Source: https://patents.google.com/patent/JP6174017B2/en
Timestamp: 2019-10-21 04:35:56
Document Index: 447332015

Matched Legal Cases: ['arts 100', 'art 200', 'art 18', 'art 100', 'art 200', 'art 300', 'art 13', 'art 200', 'art 18', 'art 18', 'art 300', 'art 18']

JP6174017B2 - In vivo vascular seal end effector and in vivo robotic device - Google Patents
In vivo vascular seal end effector and in vivo robotic device Download PDF
JP6174017B2
JP6174017B2 JP2014514927A JP2014514927A JP6174017B2 JP 6174017 B2 JP6174017 B2 JP 6174017B2 JP 2014514927 A JP2014514927 A JP 2014514927A JP 2014514927 A JP2014514927 A JP 2014514927A JP 6174017 B2 JP6174017 B2 JP 6174017B2
JP2014514927A
JP2014523769A (en
フレデリック、トム
バルテルス、ジョー
2011-06-10 Priority to US201161495487P priority Critical
2011-06-10 Priority to US61/495,487 priority
2011-06-20 Priority to US201161498919P priority
2011-06-20 Priority to US61/498,919 priority
2012-06-11 Application filed by ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ, ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ filed Critical ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ
2012-06-11 Priority to PCT/US2012/041911 priority patent/WO2013048595A1/en
2014-09-18 Publication of JP2014523769A publication Critical patent/JP2014523769A/en
2017-08-02 Publication of JP6174017B2 publication Critical patent/JP6174017B2/en
The present invention relates to grant number 26-1112-0123-002 approved by the Telemedicine and Advanced Technology Research Center within the Department of Defense, and a competitive research-inspired experimental program of the United States Aeronautics and Space Administration. It was made with government support under grant number 26-1112-0118-001 approved by (Experimental Program to Stimulative Competitive Research). Accordingly, the US government has certain rights in this invention.
Embodiments disclosed herein relate to various medical device components and related components, including robotic medical devices and / or in vivo medical devices and related components. More particularly, some embodiments include various medical device accessories and control components, often referred to as “end effectors” or “operational components”. Some end effector embodiments disclosed herein include vascular seal devices and cutting devices, particularly bipolar cautery devices that incorporate cutting components. Other end effector embodiments disclosed herein include various dual end effector components, such components having more than one end effector. Further embodiments relate to systems and methods for operating the above components.
Invasive surgical procedures are essential to address a variety of medical conditions. Where possible, minimally invasive procedures such as laparoscopy are preferred.
However, known minimally invasive techniques such as laparoscopy, in part due to the size of the access port, remove the surgical tool when replacing the surgical instrument and place a new surgical tool in the body cavity. Limited in scope and complexity because of the need to insert. Known robotic systems such as the Da Vinci® Surgical System (available from Intuitive Surgical, Inc., Sunnyvale, Calif.) Are also known to medical professionals. Limited by access ports that require surgical tools to be removed and new surgical tools inserted into the abdominal cavity, and are very large and very expensive and are not available in most hospitals , With the additional disadvantage of limited perception and mobility.
There is a need in the art for improved surgical methods, systems and devices.
This specification discusses various surgical end effectors (including several ablation end effectors and several dual end effectors) used in surgical devices including robotic in-vivo devices.
In Example 1, the in-vivo blood vessel sealing device includes a device main body and a bipolar blood vessel cauterization unit operably coupled to the device main body. The apparatus body has a cautery section actuation motor, a cutting section actuation motor, a jaw actuation motor, and a cautery section shaft disposed within the body and operably coupled to the jaw actuation motor. The cautery section includes a fixed jaw coupled to the distal end of the cautery shaft, a movable jaw pivotally coupled to the distal end of the cautery shaft, and a cutting section operably coupled to the cutting section actuation motor. have. Further, the cautery section is operably coupled to the cautery section actuation motor.
Example 2 relates to a sealing device according to example 1 in which the cautery part is rotatable about an axis parallel to the shaft.
Example 3 relates to a sealing device according to Example 1 wherein the overall length of the device body is less than about 7.6 cm (about 3 inches).
Example 4 relates to a sealing device according to Example 1 in which the total length of the cautery is less than about 3.8 cm (about 1.5 inches).
Example 5 relates to a sealing device according to Example 1, which is an end effector coupled to an arm of an in-vivo robotic device.
Example 6 is an in-vivo robot apparatus comprising a device body operably coupled to at least one arm, wherein the seal apparatus of Example 1 is operably coupled to at least one arm. About.
In Example 7, a method of cauterizing a patient's tissue with an in-vivo ablation device includes disposing the in-vivo ablation device near the tissue, and disposing the ablation unit so as to be rotatable with respect to the tissue by an ablation unit operation motor. And opening the movable jaw with a jaw actuating motor and positioning the ablation so that the tissue is positioned between the movable jaw and the fixed jaw. The method includes the steps of closing a movable jaw with a jaw actuation motor, applying an electrical current to the tissue through the movable and fixed jaws, thereby cauterizing the tissue, and distally cutting the cut with a cutting actuator actuation motor. Biasing in a direction, thereby cutting the cauterized tissue disposed between the movable jaw and the fixed jaw.
In Example 8, an operating component for an in-vivo surgical device includes an actuator housing with at least one actuator and an end effector housing operably coupled to the actuator housing. The end effector housing includes a first end effector that is rotatably connected to the end effector housing, and a second end effector that is rotatably connected to the end effector housing.
