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Publication numberWO2008085025 A1
Publication typeApplication
Application numberPCT/NL2007/050572
Publication date17 Jul 2008
Filing date19 Nov 2007
Priority date10 Jan 2007
Publication numberPCT/2007/50572, PCT/NL/2007/050572, PCT/NL/2007/50572, PCT/NL/7/050572, PCT/NL/7/50572, PCT/NL2007/050572, PCT/NL2007/50572, PCT/NL2007050572, PCT/NL200750572, PCT/NL7/050572, PCT/NL7/50572, PCT/NL7050572, PCT/NL750572, WO 2008/085025 A1, WO 2008085025 A1, WO 2008085025A1, WO-A1-2008085025, WO2008/085025A1, WO2008085025 A1, WO2008085025A1
InventorsDen Dobbelsteen John Johannes Van, Jenny Dankelman
ApplicantTechnische Universiteit Delft
Export CitationBiBTeX, EndNote, RefMan
External Links: Patentscope, Espacenet
Laparoscopic grasping instrument
WO 2008085025 A1
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.
Claims  (OCR text may contain errors)
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.
Description  (OCR text may contain errors)

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 .

Patent Citations
Cited PatentFiling datePublication dateApplicantTitle
WO2005022099A1 *20 Aug 200410 Mar 2005Academisch Medisch CentrumForce sensor and laparoscopic instrument provided with such a force sensor
SU709357A1 * Title not available
US5373747 *30 Mar 199220 Dec 1994Kabushiki Kaisha ToshibaRobot hand and robot
US5609607 *26 Sep 199411 Mar 1997Deutsche Aerospace AgDevice for modeling or simulating the sense of touch in a surgical instrument
US5720742 *29 May 199624 Feb 1998Zacharias; JaimeController and actuating system for surgical instrument
US5965880 *5 Feb 199812 Oct 1999Forschungszentrum Karlsruhe GmbhTactile opto-electronic pressure sensor
US20020026838 *6 Sep 20017 Mar 2002RikenNon-directional load detecting sensor
US20040186626 *15 Aug 200223 Sep 2004Katsunori TsukamotoRobot hand
Classifications
International ClassificationA61B19/00, G01L1/02, A61B17/28, A61B17/29
Cooperative ClassificationA61B2017/2825, A61B17/29, A61B2090/065, A61B2090/064, A61B34/76
European ClassificationA61B17/29
Legal Events
DateCodeEventDescription
21 Aug 2008DPE2Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101)
3 Sep 2008121Ep: the epo has been informed by wipo that ep was designated in this application
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