Abstract:
Embodiments of the invention provide a laparoscopic morcellating device and method for removing tissue from a body cavity. The morcellating device includes a containment mechanism having an aperture, a cutting mechanism designed to fit into an interior space of the containment mechanism and a retractor mechanism that is coupled to the cutting mechanism. The containment mechanism and cutting mechanism combination surrounds the tissue and the aperture of the containment mechanism is closed around the tissue. The morcellating device further includes a motor for actuating the retractor such that the cutting mechanism constricts and morcellates the tissue. The laparoscopic morcellating device further allows for torque balancing of the retractor mechanism, gas flow regulation of the body cavity, and safety feedback mechanisms that can alert the surgeon.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    The present application is based on, claims priority to, and incorporates herein by reference in its entirety, U.S. Provisional Application Ser. No. 61/783,000, filed Mar. 14, 2013, and entitled “SYSTEM AND METHOD FOR A LAPAROSCOPIC MORCELLATOR.” 
     
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH 
       [0002]    This invention was made with United States Government support awarded by the following agencies: National Science Foundation Graduate Research Fellowship Grant No. DGE-1144152. The United States government has certain rights in this invention. 
       BACKGROUND OF THE INVENTION 
       [0003]    Laparoscopy is an increasingly-popular surgical procedure that uses one to five small incisions, each of which is approximately 5-12 millimeters in diameter and extend down, to gain access to an interior surgical site. Each small incision receives a hollow tube or cannula which act as liners to hold the incisions open, thereby providing portals leading down to the interior surgical site. A laparoscopic procedure can then be performed by passing surgical instruments, such as cutting devices, clamps or a viewing apparatus, down the cannulas so that the distal working ends of the instruments can be positioned and used about the surgical site. The proximal handle ends of the instruments remain outside the body where they can be grasped by a surgeon. In some situations, the excised tissue is relatively small and can be passed through the cannula opening, however, in other situations the excised tissue is too large to fit through a cannula intact. In the latter case, the excised tissue must be cut down into a number of smaller pieces before it can be passed through a cannula. 
         [0004]    Laparoscopic morcellation is a common method of accomplishing the above described task in the operating room. Further, morcellation also allows many surgeries to be performed laparoscopically, reducing recuperation time and providing cosmetic benefits to patients. Laparoscopic morcellation can be used in surgeries such as hysterectomy, fibroidectomy and myomectomy to remove uteri and uterine fibroids (leiomyomas) through a small abdominal incision. The current standard for the removal of large tissue through a small incision during these surgeries involves grasping tissue and inserting the tissue into a moving cutting tool operating within the body cavity. Some conventional morcellators use blades that are housed in a tube through which the surgeon inserts a tenaculum, grabs part of the tissue, and pulls it through the spinning blades, coring it and aspirating the thin, long piece produced. Other conventional morcellators use bipolar energy to cut the tissue into small pieces that are then removed through laparoscopic ports in a piece-wise manner. A bipolar morcellator applies electricity directly to the tissue through electrodes. The current applied to the tissue causes vaporization and separation of the tissue. Because bipolar morcellators are often inefficient at dissecting large amounts of tissue, they are often used in combination with bladed morcellators. 
         [0005]    Unfortunately, the above existing approaches have a number of key limitations; 1) they are time consuming because the devices must be manually moved over the tissue during the cutting step, 2) they do not provide safe containment of tissue during the morcellation process which could lead to seeding (spreading and re-growth) of benign or cancerous tissue, 3) they can lead to accidental damage to surrounding healthy tissue inside the body and 4) the proximity of the morcellator blade to critical structures in the abdomen can result in major morcellation injury to the surrounding tissue, such as a loop of bowel or colon. In addition to these safety risks, current morcellators are inefficient because they operate in a piece-wise or serial manner and the procedure time is highly dependent on tumor size, density, and surgeon skill, thereby prolonging operating time. 
         [0006]    Therefore, a laparoscopic morcellator is needed that overcomes the above limitations. 
       SUMMARY OF THE INVENTION 
       [0007]    The present invention relates to a laparoscopic morcellator for cutting and containing tissue during a laparoscopic surgery. It also allows for torque balancing of a retractor mechanism, gas flow regulation of the body cavity, and safety feedback mechanisms that can alert the surgeon. The morcellator is based on an enclosed, motor-actuated mesh, constructed from a plurality of compliant elongate members that apply only an inward-directed cutting force to all of the tissue simultaneously after it has been loaded into a containment mechanism and cutting mechanism combination. 
         [0008]    Some embodiments of the invention provide a morcellating device for removing tissue which includes a containment mechanism. The containment mechanism includes an aperture which defines an interior space. The morcellating device also includes a cutting mechanism designed to fit into the interior space of the containment mechanism and a retractor mechanism that is coupled to the cutting mechanism. The morcellating device further includes a motor for actuating the retractor mechanism such that the cutting mechanism constricts and morcellates the tissue. 
         [0009]    The cutting mechanism further comprises a perimeter portion and a plurality of compliant elongate members. The plurality of compliant elongate members can form one or more bundles and at least one bundle can extend beyond the perimeter portion of the cutting mechanism. The plurality of compliant elongate members may protrude through the aperture of the containment mechanism to create an opening in the cutting mechanism for receiving the tissue. The containment mechanism comprises a material that is impermeable to tissue and fluid. While the plurality of compliant elongate members comprise a material having an average tension force at break of about 100 Newtons to about 140 Newtons. Further, nodes of the plurality of compliant elongate members are substantially immobile relative to one another upon a force created by deformation of the tissue, whereby the nodes of the plurality of compliant elongate members retain their spacing. 
         [0010]    The retracting mechanism of the morcellating device may include a movable member coupled to one or more of the bundles that may be controlled by a foot actuator or a hand actuator. In one embodiment, the morcellating device may include a dynamic torque balancing mechanism that includes a first secondary motor coupled to a first movable member and a second secondary motor coupled to a second movable member, such that the tissue has a center of mass. The dynamic torque balancing mechanism may further include an accelerometer coupled to the first and second secondary motors, such that when the torque is above a specific threshold on either the first movable member or the second movable member, the bundles coupled to either the first or second movable members are pulled by either the first or second secondary motor to center the center of mass of the tissue over an inside surface of the a hollow shaft, thereby providing a counter balance. 
         [0011]    Alternatively, the morcellating device may include a static torque balancing mechanism. The static torque balancing mechanism may include a hollow shaft having an axis of rotation, and a torque shaft coupled to the motor and the retractor mechanism. The retractor mechanism may include a first moveable member and a second moveable member, such that actuation of the retractor mechanism activates the motor and the first and second movable members rotate in opposite directions, thereby reducing the overall torque of the first and second movable member. 