While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from the following detailed description, which illustrates and describes exemplary embodiments of the invention. As will be realized, the invention is capable of modifications in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not as restrictive.
1 is a perspective view of a blood vessel sealing device according to an embodiment. It is a front view of the blood vessel seal device by one embodiment. 1 is a side view of a blood vessel sealing device according to an embodiment. 1 is a side view of a vascular seal device cut longitudinally to show how a component works according to one embodiment. FIG. 1 is a perspective view of a vascular seal device shown transparent on the outside to show internal components, according to one embodiment. FIG. FIG. 3 is a front view of a vascular seal device shown transparent on the outside to show internal components, according to one embodiment. 1 is a side view of a vascular seal device cut longitudinally to show internal components, according to one embodiment. FIG. 1 is a perspective view of a vascular seal device cut transversely to show internal components, according to one embodiment. FIG. FIG. 4 is a view of a movable jaw for a vascular seal device in a closed position (top), a partially open position (middle) and a fully open position (bottom), according to one embodiment. 2 is a side view of a movable jaw (top) and outer shell (bottom) for a vascular seal device, according to one embodiment. FIG. 2 is a top perspective view of a medical device with a dual end effector component in a first orientation, according to one embodiment. FIG. FIG. 8B is a side perspective view of the apparatus and components of FIG. 8A in a first orientation. FIG. 8B is a top perspective view of the apparatus and components of FIG. 8A in a second orientation. FIG. 8B is a side perspective view of the apparatus and components of FIG. 8A in a second orientation. 8B is a schematic representation of the range of bidirectional motion of the component of FIG. 8A. 8B is a schematic representation of the range of bidirectional motion of the component of FIG. 8A. FIG. 8B is an isometric view of the component of FIG. 8A. FIG. 8B is an isometric view of the component of FIG. 8A. FIG. 8B is a side perspective view of the component of FIG. 8A. FIG. 8B is a side perspective view of the component of FIG. 8A. FIG. 8B is a front perspective view of the component of FIG. 8A. FIG. 8B is a front perspective view of the component of FIG. 8A. FIG. 8B is a front perspective view of the component of FIG. 8A. FIG. 8B is a top perspective view of the component of FIG. 8A. FIG. 8B is a side perspective view of the component of FIG. 8A. FIG. 8B is an isometric view of the component of FIG. 8A. FIG. 8B is a front perspective view of the component of FIG. 8A. FIG. 8B is a front perspective view of the component of FIG. 8A. FIG. 8B is an isometric view of the component of FIG. 8A. FIG. 8B is a side perspective view of the component of FIG. 8A. FIG. 8B is an isometric view of the component of FIG. 8A.
The various systems and devices disclosed herein relate to devices used in medical procedures and systems. More particularly, the various embodiments relate to end effector devices that can be used in various treatment devices and treatment systems. For example, some embodiments relate to vascular seal end effector devices, and other embodiments relate to dual end effector components that are incorporated into or used with robotic medical devices and / or in vivo medical devices. As used herein, the term “dual end effector” shall mean an operating component having two or more interchangeable end effectors.
Various embodiments of the end effector devices or components disclosed herein may be any other known medical devices, systems, and methods, including but not limited to robotic devices or in-vivo devices as defined herein. It is understood that can be incorporated into or used with them.
For example, the various embodiments disclosed herein can be found in co-pending US patent application Ser. No. 11 / 932,441 (filed Oct. 31, 2007, “Robot for Surgical Applications”). No. 11 / 695,944 (filed Apr. 3, 2007 and entitled “Robot for Surgical Applications”), No. 11 / 947,097. Description (Robotic Devices with Agent Delivery Components and Related Methods, filed Nov. 27, 2007) No. 11 / 932,516 (filed Oct. 31, 2007 entitled “Robot for Surgical Applications”), No. 11 / 766,683 (2007). No. 11 / 766,720 (filed Jun. 21, 2007), filed on Jun. 21, 2007, entitled “Magnetically Coupleable Robotics and Related Methods”. Entitled "Magnetically Coupleable Surgical Robotic Devices and Related Methods"), No. 11 / 966,741 (filed Dec. 28, 2007 and entitled “Surgical Visualization and Device Operation Methods, Systems and Devices”). No. 12 / 171,413 (titled “Methods and Systems of Actuation in Robotic Devices” filed July 11, 2008), 12 / 171,413. No. 192,663 (filed on Aug. 15, 2008, “Medical Inflation, Attachment and Delivery Device and Related Methods (Medical Inflation, A (tachment, and Delivery Devices and Related Methods), 12 / 192,779 (filed Aug. 15, 2008, “Modular and Cooperative Medical Devices and Related Systems”). No. 12 / 324,364 (filed Nov. 26, 2008 and entitled “Multifunctional Operational Components for Robotic Devices”). No. 61 / 030,588 (filed on February 22, 2008 for positioning) Medical device having a camera (Medical Devices having a Positionable Camera), No. 12 / 971,917 (filed on Dec. 17, 2010, “Modular and collaborative medical devices and related systems” And the method (Modular and Cooperative Medical Devices and Related Systems and Methods), 61 / 506,384 (filed Jul. 11, 2011, "Robot Surgical Apparatus, System and Related Methods ( Robotic Surgical Devices, Systems, and Related Methods), 61 / 542,543. No. 61 / 584,947 (2012, filed Oct. 3, 2011, entitled “Robotic Surgical Devices, Systems, and Related Methods)”. Filed Jan. 10, entitled “Surgical Access and Insertion Methods, Systems and Devices (Methods, Systems, and Devices, for Surgical Access and Insertion)” and 61 / 640,879 (May 2012). "Single-hole robotic device and related system and method" (Single Site Robotic Device and Related Systems and Can be incorporated into or used in conjunction with any of the medical devices disclosed under "Methods"), all of which are incorporated herein by reference in their entirety.
