WO2024145046A1

WO2024145046A1 - Surgical articulation ball-socket wrist

Info

Publication number: WO2024145046A1
Application number: PCT/US2023/084525
Authority: WO
Inventors: Brendan Reimer; Rejwanul HAQUE
Original assignee: Genesis Medtech USA Inc
Current assignee: Genesis Medtech USA Inc
Priority date: 2022-12-30
Filing date: 2023-12-18
Publication date: 2024-07-04
Anticipated expiration: 2025-06-30
Also published as: CN120475934A

Abstract

Disclosed is a device for articulating a distal end of a surgical instrument. The device includes one or more ball components, one or more socket cup components, and a plurality of control cables. The ball components are attached to the distal end of the surgical instrument. The socket cup components are configured to securely attach the one or more ball components. The ball components and the socket cup components are detachably attached to define a longitudinal axis. The control cables pass through the one or more ball components, and the one or more socket cup components to constrain and articulate the ball components, and the socket cup components, thereby producing an articulation movement at the distal end of the surgical instrument.

Description

SURGICAL ARTICULATION BALL-SOCKET WRIST

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This patent application claims the benefit of U.S. Provisional Patent Application No. 63/477.919, filed on December 30, 2022, the entire content of which is incorporated as a reference.

BACKGROUND OF THE INVENTION

Technical Field

[0002] The invention presented herein is generally directed toward a surgical articulation ball-socket wrist, more particularly, a device for articulating a distal end of a surgical instrument.

Description of the Related Art

[0003] Numerous articulated wrist designs have been utilized in laparoscopic and robotic surgery to enhance surgical access and maneuverability for surgeons. Articulated wrist designs for both standard and energy-based laparoscopic instruments have gained increasing popularity. One existing articulated wrist instrument enhances vessel sealing by using bipolar technology perpendicular to the vessel, resulting in a 51% improvement in sealing strength compared to vessels sealed at a 45-degree angle.

[0004] Several startup companies have introduced articulated instruments to bridge the gap between laparoscopic and robotic surgery. Typically, these instruments offer multiple degrees of freedom to mimic true wristed articulation, thus improving laparoscopic surgeons' ability in minimally invasive suturing, which approaches the quality of open surgical suturing. While multi-degree-of-freedom surgical instruments have long been employed in robotic surgery, current articulated wrist instruments still have various limitations, including the absence of advanced energy bipolar. [0005] The current state of articulated technology has contributed to advancements in surgical outcomes, but it faces several challenges that necessitate improvements. Notably, advanced bipolar energy solutions remain a challenge for articulated instruments. The instruments available in the market today exhibit suboptimal articulation performance, characterized by relatively large bending radii, straight section geometry', and an overall diameter comparable to trocar sizes. Articulation designs that enable auxiliary functions, such as cautery' and cutting functions, at the distal end remain under patent protection. The complexity' of wristed mechanisms has made it challenging to create instruments that fit the preferred 5mm trocar size.

[0006] This specification recognizes that there is a need for a device that can utilize one or more pairs of ball and socket components to articulate a surgical instrument over one or more degrees of articulation.

[0007] Thus, in view of the above, there is a long-felt but unmet need in the medical industry to address the aforementioned deficiencies and inadequacies.

[0008] It is with respect to these and other considerations that the disclosure made herein is presented.

SUMMARY OF THE INVENTION

[0009] A surgical articulation ball-socket wrist is provided, as shown in and/or described in connection with at least one of the figures.

[0010] One aspect of the present disclosure relates to a device for articulating a distal end of a surgical instrument. The device includes one or more ball components, one or more socket cup components, and a plurality of control cables. The ball components are attached to the distal end of the surgical instrument. The socket cup components are configured to securely attach the ball components. The ball components and the socket cup components are detachably attached to define a longitudinal axis. The control cables pass over the ball components, and through the socket cup components to constrain and articulate the ball components, and the socket cup components, thereby producing an articulation movement at the distal end of the surgical instrument.

[0011] In an aspect, the ball components include a plurality' of key slots.

[0012] In an aspect, the socket cup components include a plurality⁷ of internal keys.

