WO2008085025A1 - Laparoscopic grasping instrument - Google Patents

Laparoscopic grasping instrument Download PDF

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Publication number
WO2008085025A1
WO2008085025A1 PCT/NL2007/050572 NL2007050572W WO2008085025A1 WO 2008085025 A1 WO2008085025 A1 WO 2008085025A1 NL 2007050572 W NL2007050572 W NL 2007050572W WO 2008085025 A1 WO2008085025 A1 WO 2008085025A1
Authority
WO
WIPO (PCT)
Prior art keywords
balloon
sensor
grasping
laparoscopic
grasping instrument
Prior art date
Application number
PCT/NL2007/050572
Other languages
French (fr)
Inventor
John Johannes Van Den Dobbelsteen
Jenny Dankelman
Original Assignee
Technische Universiteit Delft
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 Technische Universiteit Delft filed Critical Technische Universiteit Delft
Publication of WO2008085025A1 publication Critical patent/WO2008085025A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • 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, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/2812—Surgical forceps with a single pivotal connection
    • A61B17/282—Jaws
    • A61B2017/2825—Inserts of different material in jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

Definitions

  • the invention relates to a laparoscopic grasping instrument of the kind that comprises grasping jaws with an upper jaw and a lower jaw, and that is provided with a force sensor.
  • a laparoscopic grasping instrument is known from the international patent application WO 2005/022099.
  • the grasping instrument known from this international patent application comprises a force sensor, whose working principle is based on a light beam being deflected due to a load being exerted on a body comprising the sensor.
  • the object of the invention is to provide a laparoscopic grasping instrument that can be manufactured simply and at low cost, that may be of small dimensions and can be operated safely.
  • the laparoscopic grasping instrument is characterized in that the grasping jaws are provided with a balloon containing liquid and in that a sensor, which is in liquid communication with the liquid in the balloon, is connected to the balloon.
  • This provides the possibility of measuring a pressure exerted on the balloon, which is a measure of the force exerted by the grasping instrument on a tissue, because the pressure on the balloon translates into a corresponding pressure of the liquid inside the balloon.
  • This hydrostatic pressure that can be determined by means of the sensor is therefore a measure for the force exerted with the laparoscopic grasping instrument.
  • the balloon For optimal results with regard to measuring the force, it is essential for the balloon to possess a contact surface in the grasping jaws, which is designed to, during use, be in contact with a tissue material to be manipulated.
  • the laparoscopic grasping instrument according to the invention is further suitably embodied such that a liquid channel is provided between the balloon and the sensor, for the transmission to the sensor of a hydrostatic pressure prevailing in the balloon. This allows the sensor to be positioned rela- tively far from the balloon, so that the part that is placed in or near the grasping jaws may be small. This is very desirable because of the instrument ' s application in minimally invasive surgery.
  • the laparoscopic grasping instrument is suitably embod- ied such that the liquid channel is accommodated in a tube, of which a first end is provided with the grasping jaws and a second end is provided with a handle.
  • the laparoscopic instrument according to the invention is characterized, in that a device is connectable to the sensor for facilitating human observation and/or for using force information provided by the sensor, for the automatic control or limitation of a force to be exerted.
  • FIG. 1 a schematic view of the laparoscopic grasping instrument according to the invention, and in - Figure 2, a detail of the grasping jaws forming part of the laparoscopic grasping instrument according to Figure 1.
  • Figure 1 shows a laparoscopic grasping instrument 1, proximally comprising a handle 2 and distally comprising grasping jaws 3, and wherein between the handle 2 and the grasping jaws 3 a tube 4 is provided that accommodates, in the well-known - -
  • the grasping jaws 3 comprise an upper jaw 5 and a lower jaw 6. It is then an equally feasible embodiment that the upper jaw 5 and the lower jaw 6 are both movable around a hinge 9, as that only either the upper jaw 5 or the lower jaw 6 is movable around said hinge 9.
  • both the upper jaw 5 and the lower jaw 6, or one of the two parts to be provided with means for measuring a force exerted with the grasping jaws 3.
  • Figure 2 shows a front view of the grasping jaw 3 in the open condition, wherein the lower jaw 6 of the grasping jaws 3 is seen to be provided with a balloon 7, filled with liquid.
  • Figure 1 shows that there is also a sensor 8 provided connected with the balloon 7, wherein the sensor 8 is in liquid communication with the liquid in the balloon 7.
  • the balloon 7 and the sensor 8 are placed at a substantial distance from each other, which is made possible by the fact that the tube 4, between the grasping jaws 3 and the handle 2, comprises a liquid channel (not shown) for transmitting to the sensor 8 a hydrostatic pressure that prevails in the balloon 7.
  • the tube 4 between the grasping jaws 3 and the handle 2 comprises a liquid channel (not shown) for transmitting to the sensor 8 a hydrostatic pressure that prevails in the balloon 7.
  • the balloon 7 is placed in the lower jaw 6 of the grasping jaws 3 in such a manner that the same possesses a contact surface, which is designed to, during use, be in contact with a tissue material to be manipulated by the grasping instrument 1.
  • the essence of the invention is embodied in the combination of a prior art laparo- scopic grasping instrument and a force sensor, comprised of a balloon 7 filled with liquid and placed in the grasping jaw 3, and cooperating with a, in itself also known, sensor 8.
  • This basic idea of the invention may be elaborated in various ways to make applications possible that give an indication of the force exerted with the laparoscopic grasping instrument 1 on a tissue material to be manipulated or, for realizing embodiments wherein the force to be exerted with the grasping instrument 1 can be limited automatically / for example electronically.
  • the invention opens up a wide area of applicability, encompassing many variations in which the laparoscopic instrument according to the invention may be embodied, without exceeding the protective scope merited by the appended claims .