         [0012]    The morcellating device may also include a housing which includes a handle and an actuator. The housing encloses the movable member, the actuator coupled to the motor such that when the actuator is pressed, the motor is activated, thereby activating the retractor mechanism and allowing the movable member to provide a retracting force to the bundles. The housing, including the handle, is configured to be opened and designed for insertion of replaceable parts. In addition, the handle may be configured to be opened and the plurality of compliant elongate members disengaged from the movable member and a new set of compliant elongate members can be coupled to the movable member, thereby making at least a portion of the morcellating device reusable. 
         [0013]    The morcellating device may further include a deployment mechanism that houses the cutting mechanism and the containment mechanism. The deployment mechanism is separate from the housing for deployment of the cutting mechanism and the containment mechanism into a body. A seal may be coupled to the housing to inhibit the tissue from contaminating the motor and the retractor mechanism. In addition, a coupling member can be coupled to the motor and engage the retractor mechanism. The motor and the coupling member may be positioned to avoid contact with tissue or fluids in the body, and a flexible tube may be disposed between the coupling member and the housing. 
         [0014]    The retractor mechanism may be coupled to a hollow shaft that is dimensioned to surround a portion of the cutting mechanism. The hollow shaft may be partially hollow and coupled to a support block that is coupled to the movable member. The hollow shaft has at least one of a chamfered end portion, a flared end portion, or a lubricated end portion thereby reducing damage of the containment mechanism and the cutting mechanism as the containment mechanism and the cutting mechanism are pulled through the hollow shaft. The containment mechanism and the cutting mechanism may have a retracted position and an extended position. In the retracted position, the aperture of the containment mechanism is coupled to an outer surface of the hollow shaft, the cutting mechanism is coupled to the inside of the containment mechanism, and a portion of the containment mechanism is disposed within an inner space of the hollow shaft. In the extended position, the aperture of the containment mechanism is coupled to the outer surface of the hollow shaft, the cutting mechanism is coupled to the inside of the containment mechanism, and the containment mechanism is disposed external to the inner space of the hollow shaft. 
         [0015]    In another embodiment, the containment mechanism and the cutting mechanism have a retracted position and an extended position, such that in the retracted position, the aperture of the containment mechanism is coupled to an inner surface of the hollow shaft, the cutting mechanism is coupled to the inside of the containment mechanism, and the containment mechanism is disposed within the inner space of the hollow shaft. In the extended position, the aperture of the containment mechanism is coupled to the inner surface of the hollow shaft, the cutting mechanism is coupled to the inside of the containment mechanism, and the containment mechanism is disposed external to the inner space of the hollow shaft. 
         [0016]    The hollow shaft may be removable from the morcellating device or may be configured to be opened, thereby allowing removal of tissue. The hollow shaft may be coupled with threads to the housing of the morcellating device to secure the hollow shaft to the morcellating deivce. In addition, the containment mechanism may further comprise a closing mechanism for closing the aperture of the containment mechanism about an outer portion of the hollow shaft, such that the closing mechanism is voluminous to capture the tissue. The morcellating device may further include a gas flow control element coupled to the hollow shaft for controlling the flow of gas through the hollow shaft and the morcellating device. 
         [0017]    In one embodiment, the morcellating device may include a controller in electrical communication with the motor and a sensor in electrical communication with the controller. The sensor senses load variations on the retractor mechanism, such that when the sensor senses a specific load threshold, the controller automatically stops motion of the motor, thereby stopping motion of the containment mechanism and cutting mechanism. The controller may be configured to decrease a speed of rotation of the motor and the retractor mechanism when the sensor senses a load below the specific load threshold. Similarly, the controller may also be configured to increase the speed of rotation of the motor and the retractor mechanism when the sensor senses a load above the specific load threshold. 
         [0018]    The morcellating device may also include a controller in electrical communication with the motor and a sensor in electrical communication with the controller. The sensor senses when the cutting mechanism is inside the hollow shaft which is coupled to the retractor mechanism, such that when the sensor senses the cutting mechanism is fully within an inner portion of the hollow shaft, the controller automatically stops motion of the motor, thereby stopping motion of the cutting mechanism. Further, the morecellating device may include an indicator that indicates a specific position of the hollow shaft within a trocar and a sensor in electrical communication with the indicator. The sensor senses how far the hollow shaft, which is coupled to the retractor mechanism, extends into the trocar, such that when the sensor senses the hollow shaft is inside the trocar at a specific distance, the indicator automatically alerts a user. An insertion device, which may be flexible and/or inflateable, may be used to insert the containment mechanism into the trocar 
         [0019]    The morcellating device may further include a support for externally supporting the morcellating device. The morcellating device may be configured for use in a robotic surgery. Further, the motor of the morcellating device may be off-board of the housing that encloses a part of the retractor mechanism. The morcellating device may include a second motor coupled to the containment mechanism for removal of the containment mechanism from the body. Alternatively, a pulling device may be coupled to the containment mechanism and configured to be hand activated for removal of the containment mechanism from the body. Or, a mechanical device, which may be pneumatic, may be coupled to the containment mechanism for removal of the containment mechanism from a patient body. Further, a vibrator mechanism may be coupled to the cutting mechanism, thereby vibrating the cutting mechanism while the retractor mechanism retracts the cutting mechanism. 
         [0020]    In another embodiment, the invention provides a tissue removal device for removing tissue which includes a containment mechanism with an aperture, a retractor mechanism coupled to the containment mechanism, and a motor. The containment mechanism is dimensioned to surround at least a part of the tissue and the motor actuates the retractor mechanism such that the containment mechanism constricts the tissue. 
         [0021]    The tissue removal device may further include a closing device for closing the aperture of the containment mechanism. The containment mechanism comprises a material that is impermeable to tissue and fluid, and the aperture of the containment mechanism may be configured to receive the tissue. The closing device may be being positioned on a perimeter portion of the containment mechanism to capture the tissue. In addition, the retractor mechanism of the tissue removal device may include a movable member coupled to the containment mechanism. The retractor mechanism may be controlled by a foot actuator or a hand actuator. Further, a housing of the tissue removal device may include a handle and an actuator. The housing encloses the movable member, the actuator coupled to the motor such that when the actuator is pressed, the motor is activated, thereby activating the retractor mechanism and allowing the movable member to provide a retracting force on the containment mechanism. In one embodiment, the housing, including the handle, is configured to be opened and designed for insertion of replaceable parts. 
         [0022]    A deployment mechanism that houses the containment mechanism may be separate from the housing for deployment of the containment mechanism into a body. A seal may be coupled to the housing to inhibit the tissue from contaminating the motor and the retractor mechanism. The retractor mechanism may be engaged by a coupling member that is coupled to the motor. The motor and the coupling member are positioned to avoid contact with tissue or fluids. In addition, a flexible tube may be disposed between the coupling member and the housing. A support block may be coupled to a hollow shaft, which is coupled to the retractor mechanism, and the moveable member. 