[0013] In an aspect, the key slots and the internal keys are configured to securely attach the ball components and the socket cup components to limit a joint to a single degree of freedom (DOF).

[0014] In an aspect, the ball components are either in a spherical shape, a truncated sphere shape, or a toroid shape with a flat surface, and a choice of shape is selected based on one or more specific articulation requirements of the surgical instrument.

[0015] In an aspect, the truncated sphere shape or the toroid shape with the flat surface is configured to limit degrees of freedom (DOF).

[0016] In an aspect, the socket cup components include one or more of an internal circular surface and a top internal mating flat surface.

[0017] In an aspect, the top internal mating flat surface of the one or more socket cup components is configured to secure the truncated sphere shape or the toroid shape with the flat surface.

[0018] In an aspect, the ball components, and the socket cup components are designed to articulate the surgical instrument in a range of motion.

[0019] In an aspect, the control cables function as control members for articulating the distal end of the surgical instrument.

[0020] In an aspect, the control cables are manipulated externally to produce the desired articulation movement of the surgical instrument. [0021] Accordingly, one advantage of the present invention is that it includes fewer components that are relatively easier to manufacture.

[0022] Accordingly, one advantage of the present invention is that it may be incorporated for use in numerous laparoscopic surgical instruments including, but not limited to, advanced bipolar, needle drivers, and graspers.

[0023] Other embodiments and advantages will become readily apparent to those skilled in the art upon viewing the drawings and reading the detailed description hereafter, all without departing from the scope of the disclosure. The drawings and detailed descriptions presented are to be regarded as illustrative in nature and not in any way as restrictive.

[0024] Other features of the example embodiments will be apparent from the drawings and from the detailed description that follows.

BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The detailed description is set forth with reference to the accompanying drawings. The use of the same reference numerals may indicate similar or identical items. Various embodiments may utilize elements and/or components other than those illustrated in the drawings, and some elements and/or components may not be present in various embodiments. Elements and/or components in the figures are not necessarily drawn to scale. Throughout this disclosure, depending on the context, singular and plural terminology may be used interchangeably.

[0026] FIG. 1 is an exploded view of a device for articulating a distal end of a surgical instrument, in accordance with at least one embodiment.

[0027] FIG. 2 is an assembled view of the device, in accordance with at least one embodiment. [0028] FIG. 3 is an internal view of control cables that are manipulated to produce the articulation movement, in accordance with at least one embodiment.

[0029] FIG. 4 is an assembled view of the device that provides multiple degrees of articulation while utilizing the same structural components, in accordance with at least one embodiment.

[0030] FIG. 5 is a perspective view of an integrated key feature of the device, in accordance with at least one embodiment.

[0031] FIG. 6 is a perspective view of a partial sphere feature of the device, in accordance with at least one embodiment.

[0032] FIG. 7 is a perspective view of integration of multiple ball components and cup components to provide configuration control, in accordance with at least one embodiment.

[0033] FIG. 8 is a perspective view of providing variable lengths to meet various applications of the device, in accordance with at least one embodiment.

[0034] FIG. 9 is a perspective view of the device for use with a lumen, in accordance with at least one embodiment.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION

[0035] The disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which example embodiments of the disclosure are shown, and not intended to be limiting.

[0036] Aspects of the present disclosure relate to a device that incorporates sets of spherical ball and socket cup components to create a structural basis for articulating a shafted instrument at its distal end. The ball and socket components are constrained with preloaded cables which also act as control members for articulating the distal end of the instrument.

[0037] FIG. 1 is an exploded view of a device 100 for articulating a distal end of a surgical instrument 102, in accordance with at least one embodiment. The device 100 includes one or more ball components 104, one or more socket cup components 106, and a plurality of control cables. The ball components 104 are attached to the distal end of the surgical instrument 102. The socket cup components 106 are configured to securely attach the ball components 104. In an embodiment, the socket cup components 106 are double-sided spherical socket cup components. The ball components 104 and the socket cup components 106 are detachably attached to define a longitudinal axis. The control cables 108 pass over the ball components 104, and through the socket cup components 106 to constrain and articulate the ball components 104, and the socket cup components 106, thereby producing an articulation movement at the distal end of the surgical instrument 102.