In accordance with some exemplary embodiments, any of the various embodiments disclosed herein may be incorporated into a transluminal endoscopic surgical device, such as a NOTES device. Or can be used with it. Those skilled in the art will recognize and appreciate that various combinations of features are available including features disclosed herein as well as features known in the art.
Several device embodiments disclosed in the above listed applications, including several devices and associated systems that can be placed in or adjacent to a lumen wall within a patient's body cavity Can be arranged. As used herein, “in vivo device” means any device that can be placed, operated or controlled at least in part by a user while placed in a patient's body cavity, Including any device that is positioned substantially in contact with or adjacent to the wall of the device, and further includes any device that is driven internally (without any external motive power source), and laparoscopically during a surgical procedure or It further includes any device that can be used under an endoscope. As used herein, the terms “robot” and “robot device” are intended to refer to any device capable of performing a task automatically or in response to a command.
In addition, various end effector embodiments are driven externally, such as those available from Apollo Endosurgy, Inc., Hansen Medical, Inc., Intuitive Surgical. Can be incorporated into other similar systems, such as any of the various robotic medical device systems that are described, and any of the devices disclosed in the applications incorporated herein elsewhere herein.
Some embodiments disclosed herein, including some embodiments used in combination with any of the various treatment device embodiments described above, relate to an end effector device used to seal a blood vessel. . One such embodiment is a cautery device. 1A-1C illustrate one embodiment of an ablation device 10 having a proximal end 30 and a distal end 40. In the ablation device 10 shown in FIGS. 1A-1C, the device 10 has a body 20 with a bipolar ablation portion 12 at the distal end 40.
Known minimally invasive in-vivo ablation devices use monopolar hook ablation. In contrast, the embodiments disclosed herein provide different devices that cauterize and cut blood vessels with greater accuracy and less damage to surrounding tissue.
As best shown in FIGS. 1A-1C, a bipolar cautery section 12, also referred to herein as a “cautery end effector”, is movable and anchors a fixed jaw 14 and a vessel (eg, a vein or artery) to cauterize. It comprises a jaw 16 and a cutting 18 that cuts the cauterized blood vessel, thus providing a trifunctional end effector 12. The fixed jaw 14 and the movable jaw 16 are structured like a pair of jaws, the fixed jaw 14 remaining fixed during the cauterization process, and a substantially rigid and stable base that supports the blood vessel. Configured to provide. The movable jaw 16 can move like a jaw relative to the fixed jaw 14, so that the movable jaw 16 can be a blood vessel disposed between the fixed jaw 14 and the movable jaw 16. Eventually, a blood vessel can be pinched between the jaws 14 and 16 in contact.
As best shown in FIGS. 6 and 7, according to one embodiment, the movable jaw 16 further comprises a pivot portion 13 that projects laterally from the proximal end of the movable jaw 16 and receives a pin 13b. A receiving port 13a is provided. The pivot portion 13 is generally peg-shaped or wedge-shaped to fit within the opening of the outer shell 15 and facilitates movement of the movable jaw 16 as described below. The fixed jaw 14 has an opening 14a that is aligned with the receptacle 13 and configured to receive the pin 13b.
Returning to FIGS. 1A-1C, each of the fixed jaw 14 and the movable jaw 16 is connected to a current source (not shown) so that the jaws 14, 16 function as bipolar electrodes, Is applied, one jaw functions as a cathode and the other jaw functions as an anode. In some implementations, the current source is a generator (not shown) that provides current separately from the electricity that powers the motor. In some embodiments, the generator is located outside the device 10 as a separate component. In use, the electricity flowing through the jaws 14 and 16 generates heat that cauterizes the blood vessels clamped between the jaws 14 and 16. In some embodiments, the current is applied separately by the operator, for example by pressing or switching on a generator button.
As best shown in FIG. 4, the fixed jaw 14 of the bipolar ablation end effector 12 is attached to a shaft 32 that extends proximally from the fixed jaw 14 and is disposed within the body 20. Has been. The cut 18 is disposed between the jaws 14, 16 (as shown in FIGS. 1A-1C and 4) and extends through the shaft 32. The shaft 32 has a slot 39 that is cut into either or both the top 34 side or the bottom 36 side of the shaft 32 and extends longitudinally along a portion of the length of the shaft 32. Is present (as shown in FIG. 4) to receive the pin 38, which extends through the slot 39 and is attached to or attached to the cut 18 so as to be coupled to the cut. It extends through. Accordingly, the pin 38 and the cutting portion 18 can slide together along the slot 39 from a first position that is substantially proximal to a second position that is more distal with the cutting portion 18. As best shown in FIG. 5, in some embodiments, one or both of the fixed jaw 14 and the movable jaw 16 have channels 26, 28 in which the cut 18 is first. Move from position to second position.
