Abstract:
A surgical robotic helping hand system according to the present invention enables a surgeon to effectively operate within a patient&#39;s body cavities via surgical instruments manually manipulated outside such cavities by holding the various surgical instruments otherwise held by assistant surgeons during the minimally invasive surgical procedure. At least one of the robot-like surgical instrument holders may be specially configured to contain a laparoscopic instrument such that the laparoscope is contained within a sleeve shifter device and capable of being remote controlled for advancement or retraction of the laparoscope along an axis thereof. The robotic-like arms of the surgical instrument holders and laparoscopic instrument holder are attached to a surgical fixation device having a retractor panel that may be adapted to fit a standard Bookwalter retractor device.

Description:
BACKGROUND OF THE INVENTION  
       [0001]     1. Field of the Invention  
         [0002]     The present invention relates to the field of medical devices, and more specifically to a surgical robotic helping hand system for use in minimally invasive surgical procedures.  
         [0003]     2. Description of the Prior Art  
         [0004]     Minimally invasive surgical procedures typically employ small incisions in body cavities for access of various surgical instruments, including forceps, laparoscopes, scalpels, scissors, and the like. It is often the case that several surgical hands, such as several laparoscopic instrument and camera holders, are necessary to hold these instruments for the operating surgeon during the particular surgical procedure.  
         [0005]     With the introduction of robotic-assisted minimally invasive surgery (MIS) in recent years, hospitals worldwide have made significant investments in acquiring this latest technology for their respective facilities. A number of robotic systems have been specifically developed for MIS and a few of these robotic systems are commercially available on the market, such as the da Vinci Surgical System (Intuitive Surgical), ZEUS Robotic Surgical System (Computer Motion), and AESOP Robotic System (Computer Motion). Present surgical instrument holders of these commercial robotic systems, such as those for laparoscopes, are concerned with complex movements and degrees of movement that can be remote controlled. These commercial robotic systems may cost hospitals as much as $1.5 million to acquire and may require over $100,000 in maintenance expenses each year. In addition, there is a steep learning curve in using this technology such that costly special training and experience are necessary in order to achieve optimum results. This may require additional specially trained personnel to manage the technical aspects of the surgical procedures. Commercial robotic systems also require a significant amount of space in the operating room and an increased time to set up the equipment. Further, the use of such highly sophisticated technology typically increases the cost of the minimally invasive surgical procedure in the thousands of dollars.  
         [0006]     It would be desirable to have a surgical robotic helping hand system that replaces the hands of assisting surgeons in the operating room and the use of complicated and expensive robotic systems currently on the market. It would be also desirable to have a surgical robotic helping hand system that is low cost and allows minimally invasive surgical procedures to be conducted on the same scale as hospitals using the more complicated and higher cost commercially available robotic systems. It would be further desirable to have a surgical robotic helping hand system that has manually set robotic arms, which can be easily disassembled, cleaned and sterilized, and has a short set up time. Finally, it would be desirable to have a surgical robotic helping hand system that has simpler, slender, and easier to operate and maneuver robotic arms securing the latest in laparoscopic instruments with a motor driven one-dimensional movement controlled by a foot pedal or hand-operated lever.  
       SUMMARY OF THE INVENTION  
       [0007]     The present invention provides a surgical robotic helping hand system for use in minimally invasive surgical procedures. In a first aspect, the present invention includes a surgical fixation device having an elongate support bar, and extension bar, and a retractor panel. The lower portion of the elongate support bar includes locking means for vertically attaching to a side bar of an operating table, and the upper portion of the elongate support bar includes locking means for adjustably connecting to a proximal end of the extension bar at a desired height. The distal end of the extension bar includes locking means for adjustably connecting to the retractor panel in which the retractor panel is positioned substantially over a patient on the operating table. The retractor panel may assume a shape in the form of a semi-circular bar, a U-shaped bar, or a substantially rectangular member having an open interior portion. The retractor panel may include at least one retractor blade.  
         [0008]     A plurality of brackets is slidably connected to the retractor panel and has adjustable clamp means by way of clasps for attaching to the retractor panel. A plurality of surgical instrument holders includes means for firmly grasping surgical instruments by way of a vise like clamp. An elongate cup portion is affixed to the bracket so that a lower base portion of the surgical instrument holder may be positioned into the elongate cup portion. At least one elongate cup portion may be parallel the patient&#39;s abdominal surface. Similarly, at least one elongate cup portion may be perpendicular to the patient&#39;s abdominal surface.  