Abstract

The invention relates to a laparoscopic grasping instrument of the kind that comprises grasping jaws composed of an upper jaw and a lower jaw, and that is provided with a force sensor, wherein the grasping jaws are provided with a balloon containing liquid and a sensor, which is in liquid communication with the liquid in the balloon, is connected to the balloon.

Description

Laparoscopic grasping instrument
The invention relates to a laparoscopic grasping instrument of the kind that comprises grasping jaws with an upper jaw and a lower jaw, and that is provided with a force sensor. Such a laparoscopic grasping instrument is known from the international patent application WO 2005/022099. The grasping instrument known from this international patent application comprises a force sensor, whose working principle is based on a light beam being deflected due to a load being exerted on a body comprising the sensor. The object of the invention is to provide a laparoscopic grasping instrument that can be manufactured simply and at low cost, that may be of small dimensions and can be operated safely.
To this end the laparoscopic grasping instrument ac- cording to the invention, is characterized by one or several of the appended claims.
In a first aspect of the invention, the laparoscopic grasping instrument is characterized in that the grasping jaws are provided with a balloon containing liquid and in that a sensor, which is in liquid communication with the liquid in the balloon, is connected to the balloon.
This provides the possibility of measuring a pressure exerted on the balloon, which is a measure of the force exerted by the grasping instrument on a tissue, because the pressure on the balloon translates into a corresponding pressure of the liquid inside the balloon. This hydrostatic pressure that can be determined by means of the sensor is therefore a measure for the force exerted with the laparoscopic grasping instrument.
It suffices for the balloon to be placed in the upper jaw or the lower jaw. It should be noted, however, that it is also possible to place such a balloon in both the upper jaw and the lower jaw. - -
For optimal results with regard to measuring the force, it is essential for the balloon to possess a contact surface in the grasping jaws, which is designed to, during use, be in contact with a tissue material to be manipulated. The laparoscopic grasping instrument according to the invention is further suitably embodied such that a liquid channel is provided between the balloon and the sensor, for the transmission to the sensor of a hydrostatic pressure prevailing in the balloon. This allows the sensor to be positioned rela- tively far from the balloon, so that the part that is placed in or near the grasping jaws may be small. This is very desirable because of the instrument ' s application in minimally invasive surgery.
The laparoscopic grasping instrument is suitably embod- ied such that the liquid channel is accommodated in a tube, of which a first end is provided with the grasping jaws and a second end is provided with a handle.
In a further aspect, the laparoscopic instrument according to the invention is characterized, in that a device is connectable to the sensor for facilitating human observation and/or for using force information provided by the sensor, for the automatic control or limitation of a force to be exerted.
Hereinafter, the invention will be further elucidated by way of discussing an exemplary embodiment of the laparoscopic grasping instrument according to the invention, without limiting the appended claims, and with reference to the drawing. The drawing shows in:
- Figure 1, a schematic view of the laparoscopic grasping instrument according to the invention, and in - Figure 2, a detail of the grasping jaws forming part of the laparoscopic grasping instrument according to Figure 1.
Identical reference numerals used in the figures refer to similar components.
Figure 1 shows a laparoscopic grasping instrument 1, proximally comprising a handle 2 and distally comprising grasping jaws 3, and wherein between the handle 2 and the grasping jaws 3 a tube 4 is provided that accommodates, in the well-known - -
manner, coupling means for operating the grasping jaws 3 with the handle 2.
Likewise in a well-known manner, the grasping jaws 3 comprise an upper jaw 5 and a lower jaw 6. It is then an equally feasible embodiment that the upper jaw 5 and the lower jaw 6 are both movable around a hinge 9, as that only either the upper jaw 5 or the lower jaw 6 is movable around said hinge 9.
A further possibility is for both the upper jaw 5 and the lower jaw 6, or one of the two parts to be provided with means for measuring a force exerted with the grasping jaws 3.
For the sake of simplifying the explanation it will now be assumed that such means are provided in the lower jaw 6 only.
Figure 2 shows a front view of the grasping jaw 3 in the open condition, wherein the lower jaw 6 of the grasping jaws 3 is seen to be provided with a balloon 7, filled with liquid. Figure 1 shows that there is also a sensor 8 provided connected with the balloon 7, wherein the sensor 8 is in liquid communication with the liquid in the balloon 7.
As can been seen in Figure 1, the balloon 7 and the sensor 8 are placed at a substantial distance from each other, which is made possible by the fact that the tube 4, between the grasping jaws 3 and the handle 2, comprises a liquid channel (not shown) for transmitting to the sensor 8 a hydrostatic pressure that prevails in the balloon 7. The person skilled in the art is fully acquainted with the manner in which this may be realized, so that a further elucidation by way of the figure may be dispensed with.
As can be seen in Figure 2, the balloon 7 is placed in the lower jaw 6 of the grasping jaws 3 in such a manner that the same possesses a contact surface, which is designed to, during use, be in contact with a tissue material to be manipulated by the grasping instrument 1.
As will be clear from the above, the essence of the invention is embodied in the combination of a prior art laparo- scopic grasping instrument and a force sensor, comprised of a balloon 7 filled with liquid and placed in the grasping jaw 3, and cooperating with a, in itself also known, sensor 8. This basic idea of the invention may be elaborated in various ways to make applications possible that give an indication of the force exerted with the laparoscopic grasping instrument 1 on a tissue material to be manipulated or, for realizing embodiments wherein the force to be exerted with the grasping instrument 1 can be limited automatically/ for example electronically.
Consequently, the invention opens up a wide area of applicability, encompassing many variations in which the laparoscopic instrument according to the invention may be embodied, without exceeding the protective scope merited by the appended claims .

