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WO2003026519A1 - Forceps - Google Patents

Forceps Download PDF

Info

Publication number
WO2003026519A1
WO2003026519A1 PCT/NL2002/000622 NL0200622W WO03026519A1 WO 2003026519 A1 WO2003026519 A1 WO 2003026519A1 NL 0200622 W NL0200622 W NL 0200622W WO 03026519 A1 WO03026519 A1 WO 03026519A1
Authority
WO
WIPO (PCT)
Prior art keywords
spring
spring means
gripping tongs
operating rod
jaws
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/NL2002/000622
Other languages
English (en)
Inventor
Freddy Petrus Adrianus Van Den Berg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SENTITIC
Original Assignee
SENTITIC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SENTITIC filed Critical SENTITIC
Publication of WO2003026519A1 publication Critical patent/WO2003026519A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/2812—Surgical forceps with a single pivotal connection
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/2812—Surgical forceps with a single pivotal connection
    • A61B17/2841—Handles
    • A61B2017/2845—Handles with a spring pushing the handle back
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2937—Transmission of forces to jaw members camming or guiding means with flexible part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points

Definitions

  • the present invention relates to a pair of gripping tongs, comprising a handle, which is provided on one side with at least two jaws that can be moved towards each other and away from each other, and which is provided on the other side with an operating device for said jaws, which operating device comprises an operating rod that extends through said handle and is connected to said jaws, first spring means being present on said one side, in order to drive said jaws into a starting position, and further spring means that act upon said operating rod being present on said other side.
  • a pair of gripping tongs is known from US-A-3844291.
  • Such tongs are used, inter alia, in laparoscopic surgery, wherein long, thin instruments, so-called trocars, are inserted into the abdomen by way of tubes.
  • the laparoscopic operation technique has many advantages compared with conventional, open surgery, such advantages including smaller scars as a result of the smaller incisions, less chance of infections, shorter stay in hospital and less pain.
  • gripping tongs In this type of operation the surgeon has at his disposal a broad range of instruments to enable him to manoeuvre in the patient's body.
  • gripping tongs many different types have been devised. A number of examples are US6053933, WO00/24322 and US5330502. These known gripping tongs exist in various diameters, mostly consisting of a design in which the frame, which is formed by an oblong tube has an external diameter of 5 mm, and comprising a movement mechanism consisting of sliding bearings or roller bearings. During surgical operations with the known gripping tongs difficulties are encountered owing to the lack of feel that these gripping tongs offer.
  • a further disadvantage is that the accuracy of the known gripping tongs is a problem, owing to play in the connection between the operating handle and the gripper.
  • a further problem of the known gripping tongs is that the gripper, which comprises two interacting gripping parts, requires an operating force that is not predictable, a force which often greatly depends upon the opening angle between the two interacting gripping parts. It is also a problem that the internal stiffness of the known gripping tongs is low; the connection between the operating handle and the gripper is limp, with the result that grasping a stiff object does not give the feeling that it is stiff.
  • NL 1004056 discloses a pair of low-friction gripping tongs which have feel, virtually no play, a predictable operating force and sufficient stiffness. However, this mechanism is complex, heavy and difficult to sterilize.
  • Gripping tongs of the type described in US 5964780 have, inter alia, the properties that said tongs are play-free, in essence have a simple execution mechanism and are easy to sterilize. These tongs do not, however, have a mechanism with optimum feel for the surgeon. In addition, the stiffness in the internal mechanism is low.
  • said further spring means have a characteristic that is substantially opposite to the characteristic of said first spring means.
  • the term characteristic is understood to mean the force that acts when there is a particular movement.
  • the force of the spring means is such that said force is substantially equal to the force necessary for placing the jaws in the same position.
  • each position of the gripping tongs according to the present invention is substantially an idle position, in other words a stable position. The jaws in the non-operated position are no longer driven back to their closed position or any other starting position.
  • the invention relates to a mechanism that can be used in particular, but not exclusively for a pair of gripping tongs that can be used in particular, but not exclusively, for surgical purposes.
  • This mechanism has the important properties that it provides feel for the surgeon, requires a predictable operating force, is play-free and has sufficient stiffness.
  • the mechanism is in essence simple to fit in a tube with an external diameter of, for example, 5 mm, and is easy to sterilize.
  • the invention relates to a mechanism that substantially can be split into three parts: a gripper mechanism, a compensating mechanism on the handle, and a connection between the two mechanisms in the form of an operating rod.
  • the gripper mechanism has the feature that it has a positive spring characteristic; energy has to be supplied in order to make the gripper mechanism move out of its equilibrium position.
  • the compensating mechanism on the handle has the feature that it has a negative spring characteristic; energy is released if the mechanism is moved out of its equilibrium position. If the two mechanisms are connected to each other by means of an operating rod, energy transfer occurs, in such a way that the total energy in the entire system remains virtually constant over the entire range of movement of the overall mechanism.
