.
PCT/US2000/009201 1999-04-07 2000-04-07 Suturing articulating device for tissue and needle manipulation during minimally invasive endoscopic procedure WO2000059384A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2000608952A JP4169142B2 (en) 1999-04-07 2000-04-07 Endoscopic surgical device
DE60042301T DE60042301D1 (en) 1999-04-07 2000-04-07 ARTICULATING DEVICE FOR MANIPULATING FABRICS AND NEEDLES DURING A MINIMALLY INVASIVE ENDOSCOPIC PROCEDURE
AU42073/00A AU4207300A (en) 1999-04-07 2000-04-07 Suturing articulating device for tissue and needle manipulation during minimallyinvasive endoscopic procedure
AT00921806T ATE432656T1 (en) 1999-04-07 2000-04-07 ARTICULATING DEVICE FOR MANIPULATION OF TISSUE AND NEEDLES DURING A MINIMALLY INVASIVE ENDOSCOPIC PROCEDURE
CA002334458A CA2334458C (en) 1999-04-07 2000-04-07 Rigidly-linked articulating wrist with decoupled motion transmission
EP00921806A EP1083830B1 (en) 1999-04-07 2000-04-07 Articulating device for tissue and needle manipulation during minimally invasive endoscopic procedure

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/287,860 1999-04-07
US09/287,860 US6132441A (en) 1996-11-22 1999-04-07 Rigidly-linked articulating wrist with decoupled motion transmission

Publications (2)

Publication Number Publication Date
WO2000059384A1 WO2000059384A1 (en) 2000-10-12
WO2000059384A9 true WO2000059384A9 (en) 2001-11-15

Family

ID=23104673

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2000/009201 WO2000059384A1 (en) 1999-04-07 2000-04-07 Suturing articulating device for tissue and needle manipulation during minimally invasive endoscopic procedure

Country Status (8)

Country Link
US (6) US6132441A (en)
EP (2) EP1083830B1 (en)
JP (1) JP4169142B2 (en)
AT (1) ATE432656T1 (en)
AU (1) AU4207300A (en)
CA (1) CA2334458C (en)
DE (1) DE60042301D1 (en)
WO (1) WO2000059384A1 (en)

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