         [0023]    The hollow shaft may be dimensioned to surround a portion of the containment mechanism, and the hollow shaft may be partially hollow. The hollow shaft may be removable from the tissue removal device or is configured to be opened, thereby allowing removal of tissue. In one form, the hollow shaft is coupled with threads to a housing of the tissue removal device, thereby securing the hollow shaft to the tissue removal device. The hollow shaft may have at least one of a chamfered end portion, a flared end portion, and a lubricated end portion thereby reducing damage of the containment mechanism as it is pulled through the hollow shaft. 
         [0024]    The containment mechanism has a retracted position and an extended position. In the retracted position, the aperture of the containment mechanism is coupled to an outer surface of the hollow shaft, and a portion of the containment mechanism is disposed within an inner space of the hollow shaft. In the extended position, the aperture of the containment mechanism is coupled to the outer surface of the hollow shaft, and the containment mechanism is disposed external to the inner space of the hollow shaft. In another form, the containment mechanism has a retracted position and an extended position, such that in the retracted position, the aperture of the containment mechanism is coupled to an inner surface of the hollow shaft and the containment mechanism is disposed within the inner surface of the hollow shaft. In the extended position, the aperture of the containment mechanism is coupled to an inner surface of the hollow shaft and the containment mechanism is disposed external to the inner space of the hollow shaft. 
         [0025]    In one embodiment, the tissue removal device may include a controller in electrical communication with the motor and a sensor in electrical communication with the controller. The sensor senses load variations on the retractor mechanism, such that when the sensor senses a specific load threshold, the controller automatically stops motion of the motor, thereby stopping motion of the containment mechanism. The controller may be configured to decrease a speed of rotation of the motor and the retractor mechanism when the sensor senses a load below the specific load threshold. Similarly, the controller may also be configured to increase the speed of rotation of the motor and the retractor mechanism when the sensor senses a load above the specific load threshold. 
         [0026]    The tissue removal device may also include an indicator that indicates a specific distance of the hollow shaft within a trocar and a sensor in electrical communication with the indicator. The sensor senses how far the hollow shaft, which is coupled to the retractor mechanism, extends into the trocar, such that when the sensor senses the hollow shaft is inside the trocar at a specific distance, the indicator automatically alerts a user. The tissue removal device may further include a gas flow control element coupled to the hollow shaft for controlling the flow of gas through the hollow shaft and the tissue removal device. In addition, an insertion device, which may be flexible and/or inflateable, may be used to insert the containment mechanism into the trocar. 
         [0027]    The tissue removal device may further include a mechanism for externally supporting the tissue removal device. The tissue removal device may be configured for use in a robotic surgery. Further, the motor of the tissue removal device may be off-board of the housing that encloses a part of the retractor mechanism. The tissue removal device may include a pulling device that may be coupled to the containment mechanism and configured to be hand activated for removal of the containment mechanism from the body. Or, a mechanical device, which may be pneumatic, may be coupled to the containment mechanism for removal of the containment mechanism from a patient body. 
         [0028]    In another embodiment, the invention provides a tissue removal device for removing tissue. The tissue removal device includes a cutting mechanism comprised of a wire loop and dimensioned to surround at least a part of the tissue. The tissue removal device also includes a retractor mechanism coupled to the cutting mechanism and a motor for actuating the retractor such that the cutting mechanism constricts and severs the tissue. 
         [0029]    In another embodiment, the invention provides a method for removal of tissue using a morcellating device. The method involves providing a containment mechanism having an aperture and providing a cutting mechanism coupled to an interior of the containment mechanism. The cutting mechanism is also coupled to a retractor mechanism that is activatable by a motor. The method further involves surrounding the tissue with the cutting mechanism and the containment mechanism and then closing the aperture of the containment mechanism. The aperture of the containment mechanism may be closed through magnetism, mechanically, or with a tool. The motor is then activated to actuate the retractor mechanism such that the cutting mechanism constricts and creates morcellated tissue. The morcellated tissue is contained in the containment device. 
         [0030]    In yet another embodiment, the invention provides a method for removal of tissue by providing a containment mechanism including an aperture and providing a retractor mechanism coupled to the containment mechanism. The tissue is then surrounded with the containment mechanism and the aperture of the containment mechanism is closed. The containment mechanism may be closed through magnetism, mechanically, or with a tool A motor is activated which actuates the retractor mechanism such that the containment mechanism constricts the tissue and the tissue in contained in the containment device. 
         [0031]    These and other features, aspects, and advantages of the present invention will become better understood upon consideration of the following detailed description, drawings, and appended claims. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0032]      FIG. 1  is a perspective view of an example laparoscopic morcellating device according to one embodiment of the present invention. 
           [0033]      FIG. 2  is a detailed side perspective view of the morcellating device of  FIG. 1  with one shell of the housing removed. 
           [0034]      FIG. 3  an exploded view of the morcellating device of  FIG. 2 . 
           [0035]      FIG. 4  is a top perspective view of a plurality of compliant elongate members forming a cutting mechanism used to cut tissue in the device of  FIG. 1 . 
           [0036]      FIG. 5  is a perspective view of the plurality of compliant elongate members of  FIG. 4  forming separate bundles. 
           [0037]      FIG. 6  is a side perspective view of the cutting mechanism of  FIG. 5  surrounded by a containment mechanism. 
           [0038]      FIG. 7  is a side cross-sectional view of the morcellating device with the cutting mechanism and containment mechanism attached to an inner surface of a hollow shaft in a retracted position. 
           [0039]      FIG. 8  is a side cross-sectional view of the morcellating device with the cutting mechanism and containment mechanism partially deployed from the hollow shaft of  FIG. 7  in an extended position. 
           [0040]      FIG. 9  is a side cross-sectional view of the morcellating device with the cutting mechanism and the containment mechanism surrounding the tissue and deployed from the hollow shaft with the containment mechanism surrounding only the outer portion of the hollow shaft of  FIG. 8 . 
           [0041]      FIG. 10  is a side cross-sectional view of the morcellating device with the cutting mechanism constricting the tissue of  FIG. 9 . 
           [0042]      FIG. 11  is a side cross-sectional view of the morcellating device with the cutting mechanism morcellating the tissue of  FIG. 10 . 
           [0043]      FIG. 12  is a partial perspective view of the morcellating device with the cutting mechanism and the containment mechanism attached to the inner surface of the hollow shaft in the retracted position according to another embodiment of the present invention. 
           [0044]      FIG. 13  is a side cross-sectional view of the morcellating device with the cutting mechanism and the containment mechanism attached to the inner surface of the hollow shaft in the retracted position of  FIG. 12 . 
