EP0776738A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
An endoscopic surgical instrument
Assignee: SRI International Inc
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Filing: 1993-01-14
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Granted: —
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Expires: 2013-01-14
Abstract
Abstract An endoscopic surgical instrument (142) comprising a control section and an insertion section, the insertion section being adapted to be inserted into a patient through a small incision (180); wherein the insertion section (145) comprises a forearm link (174), a wrist link (172) and an end effector (170), wherein the forearm link (174) has a proximal end, a distal end and a forearm axis extending longitudinally from the proximal end of the forearm link (174) to the distal end of the forearm link (174), the wrist link (172) has a proximal end and a distal end and a wrist axis extending from the proximal end of the forearm link (174) to the distal end of the forearm link (174), the proximal end of the forearm link (174) is connected to the control section (143), the distal end of the forearm link (174) is connected to a pivotal wrist joint, and the proximal end of the wrist link (172) is connected to the pivotal wrist joint and the distal end of the wrist link (172) is connected to the end effector (170), characterized in that: the control section comprises a plurality of control motors and linkages (182, 184, 186, 188) adapted to operate the insertion section with at least five degrees of freedom including: insertion and retraction of a forearm link (174) along the forearm axis and through the small incision (180); rotation of the forearm link (174) about the forearm axis; pivotal motion of the forearm link (174) about a first pivotal axis and a second pivotal axis which are perpendicular to each other and intersect the forearm axis at a pivot point adjacent the small incision (180); and pivotal motion of a wrist link (172) relative to the forearm link (174).
Inventors
- 👤 Philip S. Green
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 09:28
CPC Classifications
A; A61; A61B; A61B34/00; A61B34/70; A61B34/77; A61B34/30; A61B34/35; A61B34/37; A61B34/74; A61B34/76; B; B25; B25J; B25J19/00; B25J19/02; B25J19/021; B25J19/023; B25J3/00; B25J3/04; H; H04; H04N; H04N13/00; H04N13/20; H04N13/204; H04N13/239; H04N13/246; H04N13/296; H04N13/30; H04N13/332; H04N13/337; H04N13/341; H04N13/398; A61B17/00; A61B17/00234; A61B2034/301; A61B2034/305; A61B90/00; A61B90/06; A61B2090/064; A61B90/36; A61B90/361; H04N13/10; H04N13/189; H04N13/194
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
307 words
An endoscopic surgical instrument (142) comprising a control section (143) and an insertion section (145), the insertion section (145) being adapted to be inserted into a patient through a small incision (180) to a location adjacent a worksite (22) in the patient; wherein the insertion section (145) comprises a forearm link (174), a wrist link (172) and an end effector (170), wherein the forearm link (174) has a proximal end, a distal end and a forearm axis extending longitudinally from the proximal end of the forearm link (174) to the distal end of the forearm link (174), the wrist link (172) has a proximal end and a distal end and a wrist axis extending from the proximal end of the forearm link (174) to the distal end of the forearm link (174), the proximal end of the forearm link (174) is connected to the control section (143), the distal end of the forearm link (174) is connected to a pivotal wrist joint, and the proximal end of the wrist link (172) is connected to the pivotal wrist joint and the distal end of the wrist link (172) is connected to the end effector (170), characterized in that : the control section (143) comprises a plurality of control motors and linkages (182, 184, 186, 188) adapted to operate the insertion section (145) with at least five degrees of freedom including: insertion and retraction of the forearm link (174) along the forearm axis and through the small incision (180); rotation of the forearm link (174) about the forearm axis; pivotal motion of the forearm link (174) about a first pivotal axis and a second pivotal axis which are perpendicular to each other and intersect the forearm axis at a pivot point adjacent the small incision (180); and pivotal motion of the wrist link (172) relative to forearm link (174).
Claim 2
Dependent Claim
69 words
The endoscopic surgical instrument (142) as described in claim 1 wherein the wrist link (172) comprises an inner link (172A) and an outer link (172B) and wherein the control section (143) is adapted to operate the insertion section (145) with at least six degrees of freedom including movement of the outer link (172B) of the wrist link (172) relative to the inner link (172A) of the wrist link (172).