In the embodiment shown in FIG. 4, the cut 18 is substantially elongated and has a proximal end 24 and a distal end 25. The cutting portion 18 has a cutting surface 22 at the distal end 25 so that when the cutting portion 18 moves from a generally proximal first position to a more distal second position, the jaw 14 of the ablation device 10. , 16, the cauterized blood vessel is cut at the ablation site.
For ease of explanation and understanding, the cautery device 10 as described herein has three parts 100, 200, 300 as shown in FIG. In this embodiment, each portion generally defines a plurality of components configured to control the function of the ablation device 10 within the body 20. That is, the first portion 100 controls the application of current to the jaws 14 and 16 and the rotation of the bipolar ablation end effector 12 as described above. The second part 200 controls the positioning of the cutting part 18. Finally, the third portion 300 controls the opening and closing of the jaws 14, 16 of the bipolar cautery end effector 12. Although the illustrated embodiment utilizes three parts, the identification and separation of each part is provided merely for ease of explanation and understanding. It is also understood that these parts may be combined or divided so that there are more or fewer parts. For example, the first portion 100 may be divided into two portions that separately control current and end effector rotation.
According to some embodiments, the portion is such that the first portion 100 is proximal to the bipolar cautery end effector 12 and the third portion 300 is located closest to the proximal end 30 of the device 10; The second portion 200 is configured and arranged so as to be located between the first portion 100 and the third portion 300. In some embodiments, the portions are configured and arranged such that the shape of the ablation device 10 becomes narrower toward the distal end. However, the parts can be configured or arranged in any manner suitable for the proper functioning of the device, and these parts have functional, aesthetic and / or manufacturing advantages. It should be understood that any changes provided may be included. Such advantages include, but are not limited to, the visibility, size reduction, material cost reduction, etc. of the bipolar ablation end effector 12.
Forces related to various functions of the apparatus 10 as described herein are provided by motors 102, 202, 302, as best shown in FIGS. Current for the motors 102, 202, 302 is provided by a power source (not shown). According to one embodiment, the power source is located external to the device 10. Alternatively, a power source can be placed in the device. In some embodiments, the power supply for the motors 102, 202, 302 also has a controller (not shown) that controls the motors 102, 202, 302 and / or motors 102, 202, 302. It has a component which detects the state (for example, position). For example, the control device can be an external control device configured to be operated by a user. In some embodiments, the current source for the motors 102, 202, 302 is separate from the controller. In other embodiments, each motor 102, 202, 302 is controlled and / or powered separately from each other. In some embodiments, the electricity for the motors 102, 202, 302 is provided by the same power source as the current provided to the jaws 14, 16.
As best shown in FIG. 5, one or more of the motors 102, 202, 302 have encoders, for example 102a, 302a (not shown for the motor 202), which is a controller. To receive control commands from the control device and provide the control device with data regarding the status of the motors 102, 202, 302. In some embodiments, the one or more motors 102, 202, 302 also have a gear head, eg, 102b, 302b (not shown for the motor 202). The gear heads 102b, 302b (not shown for the motor 202) may be fixed or, in some embodiments, removable and replaceable to provide multiple gear ratios.
According to one embodiment, due to the electrical nature of the bipolar ablation end effector 12, the drive train (including the first part 100, the second part 200 and the third part 300 of the device) is provided by the motors 102, 202, By using a non-conductive gear driven by 302, it is electrically isolated from the motors 102, 202, 302. In one embodiment, the non-conductive gear is made from nylon. Alternatively, the gear can be made from any known non-conductive material that can be used for the gear. The non-conductive gear prevents current from flowing through the drive train to the jaws 14, 16 and causing electrical interference that affects communication between the motors 102, 202, 302 and the controller. In some embodiments, both conductive and non-conductive gears are used. For example, in one embodiment, as best shown in FIGS. 4 and 5, gears 106, 208, 306 are made from a non-conductive material and gears 104, 206, 308 are made from a conductive material. According to another embodiment, the effects of electrical interference are reduced by using interference reduction software and / or components in the controller or encoder 102a, 302a instead of or in addition to using non-conductive gears. can do.
As best shown in FIGS. 3A and 5, the first portion 100 of the ablation device 10 is operably coupled to the bipolar ablation end effector 12 to control the rotation of the bipolar ablation end effector 12. A motor 102 is included. In some embodiments, the first partial motor 102 is directly coupled to the bipolar ablation end effector 12, or the first partial motor 102 is indirectly coupled to the bipolar ablation end effector 12 by one or more coupling means. Can be combined. For example, in the embodiment shown in FIGS. 3A and 3B, the first partial motor 102 is coupled to the bipolar ablation end effector 12 by a first gear 104 and a second gear 106, and the second gear 106 is Is attached to the shaft 32 of the bipolar cautery end effector 12 via a metal coupler 108, whereby the rotational movement provided by the first partial motor 102 is shown in FIG. 3A. It is transmitted to the rotational movement of the bipolar ablation end effector 12 about the axis A. In some embodiments, the metal coupler 108 is coupled to the bipolar ablation end effector 12 via the outer shell 15. As best shown in FIGS. 6 and 7, the outer shell 15 projects distally from the metal coupler 108 and has an opening 15a through which the pivot of the movable jaw 16 is pivoted. The part 13 protrudes and converts the rotational movement of the coupler 108 into the shaft 32.