           [0045]      FIG. 14  is a side cross-sectional view of the cutting mechanism and the containment mechanism of  FIG. 13  deployed from the hollow shaft in the extended position. 
           [0046]      FIG. 15  is a perspective view of the cutting mechanism and the containment mechanism deployed from the hollow shaft with the containment mechanism surrounding an outer surface of the hollow shaft in the extended position of  FIG. 14 . 
           [0047]      FIG. 16  is a perspective view of the cutting mechanism surrounded by the containment mechanism in an open position. 
           [0048]      FIG. 17  is a perspective view of the cutting mechanism surrounded by the containment mechanism in a closed position. 
           [0049]      FIG. 18  is a side perspective view of a deployment mechanism for the cutting mechanism and the containment mechanism. 
           [0050]      FIG. 19  is a top perspective view of a dynamic torque balancing mechanism for the morcellating device. 
           [0051]      FIG. 20  is a side perspective view of the dynamic torque balancing mechanism for the morcellating device of  FIG. 19 . 
           [0052]      FIG. 21  is a side perspective view of a static torque balancing mechanism for the morcellating device. 
           [0053]      FIG. 22  is a perspective view of a set of coupling gears which activate the static torque balancing mechanism of the morcellating device of  FIG. 21 . 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0054]    Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms “mounted,” “connected,” “supported,” and “coupled” and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings. 
         [0055]    The following discussion is presented to enable a person skilled in the art to make and use embodiments of the invention. Various modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the generic principles herein can be applied to other embodiments and applications without departing from embodiments of the invention. Thus, embodiments of the invention are not intended to be limited to embodiments shown, but are to be accorded the widest scope consistent with the principles and features disclosed herein. The following detailed description is to be read with reference to the figures, in which like elements in different figures have like reference numerals. The figures, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of embodiments of the invention. Skilled artisans will recognize the examples provided herein have many useful alternatives and fall within the scope of embodiments of the invention. 
         [0056]      FIG. 1  illustrates an example morcellating device  10  coupled to a motor  24  by a coupling member  44  and a flexible tube  89  which is coupled to a torque shaft  88  (see  FIG. 2 ). The coupling member  44  is coupled to the motor  24  and engages a retractor mechanism  22  (see  FIG. 7 ). The morcellating device  10  further includes a housing  36  with a handle  42 . Best shown in  FIGS. 2 and 3 , the housing  36  holds a portion of the flexible tube  89  and torque shaft  88 , which is coupled to a movable member  40 , a support block  90  and a hollow shaft  38 . Extending from the hollow shaft  38  is a cutting mechanism  18  with an aperture  14  that is dimensioned to fit into an interior space  16  of a containment mechanism  12  as shown in  FIG. 6 . The cutting mechanism  18  and the containment mechanism  12  combination includes an opening  66  through which tissue  98  can be placed, as shown in  FIG. 9 . The morcellating device  10  further includes the retractor mechanism  22 , shown in  FIG. 7 . The retractor mechanism  22  includes bundles  34  wound around the movable member  40 , such that when the torque shaft  88  is activated by the motor  24 , the movable member  40  rotates and the cutting mechanism  18  retracts into the hollow shaft  38  and morcellates the tissue  98 . 
         [0057]    Turning now to  FIGS. 2 and 3 , the housing  36  can be made of a material that is lightweight and includes a handle  42  having an ergonomic grip. The housing  36  material is sufficiently strong to support a load on the movable member  40 , to which the bundles  34  of the cutting mechanism  18  are attached, and the hollow shaft  38  that is created by the tissue  98  placed in the interior space  16  of the cutting mechanism  18  and the containment mechanism  12 . The housing  36  may be opened by a sliding mechanism, hinges, or some type of mechanism to facilitate the replacement of the torque shaft  88 , the movable member  40 , the plurality of compliant elongate members  26 , the support block  90 , the bearings  92  and/or the hollow shaft  38 , making the housing  36  of the morcellating device  10  capable of receiving replaceable parts (not shown). The housing  36  and/or the hollow shaft  38  can be sealed relative to the torque shaft  88  to avoid contamination from fluid and the tissue  98 . Further, the housing  36  can be sealed to inhibit gas leakage from the abdomen, as will be described in further detail below. 
         [0058]    As best shown in  FIGS. 2 and 3 , the retractor mechanism  22  includes the torque shaft  88  coupled to the movable member  40 , and the movable member  40  coupled to the support block  90 . The support block  90  further includes two press fit bearings  92  which surround both ends of the movable member  40 . Also coupled to the support block  90  is the hollow shaft  38 . The above described configuration represents the retractor mechanism  22  along with the bundles  34  of the cutting mechanism  18  wrapped around the movable member  40 , as shown in  FIGS. 7-11 . 
         [0059]    The motor  24  of the morcellating device  10 , as shown in  FIG. 1 , further includes an actuator  46  positioned on the handle  42  and coupled to the motor  24 . Alternatively, the actuator  46  which controls the retractor mechanism  22  can be controlled by a user&#39;s foot. In the preferred embodiment, the actuator  46  can be a trigger or button type mechanism positioned on the handle  42 , such that when the actuator  46  is pressed by the user, the motor  24  is automatically activated. Activation of the motor  24  causes the retractor mechanism  22  to become activated and torque is transmitted to the movable member  40  causing it to rotate. Rotation of the movable member  40  provides a retracting force to the bundles  34  of the cutting mechanism  18  and the bundles  34  wind around the rotating movable member  40 . The movable member  40  preferably rotates at a frequency of approximately 8 RPM, and the rotation frequency of the motor  24  is preferably around 8 RPM for simplicity. Optionally, the motor  24  can have a rotation frequency greater than 8 RPM which can be reduced, so that the movable member  40  rotates at a frequency of approximately 8 RPM. 
         [0060]    In the preferred embodiment, the motor  24  is off-board the morcellating device  10 . Alternatively, the motor  24  can be on-board the morcellating device  10  (not shown), however an on-board motor  24  would make the morcellating device  10  heavier and possibly more difficult for the user to operate. Whether an on-board or off-board motor  24  is used, the motor  24  serves as a force generation device which can transmit power pneumatically, hydraulically, electrically or in a similar fashion. The motor  24  can be a split phase parallel shaft gear motor that can satisfy the torque and speed requirements to morcellate the tissue  98 . However, a smaller motor  24  could be used in conjunction with a worm-gear reduction (not shown) positioned on the housing  36  of the morcellating device  10 . Torque transmission from the motor  24  to the worm-gear can be achieved by a flexible driveshaft connected between the motor  24  and the movable member  40 , or, alternatively, gear reductions connected to the end of the flexible driveshaft. Further, to support the morcellating device  10  with either an on-board or off-board motor  24 , a support (not shown), such as a tripod or wires suspended from a ceiling or other structure could be used. 
