|Publication number||WO2008085025 A1|
|Publication date||17 Jul 2008|
|Filing date||19 Nov 2007|
|Priority date||10 Jan 2007|
|Publication number||PCT/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|
|Inventors||Den Dobbelsteen John Johannes Van, Jenny Dankelman|
|Applicant||Technische Universiteit Delft|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (8), Classifications (10), Legal Events (4)|
|External Links: Patentscope, Espacenet|
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 .
|Cited Patent||Filing date||Publication date||Applicant||Title|
|WO2005022099A1 *||20 Aug 2004||10 Mar 2005||Academisch Medisch Centrum||Force sensor and laparoscopic instrument provided with such a force sensor|
|SU709357A1 *||Title not available|
|US5373747 *||30 Mar 1992||20 Dec 1994||Kabushiki Kaisha Toshiba||Robot hand and robot|
|US5609607 *||26 Sep 1994||11 Mar 1997||Deutsche Aerospace Ag||Device for modeling or simulating the sense of touch in a surgical instrument|
|US5720742 *||29 May 1996||24 Feb 1998||Zacharias; Jaime||Controller and actuating system for surgical instrument|
|US5965880 *||5 Feb 1998||12 Oct 1999||Forschungszentrum Karlsruhe Gmbh||Tactile opto-electronic pressure sensor|
|US20020026838 *||6 Sep 2001||7 Mar 2002||Riken||Non-directional load detecting sensor|
|US20040186626 *||15 Aug 2002||23 Sep 2004||Katsunori Tsukamoto||Robot hand|
|International Classification||A61B19/00, G01L1/02, A61B17/28, A61B17/29|
|Cooperative Classification||A61B2017/2825, A61B17/29, A61B2090/065, A61B2090/064, A61B34/76|
|21 Aug 2008||DPE2||Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101)|
|3 Sep 2008||121||Ep: the epo has been informed by wipo that ep was designated in this application|
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