Claims

CIAIMS
1. A laparoscopic grasping instrument (1) of the kind that comprises grasping jaws (3) composed of an upper jaw (5) and a lower jaw (6), and that is provided with a force sensor (7, 8), characterized in that the grasping jaws (3) are provided with a balloon (7) containing liquid and in that a sensor (8), which is in liquid communication with the liquid in the balloon (7), is connected to the balloon (7).
2. A laparoscopic grasping instrument (1) according to claim 1, characterized in that the balloon (7) is placed in the upper jaw (5) and/or the lower jaw (6) .
3. A laparoscopic grasping instrument (1) according to claim 1 or 2, characterized in that the balloon (7) possesses a contact surface in the grasping jaws (3) that is designed to, during use, be in contact with a tissue material to be manipu- lated.
4. A laparoscopic grasping instrument (1) according to one of the claims 1 to 3, characterized in that a liquid channel is provided between the balloon (7) and the sensor (8), for the transmission to the sensor (8) of a hydrostatic pressure pre- vailing in the balloon (8) .
5. A laparoscopic grasping instrument (1) according to claim 4, characterized in that the liquid channel is accommodated in a tube (4) , of which a first end is provided with the grasping jaws (3) and a second end is provided with a handle (2).
6. A laparoscopic grasping instrument (1) according to one of the preceding claims, characterized in that a device is connectable to the sensor (8) for facilitating human observation and/or for using force information provided by the sensor (8) for the automatic control or limitation of a force to be exerted.
PCT/NL2007/050572 2007-01-10 2007-11-19 Laparoscopic grasping instrument WO2008085025A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2000427 2007-01-10
NL2000427A NL2000427C2 (en) 2007-01-10 2007-01-10 Laparoscopic gripping instrument.

Publications (1)

Publication Number Publication Date
WO2008085025A1 true WO2008085025A1 (en) 2008-07-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2007/050572 WO2008085025A1 (en) 2007-01-10 2007-11-19 Laparoscopic grasping instrument

Country Status (2)

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NL (1) NL2000427C2 (en)
WO (1) WO2008085025A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3372172A1 (en) * 2017-03-08 2018-09-12 Covidien LP Surgical instruments including sensors
US20180256161A1 (en) * 2017-03-08 2018-09-13 Covidien Lp Surgical instruments including sensors
CN110507388A (en) * 2019-08-07 2019-11-29 深圳市罗伯医疗科技有限公司 A kind of flexible mechanical arm and interior mirror assembly
IT201800006185A1 (en) * 2018-06-11 2019-12-11 INSTRUMENT FITTED WITH CONTACT FORCE SENSOR
EP3944823A1 (en) * 2020-07-30 2022-02-02 Covidien LP Sensing curved tip for surgical stapling instruments
US11877833B2 (en) 2019-07-26 2024-01-23 Covidien Lp Systems and methods for monitoring blood pressure with a powered linear drive