[0038] In various embodiments, the socket cup components 106 serve several functions. The socket cup components 106 provide a socket or receptacle for the ball components 104 to fit into. This connection allows the articulation of the surgical instrument 102, enabling it to move over one or more degrees of freedom. The socket cup components 106 are often securely attached to a supporting structure, such as the main body of the surgical instrument or a mounting platform. It provides stability and a fixed point of attachment for the ball components 104. By providing a socket for the ball, the socket cup components 106 allow for controlled movement of the surgical instrument 102. The design of the socket cup components 106 can influence the range of motion, flexibility, and stability⁷ of the articulation. In an embodiment, the socket cup components 106 help distribute mechanical loads and forces generated during the articulation process. It ensures that the surgical instrument 102 remains stable and can withstand the forces applied during surgical procedures. The socket cup components 106 can play a role in ensuring that the articulation occurs in a specific direction or plane, as it provides a predefined alignment for the ball components 104. In an embodiment, the device 100 may act as socket cup components 106 and be incorporated into the final surgical instrument. In an alternative embodiment, the ball component or surface 104 is incorporated into the supporting structure or final surgical instrument.

[0039] FIG. 2 is an assembled view of the device, in accordance with at least one embodiment. FIG. 2 is explained in conjunction with FIG. 1. In another embodiment, the present invention provides a method for articulating a surgical instrument. The method includes a step of providing a surgical articulation ball-socket wrist comprising one or more pairs of ball components 104 and socket components 106, and preloaded control cables 108. The method further includes a step of manipulating the control cables 108 to articulate the distal end of the surgical instrument 102 to a desired position and range of motion. The method further comprises the step of locking the surgical instrument in a fixed position after articulation is achieved.

[0040] FIG. 3 is an internal view of control cables 108 that are manipulated to produce the articulation movement, in accordance with at least one embodiment. FIG. 3 is explained in conjunction with FIG. 1. In an embodiment, the control cables 108 function as control members for articulating the distal end of the surgical instrument. The control cables 108 are manipulated externally to produce the desired articulation movement of the surgical instrument. [0041] FIG. 4 is an assembled view of the device that provides multiple degrees of articulation while utilizing the same structural components, in accordance with at least one embodiment. In an embodiment, the ball components and the socket cup components are of spherical shapes. The spherical shape components enable two degrees of freedom (DOF) at a single pivot point. Therefore, the device 100 may produce multiple degrees 402 of articulation while utilizing the same structural components.

[0042] According to an embodiment, the device is flexible to enable DOF to be user- selectable depending on the application. This may be done through the control/actuation of the control cables or by incorporating keying features on the articulating joint components to limit the DOF. FIG. 5 and FIG. 6 explain examples of these features in detail.

[0043] FIG. 5 is a perspective view of an integrated key feature of the device, in accordance with at least one embodiment. FIG. 5 is explained in conjunction with FIG. 1. In an embodiment, the ball components 104 include a plurality of key slots 502, and the socket cup components 106 include a plurality of internal keys 504. In an embodiment, the key slots 502 and the internal keys 504 are configured to securely attach the ball components 104 and the socket cup components 106 to limit ajoint to a single degree of freedom (DOF).

[0044] FIG. 6 is a perspective view of a partial sphere feature of the device, in accordance with at least one embodiment. In an embodiment, the ball components 104 are either in a spherical shape, a truncated sphere shape 602, or a toroid shape with aflat surface, and a choice of shape is selected based on one or more specific articulation requirements of the surgical instrument. Thus, the device is flexible to enable DOF to be user-selectable depending on the applications. In an embodiment, the truncated sphere shape or the toroid shape with the flat surface is configured to limit degrees of freedom (DOF). In an embodiment, the socket cup components 106 include one or more of an internal circular surface and a top internal mating flat surface 604. In an embodiment, the top internal mating flat surface 604 of the one or more socket cup components 106 is configured to secure the truncated sphere shape 602 or the toroid shape with the flat surface. In an embodiment, the ball components 104, and the socket cup components 106 are designed to articulate the surgical instrument in a range of motion.