The second gear 106 can be fixed to the metal coupler 108 using, for example, an adhesive (for example, a UV curable adhesive). In some embodiments, the second gear 106 and the metal coupler 108 are configured such that the shape of each component prevents the second gear 106 from moving relative to the metal coupler 108 (ie, non-circular). shape). For example, the metal coupler 108 can be substantially square so as to fit into the substantially square hole of the second gear 106.
Returning to FIG. 4, the first portion 100 further includes components that apply current to the jaws 14, 16. In this embodiment, the first portion 100 has an electrical connection 110 for the movable jaw 16. The electrical connection 110 is configured to allow sliding contact to the first slip ring 112, and the first slip ring 112 is connected directly or indirectly to a current source (not shown). The slip ring 112 is generally U-shaped or C-shaped, thereby maintaining contact with the electrical connection 110 when the electrical connection 110 rotates with the shaft 36. By using a slip ring 112 instead of a wire to provide an electrical connection to the connection 110, twisting of the wire around the drive system when the connection 110 rotates is prevented. The movable jaw 16 is electrically connected to the connection 110 via a conductor such as the wire 13c shown in FIG. 7 or other suitable conductor. The electrical connection 110 is electrically isolated from the fixed jaw 14 by including a non-conductive (eg, plastic) ring 17 between the connection 110 and the fixed jaw 14. The first portion also includes a second slip ring 114 associated with the fixed jaw 14 that functions similarly to the first slip ring 112 by maintaining electrical contact with the shaft 36 during rotation. By using slip rings 112, 114 that provide current separately to the jaws 16, 14, one jaw can function as a cathode and the other as an anode, respectively, when current is applied. . In some embodiments, it may be desirable to include additional components or modifications to limit or concentrate electrical communication between the jaws 14,16.
The second part 200 of the embodiment shown in FIG. 4 includes a second part motor 202, which is operably coupled to the cutting part 18 and from the first position of the cutting part 18 along the movement line M to the second position. Control the movement up to. The second partial motor 202 is coupled to the threading collar 204 directly or indirectly through coupling means. In the embodiment shown in FIG. 4, the coupling means for coupling the second partial motor 202 to the threaded collar 204 includes a first gear 206 that connects the second partial motor 202 to the second gear 208, As described above, it is attached to the threaded collar 204 using, for example, an adhesive (eg, UV curable adhesive) or a non-circular shape. The end of the pin 38 attached to or extending through the cut 18 is located at the thread 212 of the threaded collar 204 so that the rotational movement provided by the second partial motor 202 is M Is translated into a lateral (horizontal) movement of the pin 38 and thereby the cut 18. The second part is that the movement of the cutting section 18 along M is about 0.5 inches to about 2.54 cm (about 1 inch) to cut the blood vessel clamped between the jaws 14,16. .0 inches). Alternatively, the distance ranges from about 1.78 cm (about 0.7 inches) to about 2.54 cm (about 1.0 inches). However, this distance can be adjusted appropriately for the vessel size and the predetermined configuration of the ablation device 10. In one embodiment, the pivot portion 13 of the movable jaw 16 has an opening, and the cutting portion 18 passes through the opening as it moves. When not being used to cut a blood vessel, the cutting portion 18 retracts to a position proximate to the jaws 14, 16 so that the movable jaw 16 can be opened or closed.
The third part 300 shown in FIGS. 4 and 5 includes a third part motor 302 operably coupled to the movable jaw 16 to control the opening and closing of the jaws 14, 16. In some embodiments, the third partial motor 302 is directly coupled to the shaft 32, or the third partial motor 302 can be indirectly coupled to the shaft 32 by one or more coupling means. . For example, in the embodiment shown in FIGS. 4 and 5, the third partial motor 302 is coupled to the shaft 32 by a first gear 308 and a second gear 306, and the second gear 306 is, for example, an adhesive (eg, UV It is attached to the collar 310 using a hardened adhesive) or a non-circular shape. In some embodiments, the shaft 32 and collar 310 are threaded so that rotation provided by the motor 302 is translated into lateral movement of the jaws 14, 16 relative to the shaft 32 and thereby the outer shell 15 along M. Has been. As best shown in FIG. 6, the opening 15 a restricts the pivot 13 of the movable jaw 16 from moving laterally along M relative to the outer shell 15, so that the movable jaw 16 is It is opened or closed by pivoting around the pin 13b via the pivot 13 in the opening 15a by lateral translation of the shaft 32 along M.
In an alternative embodiment, the fixed jaw 14 can be replaced with a second movable jaw. In this embodiment, the second movable jaw is pivotally attached to the shaft 32 and has a pivot portion similar to the pivot portion 13. In this embodiment, the outer shell 15 is configured to have a second opening similar to the opening 15a, which restricts the lateral movement of the pivot portion of the second movable jaw, As a result, the second movable jaw opens and closes through translation of the shaft 32 along M, similar to the movable jaw 16.
The third portion 300 can further include means for detecting the thickness of a blood vessel clamped between the jaws 14, 16. The vessel thickness can be calculated based on, for example, the amount of lateral translation of the shaft 32 along M required to close the movable jaw 16 or the position of the movable jaw 16 relative to the fixed jaw 14. In some embodiments, the position of the movable jaw 16 relative to the fixed jaw 14 is determined, for example, by measuring the electrical impedance between the jaws 14,16.