  • the steepness of the negative spring characteristic of the compensating mechanism is adjustable.
  • Figure 1 shows the mechanism according to the invention in a first embodiment
  • FIGS 2a to 2e and also Figure 3 show embodiments of the compensating mechanism
  • Figures 4a to 4e show embodiments of the adjusting mechanism of the compensating mechanism
  • Figure 5 shows one embodiment of a gripper
  • FIG. 6 shows a further embodiment of a gripper.
  • the same reference numerals used in the drawing refer to the same parts.
  • Figure 1 shows a mechanism in which the gripper mechanism 1 has the feature that the operating rod 2 belonging to the gripper mechanism 1 has a spring characteristic whose steepness is positive. This is expressed, inter alia, in a feature wherein it has a preferred position, and that energy has to be supplied in order to move said operating rod out of said preferred position.
  • the compensating mechanism is expressed, inter alia, in a feature wherein it has a preferred position, and that energy has to be supplied in order to move said operating rod out of said preferred position.
  • FIG. 2a A variant of the compensating mechanism 3 is shown in Figure 2a.
  • the spring means 7 in Fig. 2a are in the form of a straight line, which spring means are placed at right angles to the operating rod 4.
  • the spring means 7 are each connected, rigidly or otherwise, to the operating rod 4, in such a way that the longitudinal direction of these spring means 7 is in a position perpendicular to the longitudinal direction of the operating rod 4.
  • the other sides of the spring means 7 are likewise each connected, rigidly or otherwise, to the tensioning elements 8, likewise with the longitudinal direction of the spring means 7 in a position perpendicular to the longitudinal direction of the tensioning elements 8.
  • each spring means forms a force vector, which is not by definition equally great, perpendicular to the longitudinal direction of the operating rod 4. If the operating rod
  • Figures 2b to 2d show different variants for the spring means in the compensating mechanism 3.
  • the spring means 12 in Fig. 2b are in the form of a rhombus with straight sides.
  • the spring means 13 in Fig. 2c are in the form of a 'sunken' rhombus, having preferably parabolic sides.
  • the spring means 14 in Fig. 2d are in the form of a parabolic curve. In all variants the number of spring means can be determined as desired.
  • Fig. 2e shows a variant in which the number of spring means has been reduced to one pressure element on both sides of the operating rod 4.
  • Figure 3 shows a variant in which the spring means are in the form of elements with pivots realised by holes 15.
  • FIG 4a shows an embodiment of the adjusting mechanism by means of which the pressure elements can be tensioned.
  • Adjusting bolts 16 (in this illustration in the form of wing bolts), turned with a partially tapered end of the screw thread 17, are situated preferably on both sides of the frame 10, and preferably on one side relative to the tube 11. These ends of the screw thread lie on the tensioning element 8, the contacting corners 18 of which are likewise preferably tapered. If the adjusting bolts 16 are tightened, this will result in a shortening of the distance between the two tensiomng elements 8, so that the necessary tension can build up in the spring means
  • Figure 4b shows an embodiment of the adjusting mechanism 5, in the form of a lever mechanism, preferably provided on one side of the frame.
  • Figure 4c shows an embodiment of the adjusting mechanism in the form of a lever mechanism, placed on the sides of the frame, preferably provided on both sides.
  • adjusting bolts 21 By tightemng of adjusting bolts 21, a force is exerted by way of levers 22 upon tensioning element 8. This will result in a shortening of the distance between the two tensioning elements 8, with the result that the necessary tension can build up in the spring means 7, in order to obtain the compensating effect.
  • Figure 4d shows an embodiment of tne adjusting mechanism with two simple adjusting bolts, preferably provided on one side of the frame. By tightening of the adjusting bolts 23, the distance between the two tensioning elements 8 will be decreased, with the result that the necessary tension can build up in the spring means 7, in order to obtain the compensating effect.
  • Fig. 4e shows the same embodiment of the adjusting mechanism as that in Figure 4d, but this time designed with only one adjusting bolt 24.
  • Figure 5 shows an embodiment of the compensating mechanism in which the tensioned spring elements 25 exert a force perpendicular to the pressure elements 26.
  • This force which can be varied by turning the adjusting bolts 27, is transmitted by said elements to the operating rod 4, which consequently in the situation illustrated is in a marginally stable situation. If, however, a slight movement is imposed upon the operating rod 4 in the longitudinal direction, the force vectors in the pressure elements 26 will acquire a component parallel to the longitudinal direction of the operating rod 4, which force increases as the longitudinal movement of the operating rod 4 becomes greater (up to a certain height).
  • This play of movement and forces described means that this compensating mechanism has a spring characteristic with a negative steepness.
  • Figure 6 shows an embodiment of a gripper, preferably in a starting position in which the jaw is half opened, composed of two outer leaf springs 25, two inner leaf springs 26, and two jaw halves 27.
  • the one end of the outer leaf spring 25 is rigidly connected to the outside of one jaw half 27, while the other end is connected to the tube 28, in which the operating rod 2 is also situated.
  • the inner leaf spring 26 is connected by one end to the inside of the jaw half 27, and is connected by the other end to the operating rod 2. If the operating rod 2 moves relative to the tube 28, the jaw will open or close. Through this movement, the leaf springs 25 and 26 will be subjected to a bending load, with the result that the necessary energy will be stored in these leaf springs on opening and closing of the jaw. This play of energy as a result of the movement of the operating rod 2 results in a positive spring characteristic of the gripper mechanism.