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU709357A1 (en) * 1978-08-18 1980-01-15 Предприятие П/Я А-7631 Responsive manipulator gripper
US5373747A (en) * 1991-03-30 1994-12-20 Kabushiki Kaisha Toshiba Robot hand and robot
US5609607A (en) * 1993-09-24 1997-03-11 Deutsche Aerospace Ag Device for modeling or simulating the sense of touch in a surgical instrument
US5720742A (en) * 1994-10-11 1998-02-24 Zacharias; Jaime Controller and actuating system for surgical instrument
US5965880A (en) * 1995-07-29 1999-10-12 Forschungszentrum Karlsruhe Gmbh Tactile opto-electronic pressure sensor
US20020026838A1 (en) * 2000-09-07 2002-03-07 Riken Non-directional load detecting sensor
US20040186626A1 (en) * 2001-08-20 2004-09-23 Katsunori Tsukamoto Robot hand
WO2005022099A1 (en) * 2003-08-27 2005-03-10 Academisch Medisch Centrum Force sensor and laparoscopic instrument provided with such a force sensor

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU709357A1 (en) * 1978-08-18 1980-01-15 Предприятие П/Я А-7631 Responsive manipulator gripper
US5373747A (en) * 1991-03-30 1994-12-20 Kabushiki Kaisha Toshiba Robot hand and robot
US5609607A (en) * 1993-09-24 1997-03-11 Deutsche Aerospace Ag Device for modeling or simulating the sense of touch in a surgical instrument
US5720742A (en) * 1994-10-11 1998-02-24 Zacharias; Jaime Controller and actuating system for surgical instrument
US5965880A (en) * 1995-07-29 1999-10-12 Forschungszentrum Karlsruhe Gmbh Tactile opto-electronic pressure sensor
US20020026838A1 (en) * 2000-09-07 2002-03-07 Riken Non-directional load detecting sensor
US20040186626A1 (en) * 2001-08-20 2004-09-23 Katsunori Tsukamoto Robot hand
WO2005022099A1 (en) * 2003-08-27 2005-03-10 Academisch Medisch Centrum Force sensor and laparoscopic instrument provided with such a force sensor

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11253257B2 (en) 2017-03-08 2022-02-22 Covidien Lp Surgical instruments including sensors
US20180256163A1 (en) * 2017-03-08 2018-09-13 Covidien Lp Surgical instruments including sensors
JP2018143773A (en) * 2017-03-08 2018-09-20 コヴィディエン リミテッド パートナーシップ Surgical instruments including sensors
US20180256161A1 (en) * 2017-03-08 2018-09-13 Covidien Lp Surgical instruments including sensors
US10687811B2 (en) 2017-03-08 2020-06-23 Covidien Lp Surgical instruments including sensors
EP3372172A1 (en) * 2017-03-08 2018-09-12 Covidien LP Surgical instruments including sensors
JP7123575B2 (en) 2017-03-08 2022-08-23 コヴィディエン リミテッド パートナーシップ Surgical instruments containing sensors
US11871900B2 (en) 2018-06-11 2024-01-16 Università Degli Studi Di Siena Instrument comprising a contact force sensor device
IT201800006185A1 (en) * 2018-06-11 2019-12-11 INSTRUMENT FITTED WITH CONTACT FORCE SENSOR
WO2019239331A1 (en) 2018-06-11 2019-12-19 Università Degli Studi Di Siena An instrument comprising a contact force sensor device
US11877833B2 (en) 2019-07-26 2024-01-23 Covidien Lp Systems and methods for monitoring blood pressure with a powered linear drive
CN110507388A (en) * 2019-08-07 2019-11-29 深圳市罗伯医疗科技有限公司 A kind of flexible mechanical arm and interior mirror assembly
EP3944823A1 (en) * 2020-07-30 2022-02-02 Covidien LP Sensing curved tip for surgical stapling instruments
US11849942B2 (en) 2020-07-30 2023-12-26 Covidien Lp Sensing curved tip for surgical stapling instruments
US11266402B2 (en) 2020-07-30 2022-03-08 Covidien Lp Sensing curved tip for surgical stapling instruments

Also Published As

Publication number Publication date
NL2000427C2 (en) 2008-07-11

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