As described above, utilizing the ablation device embodiments disclosed herein in any type of medical device, including devices where a smaller or smaller size is desirable, such as devices for procedures performed within a patient's body. Can do. In order to achieve an appropriately dimensioned cautery device for such use, the dimensions of the components disclosed herein can be adjusted to control the overall size of the device. For example, in one embodiment, the size of the motors 102, 202, 302 can range from about 8 mm to about 15 mm, and the overall length of the body is maintained below about 3 inches. In some embodiments, the overall length of the cautery is maintained at less than about 1.5 inches. In some embodiments, the height and / or width is maintained below about 2 inches. Alternatively, other dimensions can be used depending on size requirements, weight requirements and / or visibility requirements.
In use, the ablation device 20 is placed adjacent to the target vessel using a complementary system or device, such as described elsewhere, such as an articulated robot arm. Next, the cautery device 20 operates as follows to cauterize the blood vessel. The ablation end effector 12 is rotated by the first partial motor 102 to position the jaws in alignment with the blood vessels so that the jaws 14, 16 can enclose the blood vessels. The third part motor 302 is actuated to open the movable jaw 16 and the ablation end effector 12 is positioned so that the blood vessel is located between the jaws 14, 16. Then, the movable jaw 16 is operated by the third partial motor 302 so as to be closed in a state where the blood vessel is disposed between the jaws 14 and 16, and the blood vessel is passed through the jaws 14 and 16 by a current source (not shown). A current is applied to the tube, thereby cauterizing the blood vessel. The cutting part 18 is driven toward the distal end of the cauterization device 20 by the second partial motor 202, and the cutting surface 22 is pushed through the blood vessel enclosed in the jaws 14 and 16, thereby cutting the blood vessel.
8A-22 illustrate a dual end effector manipulation component 410 that can be incorporated into any one of a variety of medical devices as described above. In this embodiment, the dual end effector operating component 410 is located at the end of the robot arm 412. It is further understood that the robot arm 412 can be part of any robotic medical device such as an in-vivo device. As best shown in FIGS. 8A-10B, the arm 412 has two arm segments including a first arm segment (or “upper arm”) 412A and a second arm segment (or “forearm”) 412B. Yes. The first arm segment 412A is rotatably connected to the trunk motor housing 414 via a joint or a hinge (not shown). The trunk motor housing 414 houses a motor and actuation mechanism (not shown) that provides rotation of the first arm segment 412A relative to the trunk motor housing 414. Further, the first arm segment 412A is rotatably connected to the second arm segment 412B at the joint 416A, and the second arm segment 412B is rotatably connected to the dual end effector operating component 410 at the joint 416B.
In one embodiment, the dual end effector operating component 410 includes an actuator housing 418 and an end effector housing 420. The end effector housing 420 has two end effector elements 422 and 424. In the embodiment shown in FIGS. 8A-10B, one end effector element is the cautery 422 and the second end effector element is the gripper 424. Alternatively, the end effector element of the dual end effector operating component 410 can be any known end effector used in medical devices, such as forceps, needle holders, scissors, Ligasure® or female members Etc.
As best shown in FIGS. 8A and 8B, in one embodiment, both end effector elements 422, 424 remain operable, but the end effector housing 420 allows the grasper 424 to access the target tissue. Is oriented and capable of performing medical procedures.
As best shown in FIGS. 9A and 9B, in another embodiment, both end effector elements 422, 424 remain operable, but the end effector housing 420 allows the ablation 422 to access the target tissue. And oriented so that medical procedures can be performed.
In one embodiment, both end effector elements 422, 424 can rotate relative to the end effector housing 420. More particularly, as best shown in FIG. 9A, the ablation 422 is rotatable relative to the end effector housing 420 about the axis indicated by line A, as indicated by arrow AA. Further, the gripper 424 is rotatable relative to the end effector housing 420 about the axis indicated by line B, as indicated by arrow BB. According to one embodiment, the gripper 424 is also configured to move between an open configuration and a closed configuration (not shown). In an alternative embodiment (not shown), both end effector elements 422, 424 can rotate with respect to end effector housing 420, and both end effector elements 422, 424 can be turned on depending on the type of end effector. It can be configured to move between an open configuration and a closed configuration. In another alternative embodiment, the two end effectors can be operably coupled to each other so that both end effectors can be configured to move between an open position and a closed position.
As best shown in FIG. 10A, in one embodiment, the dual end effector operating component 410 is coupled via a coupling motor 416B and an actuation motor and gear system (not shown) housed in the second arm segment 412B. , And can be rotated relative to the second arm segment 412B.
As best shown in FIG. 10B, in one embodiment, the dual end effector operating component 410 and the second arm segment 412B are coupled to a coupling 416A and an actuation motor and gear system (not shown) in the first arm segment 412A. Through the first arm segment 412A.
As best shown in FIGS. 11A-12B, within the dual end effector 410, the forearm gear housing 426 houses an actuation motor 428 that is rigidly coupled to the drive shaft 430. The drive shaft 430 is firmly coupled to the rotary motor spur gear 432. The rotary motor spur gear 432 is rotatably connected to a rotary gear 434 that is firmly coupled to a second arm segment (for example, a second arm segment 412B as shown in FIGS. 8A to 10B). The drive shaft 430 and the rotary motor spur gear 432 are rotated by the operation of the operation motor 428. The rotation of the rotary motor spur gear 432 causes the dual end effector operating component 410 to rotate relative to the second arm segment (such as the second arm segment 412B).