         [0009]     The surgical instrument holder further includes an extender portion and a grasping member with an open interior portion at a distal end thereof to secure the surgical instrument. The surgical robotic helping hand system may accommodate eight surgical instruments of various types. The extender portion is affixed to the outside surface of the grasping member and may be removable and elastic, flexible, or non-flexible. The extender portion can be set into a fixed position by a lever, switch, or rotating knob device. At the intersection of the extender portion and grasping member there is an adjustable swivel in which the angle of the surgical instrument holder with respect to the retractor panel may be changed.  
         [0010]     The grasping member includes releasing means by way of a lever for adjusting the surgical instrument on a level and rotation of the grasp. The grasping member may accommodate suctioning devices, operating devices carrying electrical power, light sources, or lasers. The surgical robotic helping hand system further includes a laparoscopic instrument holder configured to contain a laparoscopic instrument such that the laparoscope is contained within a sleeve shifter device.  
         [0011]     In another aspect of the present invention, the surgical robotic helping hand system includes a surgical fixation device having an elongate support bar, and extension bar, and a retractor panel. The lower portion of the elongate support bar includes locking means for vertically attaching to a side bar of an operating table, and the upper portion of the elongate support bar includes locking means for adjustably connecting to a proximal end of the extension bar at a desired height. The distal end of the extension bar includes locking means for adjustably connecting to the retractor panel in which the retractor panel is positioned substantially over a patient on the operating table.  
         [0012]     A plurality of brackets is slidably connected to the retractor panel and has adjustable clamp means for attaching to the retractor panel. A plurality of surgical instrument holders includes means for firmly grasping surgical instruments. An elongate cup portion is affixed to the bracket so that the bottom portion of the surgical instrument holder may be positioned into the elongate cup portion.  
         [0013]     The surgical instrument holder further includes an extender portion and a grasping member with an open interior portion at a distal end thereof to secure the surgical instrument. The extender portion is affixed to the outside surface of the grasping member.  
         [0014]     The grasping member includes releasing means for adjusting the surgical instrument on a level and rotation of the grasp. At least one of the surgical instrument holders may be specially configured to contain a laparoscopic instrument such that the laparoscope is contained within a sleeve shifter device and is capable of being remote controlled for advancement or retraction of the laparoscope along an axis of the sleeve shifter device.  
         [0015]     In a further aspect of the present invention, the surgical robotic helping hand system includes a surgical fixation device having an elongate support bar, and extension bar, and a retractor panel. The lower portion of the elongate support bar includes locking means for vertically attaching to a side bar of an operating table, and the upper portion of the elongate support bar includes locking means for adjustably connecting to a proximal end of the extension bar at a desired height. The distal end of the extension bar includes locking means for adjustably connecting to the retractor panel in which the retractor panel is positioned substantially over a patient on the operating table.  
         [0016]     A plurality of brackets is slidably connected to the retractor panel and has adjustable clamp means for attaching to the retractor panel. A plurality of surgical instrument holders includes means for firmly grasping surgical instruments. An elongate cup portion is affixed to the bracket so that a lower base portion of the surgical instrument holder may be positioned into the elongate cup portion.  
         [0017]     The surgical instrument holder further includes an extender portion and a grasping member with an open interior portion at a distal end thereof to secure the surgical instrument. The extender portion is affixed to the outside surface of the grasping member. The grasping member includes a lever for adjusting the surgical instrument on a level and rotation of the grasp. The lever in a first position converts the extender portion into a stiff, immobile, curvaceous rod in the shape set in, and the lever in a second position sets the grasping member in a closed position while holding the surgical instrument. The extender portion is capable of being moved in a multitude of orientations prior to being set into a fixed position.  
         [0018]     The surgical robotic helping hand system further includes a laparoscopic instrument configured to contain a laparoscopic instrument such that the laparoscope is contained within a sleeve shifter device and is capable of being advanced or and retracted along an axis of the sleeve shifter device.  