         [0061]    Turning now to  FIGS. 12 and 13 , the hollow shaft  38  includes an outer surface  56 , an inner surface  58  and an inner space  60 . The inner space  60  of the hollow shaft  38  can be partially hollow, such that the hollow shaft  38  is dimensioned to surround a portion of the cutting mechanism  18 . The distal end of the hollow shaft  38  can be threadly coupled to the support block  90 , as shown in  FIG. 3 . The inner space  60  of the hollow shaft  38  is where the cutting mechanism  18 , which is dimensioned to fit into the containment mechanism  12 , is placed prior to deploying into the body  79  of a patient, as shown in  FIG. 18 . The hollow shaft  38  is cylindrical in shape and can be between 12-15 centimeters in length. A hollow shaft  38  that is greater than 15 centimeters in length can be used alternatively for obese patients. The hollow shaft  38  can be constructed of stainless steel and the hollow shaft  38  can have an outer diameter that is smaller than the diameter of a trocar  94 , as shown in  FIG. 18 . Thus, the smaller outer diameter of the hollow shaft  38  allows clearance for a perimeter portion  32  of the containment mechanism  12  to be secured around an outer surface  56  of the hollow shaft  38 , as shown in  FIG. 8 , or a part of the perimeter portion  32  of the containment mechanism  12  to be disposed on an inner surface  58  of the hollow shaft  38 , as shown in  FIG. 7 , as the hollow shaft  38  is inserted or removed from the trocar  94 . The hollow shaft  38  can further include an end portion  50  which serves as a tissue cutting surface. The end portion  50  of the hollow shaft  38  can be chamfered, flared or lubricated to assist deployment of the cutting mechanism  18  and containment mechanism  12  combination into the body  79 . The end portion  50  may also assist in retracting the cutting mechanism  18 , with the tissue  98  positioned in the interior space  16  of the cutting mechanism  18 , into the hollow shaft  38 , thereby reducing damage of the cutting mechanism  18  and containment mechanism  12  combination. 
         [0062]    Alternatively, the hollow shaft  38  could include a magnetic lining disposed on the outer surface  56  of the hollow shaft  38  which would be constructed of a non-magnetic material. Or, the hollow shaft  38  could include a non-magnetic lining disposed on the inner surface  58  of the hollow shaft  38  which would be constructed of a magnetic material. Both of the above mentioned alternatives would assist in guiding a closing mechanism  74 , as well as assist in providing adhesion of the perimeter portion  32  of the containment mechanism  12  to an outer surface  56  of the hollow shaft  38 , as shown in  FIG. 8  or ensuring the perimeter portion  32  is disposed on an inner surface  58  of the hollow shaft  38 , as shown in  FIG. 7 . 
         [0063]    Turning now to  FIGS. 4 and 5 , the cutting mechanism  18  comprises a plurality of compliant elongate members  26  and a cutting area  19  to morcellate the tissue  98 . The plurality of compliant elongate members  26  are bladeless and should have less than a 12/1,000 inch gauge and preferably have an average tension force at break of about 100 N to about 140 N. The plurality of compliant elongate members  26  are collected into bundles  34  at a perimeter portion  30  of the cutting mechanism  18 . The perimeter portion  30  of the cutting mechanism  18  defines an opening  66  for receiving tissue  98 . The plurality of compliant elongate members  26  that extend beyond the perimeter portion  30  into the bundles  34  do not cut the tissue  98 . Rather, the bundles  34  extend through the hollow shaft  38 , as shown in  FIG. 7 , and are coupled to the movable member  40 . In the preferred embodiment, the cutting mechanism  18  is constructed of plastic, such as Kevlar, high-density polyethylene (HDPE) fishing line or nylon fishing line, however any metal or non-metal material can be used as an alternative. The plurality of compliant elongate members  26  that extend below the perimeter portion  30  of the cutting mechanism  18  defines the cutting area  19 . The cutting area  19  can be in the form of an open weave or knotted, such that each of the plurality of compliant elongate members  26  intersect at a node  28 , forming a grid of squares, regular or irregular, or any other shape. The nodes  28  are substantially immobile relative to one another upon an inward force F, shown in  FIG. 10 , created by the deformation of the tissue  98 , whereby the nodes  28  of the plurality of compliant elongate members  26  retain their spacing. Because the cutting mechanism  18  applies only an inward directed cutting force F, the need for manipulating sharp tools or devices inside the body  79  is eliminated. Each square formed in the cutting area  19  can have a length between  3  millimeters and  2  centimeters in order to fit the industry standard of pathology cassettes. The cutting area  19  should be about 20 inches by 20 inches. 
         [0064]    Turning now to  FIGS. 6 ,  16  and  17 , the cutting mechanism  18  is dimensioned to fit into the interior space  16  of the containment mechanism  12 , such that it lines the containment mechanism  12 . The cutting mechanism  18  can be attached at multiple points to the containment mechanism  12 , so that the cutting mechanism  18  does not move around and make it difficult to ensure the tissue  98  is completely placed in the interior space  16  of the containment mechanism  12 . Having the cutting mechanism  18  removably attached at multiple points to the containment mechanism  12  allows the cutting mechanism  18  to detach from the containment mechanism  12  when the cutting mechanism  18  is being retracted into the hollow shaft  38  by the retractor mechanism  22 , as shown in  FIGS. 10 and 11 , allows for the containment mechanism  12  to be left inside the body  79 . Further, the cutting mechanism  18  can be colored so that it is more visible on the endoscope and the cutting mechanism  18  can be coated with a lubricant or anti-coagulant to decrease the friction as it enters the hollow shaft  38 , as well as prevent the tissue  98  from sticking to the cutting mechanism  18 . 
         [0065]    As previously described, the containment mechanism  12  is dimensioned to encapsulate the cutting mechanism  18 , as shown in  FIG. 16 . The containment mechanism  12  can be a standard surgical retrieval bag with the closing mechanism  74  that is threaded through the perimeter portion  32  of the containment mechanism  12 , best shown in  FIGS. 16 and 17 . The closing mechanism  74  is a drawstring-like mechanism that when pulled, seals the perimeter portion  32  around the outer surface  56  of the hollow shaft  38  once the tissue  98  is placed into the interior space  16  of the containment mechanism  12 , as shown in  FIGS. 9 and 15 . Alternatively, the closing mechanism  74  could be a flexible loop, a plurality of strings, a sliding fit inside a sheath, or any other mechanism. Sealing the containment mechanism  12  around the outer surface  56  of the hollow shaft  38  can prevent seeding, which may occur when tissue  98  spills into the body  79  of the patient. For malignant and premalignant tissue  98 , the seal between the containment mechanism  12  and the outer surface  56  of the hollow shaft  38  is critical, and the containment mechanism  12  should be impermeable to fluid and the cells of the tissue  98  contained within the interior space  16 . Further, the containment mechanism  12  can have an aperture  14  with a diameter of about 5.5 inches, a length of about 11.1 inches, and a volume of about 3,000 milliliters. The containment mechanism  12  can be constructed from a rip-stop nylon to help prevent any tearing that may occur during surgery. 