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

Abstract

L'invention concerne un mécanisme qui peut être utilisé notamment, mais pas exclusivement, pour des pinces de préhension, qui peuvent être utilisées notamment, mais pas exclusivement à des fins chirurgicales. Ledit mécanisme présente la propriété de permettre au chirurgien de sentir, requiert une force de commande prévisible, est sans jeu et présente une rigidité suffisante.
PCT/NL2002/000622 2001-09-26 2002-09-26 Forceps Ceased WO2003026519A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1019041 2001-09-26
NL1019041A NL1019041C2 (nl) 2001-09-26 2001-09-26 Tangmechanisme.

Publications (1)

Publication Number Publication Date
WO2003026519A1 true WO2003026519A1 (fr) 2003-04-03

Family

ID=19774071

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2002/000622 Ceased WO2003026519A1 (fr) 2001-09-26 2002-09-26 Forceps

Country Status (2)

Country Link
NL (1) NL1019041C2 (fr)
WO (1) WO2003026519A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016056908A1 (fr) 2014-10-08 2016-04-14 Technische Universiteit Delft Effecteur terminal mécanique
WO2016056909A3 (fr) * 2014-10-08 2016-06-02 Technische Universiteit Delft Dispositif de préhension
NL2013592B1 (en) * 2014-10-08 2016-10-03 Univ Delft Tech Mechanical end effector.
NL2013982B1 (en) * 2014-12-15 2016-10-11 Univ Delft Tech Grasper.
WO2018225258A1 (fr) * 2017-06-09 2018-12-13 オリンパス株式会社 Instrument de traitement et système de traitement
WO2018225259A1 (fr) * 2017-06-09 2018-12-13 オリンパス株式会社 Dispositif médical
WO2019064317A1 (fr) 2017-09-29 2019-04-04 Reon Ehf. Mécanisme souple de retour tactile par clic progressif
WO2019074360A1 (fr) 2017-10-11 2019-04-18 Technische Universiteit Delft Instrument laparoscopique
WO2019097552A1 (fr) 2017-11-17 2019-05-23 Reon Ehf. Équilibreur statique accordable, en particulier pour dispositifs à mécanisme flexible