         [0019]     These and other features and advantages of this invention will become further apparent from the detailed description and accompanying figures that follow. In the figures and description, numerals indicate the various features of the disclosure, like numerals referring to like features throughout both the drawings and the description.  
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0020]      FIG. 1  is a perspective view of the surgical robotic helping hand system according to the present invention attached to a side bar of an operating table.  
         [0021]      FIG. 2A  is an enlarged perspective view of an elongate cup portion affixed to a bracket and configured such that the elongate cup portion is parallel to a patient&#39;s abdominal surface in one embodiment of the present invention.  
         [0022]      FIG. 2B  is an enlarged perspective view of an elongate cup portion affixed to a bracket and configured such that the elongate cup portion is perpendicular to a patient&#39;s abdominal surface in a further embodiment of the present invention.  
         [0023]      FIG. 3  is an enlarged perspective view of a surgical instrument holder according to the present invention.  
         [0024]      FIG. 4A  is an enlarged perspective view of a grasping member and distal end of an extender portion of the surgical instrument holder according to the present invention.  
         [0025]      FIG. 4B  is an enlarged perspective view of the grasping member and distal end of the extender portion of  FIG. 4A  when a lever is depressed in a first position according to the present invention.  
         [0026]      FIG. 4C  is an enlarged perspective view of the grasping member and distal end of the extender portion of  FIG. 4A  when a lever is depressed in a second position according to the present invention.  
         [0027]      FIG. 5A  is an enlarged perspective view of a laparoscopic instrument holder configured to hold a laparoscopic instrument according to the present invention.  
         [0028]      FIG. 5B  is a perspective view of the laparoscopic instrument holder of  FIG. 5A  containing a laparoscope according to the present invention.  
         [0029]      FIG. 5C  is an enlarged perspective view of a sleeve shifter device of the laparoscopic instrument holder of  FIG. 5A  shown in an open position according to the present invention.  
     
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS  
       [0030]     The surgical robotic helping hand system  10  of the present invention is generally illustrated in  FIG. 1 . The robotic-like arms of the surgical instrument holders  12  and laparoscopic instrument holder  14  are attached to a surgical fixation device  16 . The surgical fixation device  16  of the surgical robotic helping hand system  10  includes an elongate support bar  18 , an extension bar  20 , and a retractor panel  22 . The retractor panel  22  may be adapted to fit onto a Bookwalter retractor device, which is present in most hospital operating rooms. A suitable retractor device of the Bookwalter type is described in U.S. Pat. No. 4,254,763.  
         [0031]     At the lower portion of the elongate support member  18  is a first adjustable clamp assembly  24  that secures the elongate support bar  18  to a surgical operating room table  26 . Following proper tightening and positioning of the adjustable clamp assembly  24 , the elongate support member  18  extends upward in a vertical direction as shown in  FIG. 1 . At the upper portion of the elongate support member  18  is a second adjustable clamp assembly  28  that secures a proximal end  30  of the extension bar  20  thereto at a desired height. At a distal end  32  of the extension bar  20  is a third adjustable clamp assembly  34  that connects to the retractor panel  22 . The retractor panel  22  is positioned substantially over a patient on the surgical operating room table  26 . In various embodiments of the present invention, the retractor panel  22  may assume various shapes, including a semi-circular bar (not shown), a U-shaped bar (not shown), and a substantially rectangular member having an open interior portion as shown in  FIG. 1 . At least one retractor blade (not shown) may be optionally adjustably mounted on the retractor panel  22 .  
         [0032]     As shown in  FIG. 1 , a plurality of brackets  36  may be slidably positioned onto the retractor panel  22 . Each of the brackets  36  are configured to have an adjustable clamp assembly or clasp  38  in order for the brackets  36  to attach to the retractor panel  22 .  
         [0033]     The surgical robotic helping hand system  10  further includes a plurality of surgical instrument holders  12  configured to firmly grasp various types of surgical instruments  40 , including, but not limited to, forceps, scalpels, or scissors, as shown in  FIG. 1 . It is contemplated by the present invention that the surgical robotic helping hand system  10  may effectively accommodate up to eight surgical instruments  40  during a typical minimally invasive surgery (MIS) procedure. An elongate cup portion  42  is directly affixed to each bracket  36  by soldering or welding such that a lower base portion  45  of the surgical instrument holder  12  may be securely positioned into the elongate cup portion  42  as shown in  FIG. 1 .  