         [0066]    Turning now to  FIG. 7 , the morcellating device  10  is used during a laparoscopic procedure in order to remove tissue  98  from the body  79 . To begin, the bundles  34  of the cutting mechanism  18  are coupled to the movable member  40 . As previously described, the cutting mechanism  18  is coupled to and encapsulated within the interior space  16  of the containment mechanism  12 , as shown in  FIG. 8 . The cutting mechanism may be inserted into the inner space  60  of the hollow shaft  38 , such that the morcellating device  10  is in the retracted position  52 , as shown in  FIG. 7 . In one embodiment, a perimeter portion  32  of the containment mechanism  12  can be coupled to the inner surface  58  of the hollow shaft  38 . Similarly, a perimeter portion  30  of the cutting mechanism  18  is coupled to the inner surface  58  of the hollow shaft  38 . 
         [0067]    An alternative retracted position  52  is shown in  FIG. 8  and described below, where the containment mechanism  12  is lightly coupled to the outer surface  56  of the hollow shaft  38 , and the cutting mechanism  18  is coupled to the interior space  16  of the containment mechanism  12 . The perimeter portions  30 ,  32  of the cutting mechanism  18  and the containment mechanism  12  are attached to the hollow shaft  38  as described above in order to allow the tissue  98  to be placed into the interior space  16  of the containment mechanism  12  through the opening  66 , as shown in  FIG. 5 . The morcellating device  10  is inserted into the trocar  94  of  FIG. 18 , and the containment mechanism  12  and cutting mechanism  18  combination are deployed into the external environment  62 , such that the morcellating device  10  is in the extended position  54 , as shown in  FIG. 9 . 
         [0068]    Deployment of the containment mechanism  12  and cutting mechanism  18  combination into the external environment  62  can be achieved by a spring load mechanism (not shown), by pulling it with a tenaculum (not shown) and opening it, or with a deployment mechanism  76 , shown in  FIG. 18 . Deployment of the containment mechanism  12  and cutting mechanism  18  combination using the deployment mechanism  76  will be described in detail below. Prior to deployment, an insertion device (not shown) that is coaxial with the hollow shaft  38  can be used to insert the containment mechanism  12  and cutting mechanism  18  combination into the hollow shaft  38 . The insertion device  75  can be flexible and/or inflatable. 
         [0069]    Once the morcellating device  10  is in the extended position, as shown in  FIG. 9 , the tissue  98  is placed into the interior space  16  of the containment mechanism  12  through the opening  66 . A tool, such as a tenaculum (not shown) can then be used to grasp the perimeter portion  32  of the containment mechanism  12 , which may have been previously attached to the inner surface  58  of the hollow shaft  38 , as shown in  FIG. 7 , and position the perimeter portion  32  around the entire outer surface  56  of the end portion  50  of the hollow shaft  38  as shown in  FIG. 9 . The closing mechanism  74  is then pulled by the user to seal the containment mechanism  12  around the outer surface  56  of the end portion  50 . The user can then activate the retractor mechanism  22  by pressing the actuator  46 . Rotation of the retractor mechanism  22  will wind the bundles  34  of the cutting mechanism  18  around the movable member  40  and begin to constrict the tissue  98  as shown in  FIG. 10 . Optionally, a vibrator (not shown) can be coupled to the cutting mechanism  18  to vibrate the cutting mechanism  18  as it is retracted by the retractor mechanism  22 . 
         [0070]    As the user continues to press the actuator  46 , the bundles  34  continue to wind around the movable member  40  until the cutting mechanism  18  constricts the tissue  98  against the end portion  50  of hollow shaft  38 . Because the tissue  98  is too large to fit through the end portion  50  of the hollow shaft  38 , the cutting area  19  of the cutting mechanism  18  morcellates the tissue  98  into morcellated tissue  100 , as shown in  FIG. 11 . The smaller portions of the morcellated tissue  100  will then drop into the containment mechanism  12 . The morcellating device  10  is then removed from the trocar  94  and the morcellated tissue  100  is aspirated out of the containment mechanism  12 . The hollow shaft  38  is disconnected from the housing  36  and the remaining morcellated tissue  100  is recovered from the cutting mechanism  18 . 
         [0071]    In another embodiment, as shown in FIGS.  8  and  12 - 15 , the cutting mechanism  18  is encapsulated in the interior space of  16  of the containment mechanism  12  and inserted into the inner space  60  of the hollow shaft  38 , such that the morcellating device  10  is in the retracted position  52 . The perimeter portion  32  of the containment mechanism  12  is attached only to the inner surface  58  of the hollow shaft  38 . Similarly, a perimeter portion  30  of the cutting mechanism  18  is attached the inner surface  58  of the hollow shaft  38 . The morcellating device  10  is inserted into the trocar  94  of  FIG. 18 , and the containment mechanism  12  and cutting mechanism  18  combination are deployed into the external environment  62 , such that the morcellating device  10  is in the extended position  54 , as shown in  FIG. 14 . Similar to the previous embodiment, once the morcellating device  10  is in the extended position  54 , a tool, such as a tenaculum (not shown) can then be used to grasp the perimeter portion  32  of the containment mechanism  12 , which was previously attached to the entire inner surface  58  of the hollow shaft  38 , and position the perimeter portion  32  around the entire outer surface  56  of the end portion  50  of the hollow shaft  38  as shown in  FIGS. 9 and 15 . 
         [0072]    Prior to coupling the perimeter portion  32  of the containment mechanism  12  to the entire outer surface  56  of the hollow shaft  38 , the tissue  98  is placed into the interior space  16  of the containment mechanism  12  through the opening  66 . The closing mechanism  74  is then pulled by the user to seal the containment mechanism  12  around the outer surface  56  of the end portion  50 . The user can then activate the retractor mechanism  22  by pressing the actuator  46 . Rotation of the retractor mechanism  22  will wind the bundles  34  of the cutting mechanism around the movable member  40  and begin to constrict the tissue  98  as shown in  FIG. 10 . As the user continues to press the actuator  46 , the bundles  34  continue to wind around the movable member  40  until the cutting mechanism  18  constricts the tissue  98  against the end portion  50  of hollow shaft  38 . Because the tissue  98  is too large to fit through the end portion  50  of the hollow shaft  38 , the cutting area  19  of the cutting mechanism  18  morcellates the tissue  98  into morcellated tissue  100 , as shown in  FIG. 11 . The smaller portions of the morcellated tissue  100  will then drop into the containment mechanism  12 . The morcellating device  10  is then removed from the trocar  94  and the morcellated tissue  100  is aspirated out of the containment mechanism  12 . The hollow shaft  38  is disconnected from the housing  36  and the remaining morcellated tissue  100  is recovered from the cutting mechanism  18 . 