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3844291A (en) * 1973-04-26 1974-10-29 G Moen Grip device
US5236436A (en) * 1991-03-07 1993-08-17 Tibor Koros Reverse action surgical needle holder
WO1995009566A1 (fr) * 1993-09-29 1995-04-13 Hingeless Tool Company ('hit') Outil exempt de charniere utile en chirurgie
US5964780A (en) * 1995-10-06 1999-10-12 Deutsche Forschungsanstalt Fur Luft-Und Raumfahrt E.V. Gripping apparatus for use in minimally-invasive surgery

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5330502A (en) 1992-10-09 1994-07-19 Ethicon, Inc. Rotational endoscopic mechanism with jointed drive mechanism
DE19632298B4 (de) 1996-08-10 2004-09-23 Deutsches Zentrum für Luft- und Raumfahrt e.V. Greifeinrichtung zum Einsatz in der Minimal-Invasiven-Chirurgie
NL1004056C2 (nl) 1996-09-18 1998-03-19 Tu Delft Afdeling Werktuigbouw Grijptang.
WO2000024322A1 (fr) 1998-10-23 2000-05-04 Applied Medical Resources Corporation Dispositif chirurgical de prehension a pieces rapportees et son procede d'utilisation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3844291A (en) * 1973-04-26 1974-10-29 G Moen Grip device
US5236436A (en) * 1991-03-07 1993-08-17 Tibor Koros Reverse action surgical needle holder
WO1995009566A1 (fr) * 1993-09-29 1995-04-13 Hingeless Tool Company ('hit') Outil exempt de charniere utile en chirurgie
US5964780A (en) * 1995-10-06 1999-10-12 Deutsche Forschungsanstalt Fur Luft-Und Raumfahrt E.V. Gripping apparatus for use in minimally-invasive surgery

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016056908A1 (fr) 2014-10-08 2016-04-14 Technische Universiteit Delft Effecteur terminal mécanique
WO2016056909A3 (fr) * 2014-10-08 2016-06-02 Technische Universiteit Delft Dispositif de préhension
NL2013593B1 (en) * 2014-10-08 2016-10-03 Univ Delft Tech Grasper.
NL2013592B1 (en) * 2014-10-08 2016-10-03 Univ Delft Tech Mechanical end effector.
US10881421B2 (en) 2014-10-08 2021-01-05 Technische Universiteit Delft Mechanical end effector
NL2013982B1 (en) * 2014-12-15 2016-10-11 Univ Delft Tech Grasper.
WO2018225259A1 (fr) * 2017-06-09 2018-12-13 オリンパス株式会社 Dispositif médical
WO2018225258A1 (fr) * 2017-06-09 2018-12-13 オリンパス株式会社 Instrument de traitement et système de traitement
US11617613B2 (en) 2017-06-09 2023-04-04 Olympus Corporation Medical instrument and a treatment instrument, including a bendable end effector
WO2019064317A1 (fr) 2017-09-29 2019-04-04 Reon Ehf. Mécanisme souple de retour tactile par clic progressif
WO2019074360A1 (fr) 2017-10-11 2019-04-18 Technische Universiteit Delft Instrument laparoscopique
NL2019702B1 (en) * 2017-10-11 2019-04-19 Univ Delft Tech Laparoscopic instrument
WO2019097552A1 (fr) 2017-11-17 2019-05-23 Reon Ehf. Équilibreur statique accordable, en particulier pour dispositifs à mécanisme flexible
US11926046B2 (en) 2017-11-17 2024-03-12 Reon Ehf. Tunable static balancer in particular for devices with compliant mechanism

Also Published As

Publication number Publication date
NL1019041C2 (nl) 2003-03-27

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