Patent EP0640319A1 successfully refreshed from Google Patents.
EP0640319A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Manipulable hand for laparoscopy
Assignee: Ethicon Inc
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Filing: 1994-07-29
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Granted: —
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Expires: 2014-07-29
Abstract
Abstract A manipulable hand for use in laparoscopic surgery is disclosed, having a master or control hand with clamps for attaching the master hand to that of an operator, the master hand having at least one finger, the finger having at least one hinge corresponding to an interphalangeal joint in a human hand. The manipulable hand further includes a slave or controlled hand, distally disposed from the operator, the slave hand having at least one finger, the finger having at least one hinge corresponding to an interphalangeal joint of a human finger. Both the master and slave hinges are capable of movement corresponding to flexion and extension of a human finger. The master hand and the slave hand are connected by motion transmission rods or cables, and the movements of the slave hand corresponds one-for-one to the movements of the master hand. The preferred embodiment of the manipulable hand has two fingers and a thumb, the thumb of both the master and slave hands is capable of movements corresponding to palmar adduction and abduction, and the fingers of both the master and slave hands are capable of coplanar spreading away from each other and moving back toward each other, moving from a substantially aligned position to a V-shaped configuration. The rods are enclosed within a hollow shaft, and the master and slave hands are mounted with parallel connections therebetween forming wrists at the ends of the shaft.
Inventors
- 👤 Mark Ortiz
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-27 22:12
CPC Classifications
B; B25; B25J; B25J13/00; B25J13/02; A; A61; A61B; A61B34/00; A61B34/70; A61B34/71; B25J3/00; A61B17/00; A61B17/00234; A61B17/28; A61B17/29; A61B2017/2926; A61B2017/2932; A61B2017/2938
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
244 words
A manipulable surgical hand for performing laparoscopic surgical techniques comprising at least one master control finger, means for releasably attaching said master control finger to a finger of a human hand, said master control finger having at least one interphalangeal joint hinge dividing said control finger into first and second phalanges, all of which correspond to an interphalangeal joint and phalanges of a human hand, said control finger being articulable between extended and flexed positions corresponding to extended and flexed positions of a human finger, an elongated tube having base means for mounting said master control finger at a proximal end thereof, at least one controlled slave finger mounted on finger mounting means mounted on a distal end of said tube, said tube having means for mounting said controlled slave finger at the distal end thereof, said controlled slave finger having at least one interphalangeal joint hinge dividing said slave finger into first and second phalanges, said slave finger being articulable between extended and flexed positions corresponding to the extended and flexed positions of said control finger, motion transmission means carried by said tube connecting said master control finger to said controlled slave finger and being responsive to movement of the phalanges of the control finger to independently transmit movements of each of the phalanges of the control finger to each of the phalanges of the controlled finger with a one-for-one correspondence of movements between the control finger phalanges and the controlled finger phalanges.
Claim 2
Dependent Claim
42 words
A manipulable surgical hand according to claim 1 wherein two master control fingers and two controlled slave fingers are provided and wherein each control finger is separately connected to its own one of said controlled slave fingers by said motion transmission means.
Claim 3
Dependent Claim
105 words
A manipulable surgical hand according to claim 2 wherein said control fingers are spreadable between a first substantially aligned position and a second, angularly related, V-shaped position, linkage means connecting said control fingers for planar movement between said first and second positions, wherein said controlled slave fingers are spreadable between a corresponding first substantially aligned position and a corresponding second angularly related V-shaped position, said motion transmitting means including means responsive to movement of said control fingers between said first aligned position and said second V-shaped position to move said controlled slave fingers between said corresponding first aligned position and said second angularly related position.
Claim 4
Dependent Claim
23 words
A manipulable surgical hand according to claim 3 wherein said linkage means provides a one-for-one correspondence between the positions of said control fingers.
Claim 5
Dependent Claim
30 words
A manipulable surgical hand according to claim 4 wherein said means responsive to movement of said control fingers provides a one-for-one correspondence between the position of said controlled slave fingers.
Claim 6
Dependent Claim
91 words
A manipulable surgical hand according to claim 4 wherein each said control finger is pivotally connected at a first pivot point to a base plate by a pivot pin, a pair of links pivotally connected to each control finger at second pivot points spaced from said first pivot points, said links being further pivotally connected to a slide block slidably mounted on said base plate for rectilinear motion toward and away from said distal end of said tube, said means responsive to movement of said control fingers including said slide block.
Claim 7
Dependent Claim
70 words
A manipulable surgical hand according to claim 6 wherein said means responsive to movement of said control fingers further includes first rod means connected to said slide block and extending through said tube to said distal end adjacent said finger mounting means, each said controlled slave finger being pivotally connected to said finger mounting means, flexible connecting means extending from said first rod means to each said controlled slave finger.
Claim 8
Dependent Claim
137 words
A manipulable surgical hand according to claim 1 including flexible cable means fixed at one end to the second phalange of a control finger and fixed at another end to a proximal end of second rod means, said second rod means extending through said tube to said distal end adjacent said finger mounting means, guide means for said cable means adapted to guide said cable for axial movement and to thereby cause axial reciprocation of said second rod means upon articulation of said control finger between extended and flexed positions, flexible cable means extending from a distal end of said second rod means and to the second phalange of said slave finger, whereby axial reciprocation of said second rod means causes articulation of said slave finger between extended and flexed positions with said one-for-one correspondence of movements.
Claim 9
Dependent Claim
173 words
A manipulable surgical hand according to claim 1 wherein two master control fingers and two controlled slave fingers are provided, a pair of flexible cables, each of said cables being fixed at one end to the second phalange of a control finger and fixed at another end to a proximal end of second and third rod means, said second and third rod means extending through said tube to said distal end adjacent said finger mounting means, guide means for each of said cables adapted to guide each cable for axial movement and to thereby cause independent axial reciprocation of said second and third rod means upon articulation of said control fingers between extended and flexed positions, flexible cable means extending from the distal end of each of said second and third rod means to the second phalange of a pair of controlled slave fingers, whereby independent axial reciprocation of said second and third rod means causes independent articulation of said slave fingers between extended and flexed positions with said one-for-one correspondence of movements.
Claim 10
Dependent Claim
196 words
A manipulable surgical hand according to claim 1 including a master control thumb, means for releasably attaching said master control thumb to a thumb of a human hand, said master control thumb having a joint hinge connecting said master control thumb to a mounting plate, said control thumb being articulable toward and away from said master control finger corresponding to the palmar adduction and palmar abduction of a human hand, means for mounting said master control thumb at said proximal end of said tube, a controlled slave thumb mounted on said mounting means at said distal end of said tube, said controlled slave thumb having a joint hinge, said slave thumb being articulable about slave thumb pivot means toward and away from said controlled slave finger corresponding to the palmar adduction and palmar abduction of a human hand, said motion transmission means including fourth rod means extending through said rod and connecting said master control thumb to said controlled slave thumb and being responsive to movement of the control thumb to transmit movement of the control thumb to the controlled slave thumb with a one-for-one correspondence of movements between the control thumb and the controlled thumb.
References Cited (Backward Citations)
US5195505A
Cited
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