         [0073]    Turning now to  FIG. 18 , in another embodiment, the deployment mechanism  76  can be used to deploy the containment mechanism  12  and cutting mechanism  18  combination into the external environment  62 . To begin, the containment mechanism  12  and cutting mechanism  18  combination are positioned inside the deployment mechanism  76 . A handle  77  of the deployment mechanism  76  is then pushed in until the containment mechanism  12  and cutting mechanism  18  are deployed in the external environment  62 . Note that the deployment mechanism  76  includes a slit  78  for the drawstring-like closing mechanism  74  to come through and be released when the deployment mechanism  76  is removed from the trocar  94 . Also, note that the bundles  34  are coupled to the movable member  40  of the morcellating device  10  prior to the containment mechanism  12  and cutting mechanism  18  combination being deployed into the external environment  62 . Once deployed, the deployment mechanism  76  is removed from the trocar  94  and the morcellating device  10  is inserted into the trocar  94 . 
         [0074]    Similar to the previous embodiments, a tool, such as a tenaculum (not shown) can then be used to grasp the perimeter portion  32  of the containment mechanism  12  and position the perimeter portion  32  around the entire outer surface  56  of the end portion  50  of the hollow shaft  38 . Prior to coupling the perimeter portion  32  of the containment mechanism  12  to the entire outer surface  56  of the hollow shaft  38 , the tissue  98  is placed into the interior space  16  of the containment mechanism  12  through the opening  66 . The closing mechanism  74  is then pulled by the user to seal the containment mechanism  12  around the outer surface  56  of the end portion  50 . The remaining process of morcellating the tissue  98  is the same as the embodiments previously described. 
         [0075]    After the tissue  98  is morcellated, a larger portion of the morcellated tissue  100  remains in the cutting mechanism  18  and the remaining portions of the morcellated tissue  100  remain in the containment mechanism  12 , as shown in  FIG. 11 . The portions of the morcellated tissue  100  that remain in the cutting mechanism  18  inside the hollow shaft  38  need to be extracted for pathology. Therefore, the hollow shaft  38  can be openable, for example by a hinge, or, as previously stated, the hollow shaft  38  can be coupled with threads to the housing  36  so that the hollow shaft  38  can be screwed into the housing  36  and simply unscrewed from the housing  36  once the morcellating procedure is complete to gain access to the morcellated tissue  100 . Alternatively, a hook (not shown) could be used to pull the cutting mechanism  18  out from the inner space  60  of the hollow shaft  38  such that the opening  66  of the cutting mechanism  18  is below the end portion  50  of the hollow shaft  38  and then the morcellated tissue  100  can be removed from the cutting mechanism  18 . 
         [0076]    The morcellated tissue  100  remaining in the containment mechanism  12  can be removed through aspiration, a pulling device  84  or through a tissue removal insertion tube (not shown) that is similar in size to the trocar  94 , shown in  FIG. 18 . The tissue removal insertion tube can be made of a material strong enough to withstand the force of pulling the containment mechanism  12  through the insertion tube. The tissue removal insertion tube will have an outer diameter close to that of the trocar  94  and the insertion tube can have rounded edges and/or a chamfer to ensure that the containment mechanism  12  will not be cut by the edges of the insertion tube when it is forcibly pulled. Alternatively, the containment mechanism  12  can be pulled out of the body  79  by another motor-actuated device (not shown) which functions in a similar way to the morcellating device  10 . The tissue removal insertion tube can be attached to a movable member and a motor, and the user can attach the drawstring-type closing mechanism to the movable member and actuate the motor, thereby pulling the containment mechanism  12  through the tissue removal insertion tube. The motor-actuated device could be reusable since it does not come into direct contact with morcellated tissue  100  and is easily disassembled and sterilized. Further, the motor-actuated device could have a maximum force limited to a point such that the containment mechanism  12  cannot break and the user could move to aspiration if the morcellated tissue  100  proved too difficult to pull out of the external environment  62 , as shown in  FIG. 18 . 
         [0077]    The morcellating device  10  can further include sensors and feedback mechanisms to assist the user during a laparoscopic procedure. As shown in  FIGS. 11 and 18 , a sensor  64  is disposed on the hollow shaft  38 . The sensor  64  can be positioned on either the inner surface  58  or the outer surface  56  of the hollow shaft  38 , and the sensor can be mechanical, electromechanical or optomechanical. An indicator  72  can be positioned in the trocar  94  and the indicator  72  is in electrical communication with the sensor  64 . The sensor  64  can sense how far the hollow shaft  38  is inserted into the trocar  94  at a specific distance and provide feedback for the user, thereby preventing the hollow shaft  38  from being inserted too far into the trocar  94 . The indicator  72  will automatically alert the user if the hollow shaft  38  is inserted past the specific distance. Alternatively, the hollow shaft  38  can have a mechanical block or marking  73  on the outer surface  56  that is visible to the user as the hollow shaft  38  is inserted into the trocar  94 . 
         [0078]    A load sensing mechanism can also be implemented to assist the user during a laparoscopic procedure. As shown in  FIG. 10 , a sensor  65  that senses load variations on the retractor mechanism  22  and is in electrical communication with the controller  48 , as shown in  FIG. 1 . The controller  48  is in electrical communication with the motor  24  such that when the sensor  65  senses a specific load threshold, the controller  48  automatically stops the motion of the motor  24 , thereby stopping the rotation of the retractor mechanism  22  and motion of the containment mechanism  12  and the cutting mechanism  18 . Above the load threshold, the controller  48  can decrease the motion of the motor  24 , thereby decreasing the rotation of the retractor mechanism  22  and the motion of the containment mechanism  12  and the cutting mechanism  18 . Similarly, below the load threshold, the controller can increase the motion of the motor  24 , thereby increasing the rotation of the retractor mechanism  22  and the motion of the containment mechanism  12  and the cutting mechanism  18 . 
         [0079]    Another feedback mechanism is best shown in  FIGS. 11 and 18 , where the sensor  64  is disposed on the hollow shaft  38 . The sensor  64  is in electrical communication with the controller  48  and the controller  48  is in electrical communication with the motor  24 . The sensor  64  can be positioned on either the inner surface  58  or the outer surface  56  of the hollow shaft  38 , and the sensor can be mechanical, electromechanical, or optomechanical. The sensor senses when the cutting mechanism  18  is fully retracted into the hollow shaft  38  and when the tissue  98  is morcellated and sends a signal to the controller  48  which automatically stops motion of the motor  24 . Automatically stopping the motion of the motor  24  stops the rotation of the retractor mechanism  22  so that the cutting mechanism  18  and morcellated tissue  100  do not get wound into the retractor mechanism  22  and potentially contaminate the housing  36  of the morcellating device  10 . The above described feedback mechanism further prevents the morcellated tissue  100  from being caught in the retractor mechanism  22 , making the morcellated tissue  100  unsuitable for pathology. Alternatively, an audible sound, such as a beeping noise, could be sounded to alert the user to release the actuator  46 , thereby stopping motion of the motor  24 . 