As best shown in FIGS. 13A and 13B, in one embodiment, the ablation portion 422 has a proximal ablation housing 436 that is rigidly attached to the distal ablation tip 438. In one embodiment, a wire (not shown) that supplies electricity to the ablation tip 438 is enclosed in an ablation housing 436. The wire extends proximally through the dual end effector manipulation component 410 and is coupled at the proximal end of the wire to a power source such as a standard electrocautery generator (not shown). In another embodiment, the power source can be located within the dual end effector operating component 410. According to an embodiment as shown, the gripper 424 has a proximal gripper housing 440 coupled to two gripping elements 442, 444.
As best shown in FIG. 13B, in one embodiment, the ablation housing 436 is rigidly coupled to the ablation rotating gear 446 in the end effector housing 420. Further, the gripper housing 440 is firmly connected to the gripper rotation spur gear 448 in the end effector housing 420.
As best shown in FIG. 14, the cautery rotating gear 446 is rotatably connected to a rotating motor spur gear 450. The rotary motor spur gear 450 is rotatably driven by a rotary motor 452 and a rotary motor gear head 454 coupled to the motor 452. The operation of the rotary motor 452 and the rotary motor gear head 454 causes the rotary motor spur gear 450 to rotate, and thus the cautery rotary gear 446 and the cautery housing 436 to rotate. The ablation housing 436 is further coupled to two bearing elements 456, 458 proximal to the ablation rotating gear 446, namely a distal bearing 456 and a proximal bearing 458, both of which support the ablation housing 436. And the rotational friction is reduced. The cautery housing 436 and the proximal bearing 458 are further coupled to the cautery housing preload nut 460, which limits the translation of the cautery housing 436 and preloads the two bearing elements 456, 458 or Providing a clamping force to hold the bearing elements 456, 458 in place during rotation helps to reduce friction during rotation of the ablation housing 436.
In one embodiment, the gripper rotation spur gear 448 is rotatably coupled to the rotary motor spur gear 450. The rotary motor spur gear 450 is rotated by the operation of the rotary motor 452 and the rotary motor gear head 454. Therefore, the gripper rotary spur gear 448 and the gripper housing 440 are rotated simultaneously with the rotation of the cautery housing 436.
In one embodiment, proximal to the gripper rotation spur gear 448, the gripper housing 440 is coupled to two gradient washer elements, a distal gradient washer element 462 and a proximal gradient washer element 464, which are It provides compliance for the gripper and prevents contact between moving parts while the gripper housing 440 is rotating. The gripper housing 440 is further coupled to two bearing elements, a distal bearing 466 and a proximal bearing 468, which provide support for the gripper housing 440 and reduce rotational friction of the gripper housing 440. To do. The gripper housing 440 is further coupled to a distal hex preload nut 470 that reduces translation of the gripper housing 440 and provides a preload or clamping force on the bearings 466,468. Provided to help reduce friction during rotation of the gripper housing 440 by holding the bearings 466, 468 in place during rotation.
In one embodiment, the actuation motor 472 is rigidly coupled to the actuation motor housing 474 by two actuation motor mounting bolts 476, 478. Actuating motor mounting bolts 476 and 478 suppress translational and rotational movement of actuating motor 472 to actuating motor housing 474.
As best shown in FIG. 15, in one embodiment, the actuation motor 472 is rigidly coupled to the actuation motor spur gear 480. The operation motor spur gear 480 is rotated by the operation of the operation motor 472, and this rotation is converted into the drive shaft housing spur gear 482.
As best shown in FIG. 16, the drive shaft housing spur gear 482 is firmly coupled to the drive shaft housing 484, and the drive shaft housing 484 is further rotatably coupled to the gripper drive shaft 486. Accordingly, the drive shaft housing 484 is rotated by the rotation of the drive shaft housing spur gear 482 via the operation of the operation motor 472 and the operation motor spur gear 480. The gripper drive shaft 486 is translated by the rotation of the drive shaft housing 484.
In one embodiment, rotation of the drive shaft housing 484 is facilitated by a proximal hex preload nut 488, several gradient washer elements 490, 492, 494 and bearing elements 496, 498. The drive shaft housing 484 is more firmly coupled to the drive shaft housing screw 500, and the drive shaft housing screw 500 suppresses translation of the drive shaft housing 484 to the proximal bearing 498.
As best shown in FIG. 17, the gripper rotation pin 502 passes through one side of the gripper housing 440 and is threaded through the holes in each of the gripping elements 442, 444 and on the opposite side of the gripper housing 440. Firmly bonded to the side. When the gripper drive shaft 486 is translated via rotation of the drive shaft housing 484 (as best shown in FIG. 16), the connector pin 504 connecting the gripper drive shaft 486 to the gripper elements 442, 444 is And slide up and down in the grooves of the gripper elements 442 and 444. This translation further opens and closes the gripper elements 442 and 444.
As best shown in FIGS. 18 and 19, the ablation 442 can expand and contract as needed for desired end effector element movement and accessibility. As best shown in FIG. 18, the cautery 422 can be contracted by contraction of the telescopic cautery shaft 506 during operation of the gripper 424, thereby causing undesirable contact with tissue by the cautery 422. Can be avoided. As best shown in FIG. 19, during operation of the cautery portion 422, the cautery portion 422 can be extended beyond the proximal tip of the gripper 424 by extension of the telescoping cautery shaft 506.