         [0034]     Referring further to  FIG. 1 , the surgical instrument holder  12  includes an extender portion  44  and a grasping member  46  at a distal end  48  of the surgical instrument holder  12 . The extender portion  44  is directly affixed to an outside surface of the grasping member. The grasping member  46  firmly grasps surgical instruments  40  using a vise-like clamp  50  in one embodiment. The present invention contemplates that the grasping member  46  may releasably adjust the surgical instrument  40  contained within the surgical instrument holder  12  by a lever  52  on a level and rotation of the grasp. The extender portion  44  is capable of being manipulated in a multitude of orientations such as that indicated by arrows  54  prior to being set into a fixed position.  
         [0035]     In one embodiment of the invention, extender portion  44  may be fabricated from a metal alloy that has a flexible helical wrap such as a goose neck lamp extender and a central flexible rod. When the rod of the extender portion  44  is firmly pulled against the helical wrap, the self-fitting helix becomes solid as the rod and helical wrap fit securely against each other.  
         [0036]     The surgical robotic helping hand system  10  further includes a laparoscopic instrument holder  14  configured to contain a laparoscopic instrument  56 . The laparoscopic instrument  56  may be manually positioned inside a sleeve shifter device  58  of the laparoscopic instrument holder  14 . In one embodiment, the sleeve shifter device  58  has the capability to advance and retract the laparoscopic instrument  56  along an axial shaft (shown in  FIG. 5C ) of the sleeve shifter device  58  using a hand-operated lever or switch  60 . A further embodiment provides that the sleeve shifter device  58  has the capability to advance and retract the laparoscopic instrument  56  along an axial shaft (shown in  FIG. 5C ) of the sleeve shifter device  58  using a remote control or foot pedal. The motor that advances the sleeve shifter device  58  forward and backward is battery operated and can be switched on and off, and activated for forward or reverse movement by a hand or foot operated switch connected by chord or by remote control.  
         [0037]     Referring now to  FIG. 2A , the elongate cup portion  42  affixed to the bracket  36  is shown in more detail. In one embodiment, elongate cup portion  42  is configured to be parallel  62  to a patient&#39;s abdominal surface (not shown) when mounted on the retractor panel  22 . In a further embodiment shown in  FIG. 2B , the elongate cup portion  42  affixed to the bracket  36  is configured to be perpendicular  64  to the patient&#39;s abdominal surface (not shown) when mounted on the retractor panel  22 . These different configurations of the elongate cup portion  42  enable the surgical instrument holder  12  to accommodate various types of surgical instruments  40  during the MIS procedure.  
         [0038]      FIG. 3  illustrates the surgical instrument holder  12  in more detail. Lower base portion  45  of the surgical instrument holder  12  is securely positioned into the elongate cup portion  42 . Proximal end  66  of the extender portion  44  is directly affixed to lower base portion  45 . Elongate cup portion  42  is configured to have a lever or switch  43  mounted onto an outside surface of the elongate cup portion  42 . The lever  43  secures the lower base portion  45  after being positioned into the elongate cup portion  42 .  
         [0039]     The surgical instrument holder  12  of the surgical robotic helping hand system  10  provides the surgeon with several degrees of freedom. In one embodiment, the extender portion  44  of the surgical instrument holder  12  may be elastic or flexible and manipulated by the surgeon into various positions as shown by arrow  68 . In additional embodiments, the extender portion  44  may be converted into a non-flexible position as required by the particular MIS procedure. The extender portion  44  may be set into a fixed position using a lever or switch  52  (shown in FIGS.  4 B-C) or rotating knob device mounted on the outside surface of the grasping member  46 . Further, at an intersection of the extender portion  44  and the grasping member  46  there is an adjustable swivel as shown by arrow  70  in which the angle of the surgical instrument holder  12  with respect to the retractor panel  22  may be adjusted.  