         [0080]    Additionally, as shown in  FIG. 7 , a stopper  68  coupled to the bundles  34  of the cutting mechanism  18  can be used as a feedback mechanism. Once the bundles  34  are retracted to the position where the stopper  68  makes contact with the retractor mechanism  22 , the user can feel a resistance indicating that the cutting mechanism  18  is in the fully retracted position  52 . This feedback mechanism can inhibit the internal components of housing  36  from being contaminated from the morcellated tissue  100  and the morcellated tissue  100  from being crushed/caught in the bundles  34 . 
         [0081]    Turning now to  FIGS. 19 and 20 , the morcellating device  10  can further include a dynamic torque balancing mechanism  200 . The dynamic torque balancing mechanism  200  includes an accelerometer  212  (e.g., a piezoelectric accelerometer), a first secondary motor  202  attached to a first movable member  206 , a second secondary motor  204  coupled to a second movable member  208 , a set of free pegs  220  to guide the bundles  34 , a coupling gear  224 , a gear reduction mechanism  226 , and a torque shaft  214  coupled to the main motor  24  of  FIG. 1 . The first and second secondary motors  202 ,  204  are substantially parallel and coupled to the accelerometer  212  and extend past the first and second movable members  206 ,  208 , but are still disposed within the housing  36  of the morcellating device  10 . The bundles  34  of the cutting mechanism  18  are evenly coupled to the first and second movable members  206 ,  208 . When the force F, which is created by the retractor mechanism  22  retracting the cutting mechanism  18  into the hollow shaft  38  and cutting the tissue  98 , as shown in  FIG. 10 , is above a certain threshold, the bundles  34  on the opposing side will be retracted in with more force by the corresponding secondary motor  202 ,  204  to center the center of mass of the tissue (not shown) over the inner space  60  of the hollow shaft  38 , thereby providing a counter-balance. The RPM of the relevant secondary motor  202 ,  204  is automatically controlled by and adjusted based on the accelerometer  212  to change the RPM of the relevant motor(s)  202 ,  204  and balance torque. 
         [0082]    Alternatively, the morcellating device  10  can further include a static torque balancing mechanism  300  as shown in  FIGS. 21 and 22 . The static torque balancing mechanism  300  includes the main motor  24  aligned with the axis of rotation  216  of the hollow shaft  38  (shown in  FIG. 21 ) or the axis of the handle  42  which is perpendicular to the axis of rotation  216  of the hollow shaft  38 . The static torque balancing mechanism  300  further includes free pegs  302  to guide the bundles  34 , coupling gears  310 , a gear reduction  312  and a torque shaft  314 . The motor  24  activates the torque shaft  314  which activates the retractor mechanism  22 , thereby turning the first movable member  304  and the second movable member  306  simultaneously in opposite directions by using appropriate coupling gears  310 . This potentially greatly reduces the overall torque of the first and second movable members  304 ,  306  as the retractor mechanism  22  retracts the cutting mechanism  18  into the hollow shaft  38 . 
         [0083]    The morcellating device  10  can further include a gas flow control element (not shown) for controlling the flow of gas through the hollow shaft  38  and the morcellating device  10 . The morcellating device  10  is unusable without the gas flow control element since otherwise the gas extending the abdomen or external environment  62 , shown in  FIG. 18 , escapes rapidly and prevents visualization. Thus, there should be a gas flow control element located in either the hollow shaft  38  or the body  79  that prevents rapid escape. For instance, the gas flow control element could be a mechanical valve that could be sealed off while gas re-accumulates in the body  79 . 
         [0084]    The present morcellating device  10  described above has several advantages over conventional morcellating devices. First, the present morcellating method could serve in place for any procedure that is done with morcellation, as well as expand the range of accessible procedures. For instance, organs, such as kidneys, which are hard to grab and remove from the patient&#39;s body  79  in one piece because the tissue is soft can be removed with the morcellating device  10  and method as described above. Further, a surgery which is currently not done laparoscopically, is a hysterectomy in the presence of ovarian cancer. Since cancerous tissue should not be morcellated with conventional techniques due to the risk of spreading cancer/seeding, the operation is done via laparotomy. The present morcellating device  10 , however could be used during a hysterectomy while reducing the risk of seeding. The morcellating device  10  can further be implemented into other procedures such as nephrectomy (kidney removal), splenectomy (spleen removal) and cholecystectomy (gallbladder removal). 
         [0085]    Additionally, the morcellating device  10  is intrinsically scalable across tumor sizes, thereby opening the possibility to make smaller-than-standard incisions for smaller pieces of tissue  98  that require removal and allowing even very large tissue to be removed without laparotomy. Further, the morcellating device  10  is economical because the cutting mechanism  18 , constructed of the plurality of compliant elongate members  26 , is bladeless. Conventional morcellating blades tend to be rather expensive. Also, having several reusable parts makes the morcellating device more economical. 
         [0086]    The present morcellating device  10  can also potentially save on operating room time, while still being able to capture larger and more dense tissue  98  than current morcellators can reasonably handle. Current morcellators take time for grabbing/re-grabbing the tissue, time for coring, time for setup/re-setup when the blades break or the motor overheats, time for grabbing the morcellated tissue, and time for aspiration. However, the present morcellating device  10  and tissue retrieval method automatically cuts the whole piece of tissue  98  into the pre-specified sizes in one pass, and the speed is determined by the parameters of the motor (i.e., the rotation frequency), thereby potentially reducing time in the operating room. 
         [0087]    An additional advantage of the morcellating device  10  is the potential for automation and use in robotic surgery. Robotic surgeries (where the robot is controlled by a human) are currently slow and expensive. Tissue  98  to be removed from the body  79  is targeted and the standard morcellation process is used with all of the pitfalls, including dropping morcellated tissue  100  into the body  79 . The advantages of the morcellating device  10  previously mentioned would carry over to a robotic procedure. In potentially “automatic” robotic surgical procedures that may be developed, the conventional method would carry more disadvantages than direct human surgeons have since for example an automated robot would have to re-find the pieces of morcellated tissue  100  and waste computation time. The present morcellating device could lead to simpler processes for automatic robotic surgery (i.e., tracking/identification, placement of the tissue  98  into the containment mechanism  12 ) by eliminating the need for excess steps, potentially improving procedure time and minimizing “lost” pieces of the morcellated tissue  100 .