As best shown in FIGS. 20 and 21, the cautery portion 422 is expanded and contracted by the rotation of the rotary motor spur gear 450. The rotary motor spur gear 450 is rotatably connected to the upper long cautery shaft 508. The upper long cautery shaft 508 is firmly coupled to the lower long cautery shaft 510 via a set screw 512. The lower long cautery shaft 510 is supported by two bearing elements 514 and 516. The lower long ablation shaft 510 is rotatably connected to the telescopic ablation shaft 506.
As best shown in FIG. 22, with the rotation of the lower long cautery shaft 510 (shown in FIGS. 20 and 21), the telescopic cautery shaft 506 is threaded and threaded cautery energized ring of the telescopic cautery shaft 506. Shrink or extend through 518 female threads. By external threading of the telescopic cautery shaft 506, the telescopic cautery shaft 506 translates up and down when the lower long cautery shaft 510 (shown in FIGS. 20 and 21) rotates. The electric power is supplied to the cauterization unit 422 through a wire (not shown) connected to the energization ring 518.
An in vivo vascular seal end effector , wherein the seal end effector comprises:
(A) an in-vivo end effector body operatively coupled to an arm of an in-vivo robotic device , wherein the arm and the end effector body are configured to be completely disposed within a patient's body cavity;
(I) ablation unit operation motor,
(Ii) cutting section operating motor,
(Iii) jaw operating motor ,
(Iv) an ablation shaft disposed within the end effector body and operatively coupled to the jaw actuation motor ;
(V) an electrical connection rotatably attached to the ablation shaft; and
(Vi) an end effector body comprising a first slip ring configured to maintain electrical contact with the electrical connection during rotation of the cautery shaft ;
(B) a bipolar vessel ablation portion operatively coupled to the end effector body,
(I) a fixed jaw coupled to the distal end of the cautery shaft;
(Ii) Preparations example the said distal end pivotally coupled to a movable jaw of the ablation section shaft, and (iii) the cutting part cutting portion operatively coupled to the actuation motor,
The ablation part is operably coupled to the ablation part actuating motor ;
A cautery portion, wherein the electrical connection is electrically connected to one of the movable jaw and the fixed jaw , and
(C) an external power source electrically connected to the first slip ring
A seal end effector comprising:
The seal end effector according to claim 1, wherein the cautery part is rotatable about an axis parallel to the cautery part shaft.
The sealed end effector of claim 1, wherein the overall length of the end effector body is less than about 3 inches.
The seal end effector of claim 1, wherein the total length of the cautery is less than about 1.5 inches.
An in- vivo robotic device comprising an arm operably coupled to an end effector body , wherein the arm and the end effector body are configured to be completely disposed within a body cavity of a patient, the end effector body Is
(Iii) jaw operating motor,
(Iv) an ablation shaft disposed within the end effector body and operatively coupled to the jaw actuation motor;
(Vi) a first slip ring configured to maintain electrical contact with the electrical connection during rotation of the cautery shaft.
An in- vivo robot device comprising:
The end effector body further includes a second slip ring configured to maintain electrical contact with the ablation portion shaft during rotation of the ablation portion shaft, the second slip ring being electrically connected to the external power source. The seal end effector of claim 1, wherein the seal end effectors are connected together.
The seal end effector of claim 1, wherein the fixed jaw is configured to provide a stable base that supports a vessel to be cauterized.
The threading collar further comprises a threading collar rotatably coupled to the jaw actuating motor, and rotating the threading collar causes the cautery shaft to move axially to effect opening and closing of the movable jaw. The seal end effector according to claim 1, wherein is screwed around the cautery shaft.
The ablation part actuation motor is rotatably coupled to the ablation part shaft such that rotation of the ablation part actuation motor causes rotation of the ablation part shaft to cause rotation of the movable jaw and the fixed jaw. Item 10. The seal end effector according to Item 1.
(A) a collar rotatably coupled to the cutting section actuation motor; and
(B) a transformation fixed to the cutting portion and operably coupled to the collar so that rotation of the collar causes an axial movement of the cutting portion between a retracted position and a deployed position. pin
The seal end effector of claim 1, further comprising:
The bipolar vessel ablation part is
(A) a first threaded collar rotatably coupled to the cutting section actuation motor; and
(B) The first threading collar is fixed to the cutting part and screwed onto the first threading collar so as to cause an axial movement of the cutting part between a retracted position and a deployed position by rotation of the first threading collar. Combined conversion pin
A second threading collar rotatably coupled to the jaw actuating motor; and rotating the second threading collar to move the cautery shaft in an axial direction to open and close the movable jaw. The seal end effector of claim 11, wherein the second threaded collar is threaded about the cautery shaft.
JP2014514927A 2011-06-10 2012-06-11 In vivo vascular seal end effector and in vivo robotic device Active JP6174017B2 (en)
US201161495487P true 2011-06-10 2011-06-10
US61/495,487 2011-06-10
US201161498919P true 2011-06-20 2011-06-20
US61/498,919 2011-06-20
PCT/US2012/041911 WO2013048595A1 (en) 2011-06-10 2012-06-11 Methods, systems, and devices relating to surgical end effectors
JP2014523769A JP2014523769A (en) 2014-09-18
JP6174017B2 true JP6174017B2 (en) 2017-08-02
JP2014514927A Active JP6174017B2 (en) 2011-06-10 2012-06-11 In vivo vascular seal end effector and in vivo robotic device
WO (1) WO2013048595A1 (en)
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