[0045] FIG. 7 is a perspective view of the integration of multiple ball components 104a, 104b, and 104c, and cup components 106a, 106b, and 106c to provide configuration control, in accordance with at least one embodiment. The configuration control may be achieved by adding multiple ball and cup sets. If a traditional pitch/yaw articulated wrist is required, multiple ball cup sets with keyed features may be configured. A single DOF and 2DOF pitch/yaw configurations are shown in FIG. 7 makes the device suitable for both laparoscopic and robotic surgical instruments.

[0046] FIG. 8 is a perspective view of providing variable lengths to meet various applications of the device, in accordance with at least one embodiment. FIG. 8 depicts a socket cup component 106 with a configurable straight section. If a larger bend radius or larger articulation angle is desired, multiple socket cup components and the ball components may be stacked 802 to customize the instrument to meet anatomical needs. Lengths of the components may also be configured to meet application needs. According to an embodiment, configurable “snake” like geometry as shown in FIG. 8 makes the device of the present invention suitable for endoluminal diagnostic and surgical instruments. In an embodiment, the ball-cup sets may be configured to a bend radius and overall diameter which is better than cunent known competitive devices. This is especially true when compared to 2 DOF wrist instruments which achieve each DOF with a new set of hardware.

[0047] FIG. 9 is a perspective view of the device for use with a lumen 902, in accordance with at least one embodiment. A large lumen 902 down the center of the surgical instrument 102 is inherent to the structure of the articulation mechanism. This enables jaw actuation. cautery cables, and knife actuation to be incorporated. [0048] Thus, the present device provides a device related to a surgical articulation ballsocket wrist. The device utilizes one or more pairs of ball and socket components to articulate a surgical instrument over one or more degrees of articulation. Accordingly, one advantage of the present device is that it may also be adapted into robotic surgical instruments. Customization of the design may also be utilized for endoluminal instruments.

[0049] All terms used in the claims are intended to be given their ordinary⁷ meanings as understood by those knowledgeable in the technologies described herein unless an explicit indication to the contrary is made herein. In particular, the use of the singular article such as “a,” ‘ the,” “said,” etc. should be read to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary⁷. Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments could include, while other embodiments may not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments.

[0050] In the foregoing description, it will be readily appreciated by those skilled in the art that modifications may be made to the invention without departing from the concepts disclosed herein. Such modifications are to be considered as included in the following claims, unless these claims by their language expressly state otherwise.

Claims

CLAIMS We claim:

1. A device for articulating a distal end of a surgical instrument, comprising: one or more ball components attached to the distal end of the surgical instrument; one or more socket cup components to securely attach the one or more ball components, wherein the ball components and the socket cup components are detachably attached to define a longitudinal axis; and a plurality' of control cables passing over the one or more ball components, and through the one or more socket cup components to constrain and articulate the ball components, and the socket cup components, thereby producing an articulation movement at the distal end of the surgical instrument.

2. The device as claimed in claim 1, wherein the one or more ball components comprising a plurality⁷ of key slots, and the one or more socket cup components comprising a plurality' of internal keys.

3. The device as claimed in claim 1, wherein the key slots and the internal keys are configured to securely attach the ball components and the socket cup components to limit a joint to a single degree of freedom (DOF).

4. The device as claimed in claim 1, wherein the one or more ball components are either in a spherical shape, a truncated sphere shape, or a toroid shape with a flat surface, and a choice of shape is selected based on one or more specific articulation requirements of the surgical instrument.

5. The device as claimed in claim 4, wherein the truncated sphere shape or the toroid shape with the flat surface is configured to limit degrees of freedom (DOF).

6. The device as claimed in claim 1, wherein the one or more socket cup components comprising one or more of an internal circular surface and a top internal mating flat surface.

7. The device as claimed in claim 6, wherein the top internal mating flat surface of the one or more socket cup components is configured to secure the truncated sphere shape or the toroid shape with the flat surface.

8. The device as claimed in claim 1, wherein the ball components, and the socket cup components are designed to articulate the surgical instrument in a range of motion.

9. The device as claimed in claim 1, wherein the control cables function as control members for articulating the distal end of the surgical instrument.

10. The device as claimed in claim 1, wherein the control cables are manipulated externally to produce a desired articulation movement of the surgical instrument.