Claim 3
Dependent Claim
53 words
The endoscopic surgical instrument (142) as described in claim 2 wherein the outer link (172B) of the wrist link (172) and the inner link (172A) of the wrist link (172) are axially aligned and wherein the control section (143) is adapted to rotate the outer link (172B) relative to the inner link (172A).
Claim 4
Dependent Claim
42 words
The endoscopic surgical instrument (142) as described in claim 1 wherein the end effector (170) comprises a first element and a second element and wherein the control section (143) is further adapted to move the first element relative to the second element.
Claim 5
Dependent Claim
42 words
The endoscopic surgical instrument (142) as described in claim 2 wherein the end effector (170) comprises a first element and a second element and wherein the control section (143) is further adapted to move the first element relative to the second element.
Claim 6
Dependent Claim
38 words
The endoscopic surgical instrument (142) as described in claim 1 wherein the end effector (170) comprises a surgical instrument (142) head selected from the group of retractors, electrosurgical cutters, electrosurgical coagulators, forceps, needle holders, scissors, blades and irrigators.
Claim 7
Dependent Claim
37 words
The endoscopic surgical instrument (142) as described in claim 1 wherein the control section (143) is adapted to be fixed to a support rail (110) of a surgical table for support of the surgical manipulator during surgery.
Claim 8
Dependent Claim
289 words
An endoscopic surgical instrument (142) comprising an insertion section (145) and a control section (143), the insertion section (145) being adapted to be inserted into a patient through a small incision (180) to a location adjacent a worksite (22) in the patient; wherein the insertion section (145) comprises a forearm link (174), a wrist link (172) and an end effector (170); wherein the forearm link (174) has a proximal end, a distal end and a forearm axis extending longitudinally from the proximal end of the forearm to the distal end of the forearm; the wrist link (172) has a proximal end and a distal end and a wrist axis extending from the proximal end of the forearm to the distal end of the forearm; the proximal end of the forearm link (174) is connected to the control section (143), the distal end of the forearm link (174) is connected to a pivotal wrist joint; and the proximal end of the wrist link (172) is connected to the pivotal wrist joint and the distal end of the wrist link (172) connected to the end effector (170); characterized in that : the control section (143) comprises: means for inserting and retracting the forearm link (174) along the forearm axis and through the small incision (180); means for rotating the forearm link (174) about the forearm axis; means for pivoting the forearm link (174) about a first pivotal axis and a second pivotal axis which are perpendicular to each other and intersect the forearm axis at a pivot point adjacent the small incision (180); and means for pivoting the wrist link (172) relative to the forearm link (174) so as to control the angle between the forearm axis and the wrist axis.
Claim 9
Dependent Claim
54 words
The surgical manipulator as described in claim 8 wherein the wrist link (172) comprises an inner link (172A) and an outer link (172B) and wherein the control section (143) further comprises means for moving the outer link (172B) of the wrist link (172) relative to the inner link (172A) of the wrist link (172).
Claim 10
Dependent Claim
52 words
The surgical manipulator as described in claim 9 wherein the outer link (172B) of the wrist link (172) and the inner link (172A) of the wrist link (172) are axially aligned and wherein the control section (143) further comprises means for rotating the outer link (172B) relative to the inner link (172A).
Claim 11
Dependent Claim
40 words
The surgical manipulator as described in claim 8 wherein the end effector (170) comprises a first element and a second element and wherein the control section (143) further comprises means for moving the first element relative to the second element.
Claim 12
Dependent Claim
40 words
The surgical manipulator as described in claim 9 wherein the end effector (170) comprises a first element and a second element and wherein the control section (143) further comprises means for moving the first element relative to the second element.
Claim 13
Dependent Claim
35 words
The surgical manipulator as described in claim 10 wherein the end effector (170) comprising a surgical instrument head selected from the group of retractors, electrosurgical cutters, electrosurgical coagulators, forceps, needle holders, scissors, blades and irrigators.
Claim 14
Dependent Claim
40 words
The surgical manipulator as described in claim 10 wherein the control section (143) further comprises means for mounting the control section (143) on a support rail (110) of a surgical table for supporting the surgical manipulator during a surgical procedure.
References Cited (Backward Citations)
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