         [0040]     Referring now to  FIG. 4A , the grasping member  46  and a distal end  72  of the extender portion  44  of the surgical instrument holder  12  are shown in more detail. The grasping member  46  further includes an open interior portion  74  capable of securing the surgical instrument  40  when grasping member  46  is in a closed position. Grasping member  46  firmly grasps surgical instruments  40  using vise-like clamp  50 . Lever or switch  52  for setting the position of extender portion  44  and adjusting grasp of vise-like clamp  50  is shown mounted on the outside surface of the grasping member  46 . Grasping member  46  of the surgical instrument holder  12  is configured to accommodate various types of devices, such as suctioning devices, operating devices carrying electrical power, light-sources, or lasers, required for the particular MIS procedure conducted on the patient.  
         [0041]      FIG. 4B  illustrates the grasping member  46  and the distal end  72  of the extender portion  44  of  FIG. 4A  when lever  52  is depressed in a first position  78  in one embodiment of the present invention. In first position  78 , the flexible extender portion  44  is converted into a stiff, immobile, curvaceous rod in the shape set in.  
         [0042]      FIG. 4C  illustrates the grasping member  46  and the distal end  72  of the extender portion  44  of  FIG. 4A  when lever  52  is depressed in a second position  76  in a further embodiment of the present invention. In second position  76 , vise-like clamp  50  of grasping member  46  is set in a closed position while holding surgical instrument  40 .  
         [0043]     Referring now to  FIG. 5A , the laparoscopic instrument holder  14  configured to hold a laparoscopic instrument  56  in accordance with the present invention is shown in more detail. Specifically, the laparoscopic instrument holder  14  is shown without the sleeve shifter device  58  of  FIG. 5C  docked onto the distal end  90  of upper base portion  88 .  
         [0044]      FIG. 5B  illustrates the laparoscopic instrument holder  14  of  FIG. 5A  containing a laparoscopic instrument  56 . The laparoscopic instrument holder  14  further includes a lower base portion  80  at a proximal end  82  of laparoscopic instrument holder  14 . Lower base portion  80  is positioned into elongate cup portion  84 . Extender portion  86  is affixed to an outside surface of an upper base portion  88  at a distal end  90  of laparoscopic instrument holder  14 . Elongate cup portion  84  is configured to have a lever or switch  85  mounted onto an outside surface of the elongate cup portion  84 . The lever  85  secures the lower base portion  80  after being positioned into the elongate cup portion  84 .  
         [0045]     Similar to the extender portion  44  of the surgical instrument holder  12 , extender portion  86  of the laparoscopic instrument holder  14  may be fabricated from a metal alloy that has a flexible helical wrap, such as a goose neck lamp extender and a central flexible rod. When the rod of the extender portion  86  is firmly pulled against the helical wrap, the self-fitting helix becomes solid as the rod and helical wrap fit securely against each other.  
         [0046]     Referring further to  FIG. 5B , sleeve shifter device  58  is affixed to upper base portion  88  at the distal end  90  of laparoscopic instrument holder  14 . The sleeve shifter device  58  is positioned flush to the upper base portion  88  in a vertical direction.  
         [0047]     The laparoscopic instrument holder  14  of the surgical robotic helping hand system  10  provides the surgeon with several degrees of freedom similar to that indicated above for the surgical instrument holder  12 . In one embodiment (shown in FIGS.  5 A-C), a lever or switch  92  mounted on an outside surface of the upper base portion  88  sets the desired position of flexible extender portion  86  and operates clasp  94  of the sleeve shifter device  58  into an open or close position for securing the laparoscopic instrument  56 . The extender portion  86  is capable of being manipulated in a multitude of orientations such as that indicated by arrow  96  prior to being set into a fixed position.  
         [0048]      FIG. 5C  illustrates the sleeve shifter device  58  of the laparoscopic instrument holder  14  of  FIG. 5A  with clasp  94  in an open position. The sleeve shifter device  58  advances and retracts the laparoscopic instrument  56  along axial shaft  98  of sleeve shifter device as desired by the surgeon during the MIS procedure.  
         [0049]     It is contemplated by the present invention that each of the surgical instrument holders  12  and laparoscopic instrument holders  14  used in accordance with the surgical robotic helping hand system  10  can withstand high temperatures during the sterilization process, and thus can be used again in subsequent MIS procedures after proper sterilization.  
         [0050]     Having now described the invention in accordance with the requirements of the patent statutes, those skilled in the art will understand how to make changes and modifications in the present invention to meet their specific requirements or conditions. Such changes and modifications may be made without departing from the scope and spirit of the invention as set forth in the following claims.