WO2008085025A1 - Instrument laparoscopique de saisie - Google Patents

Instrument laparoscopique de saisie 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
English (en)
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/fr

Links

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

L'invention concerne un instrument laparoscopique de saisie du type comprenant des mâchoires de saisie composées d'une mâchoire supérieure et d'une mâchoire inférieure, ledit instrument étant également muni d'un capteur de force. Selon l'invention les mâchoires de saisie sont munies d'un ballon contenant un liquide et un capteur est connecté au ballon, ledit capteur étant en communication liquide avec le liquide dans le ballon.
PCT/NL2007/050572 2007-01-10 2007-11-19 Instrument laparoscopique de saisie WO2008085025A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2000427 2007-01-10
NL2000427A NL2000427C2 (nl) 2007-01-10 2007-01-10 Laparoscopisch grijpinstrument.

Publications (1)

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

Family

ID=38459839

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2007/050572 WO2008085025A1 (fr) 2007-01-10 2007-11-19 Instrument laparoscopique de saisie

Country Status (2)

Country Link
NL (1) NL2000427C2 (fr)
WO (1) WO2008085025A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3372172A1 (fr) * 2017-03-08 2018-09-12 Covidien LP Instruments chirurgicaux comprenant des capteurs
US20180256161A1 (en) * 2017-03-08 2018-09-13 Covidien Lp Surgical instruments including sensors
CN110507388A (zh) * 2019-08-07 2019-11-29 深圳市罗伯医疗科技有限公司 一种柔性机械臂和内镜组件
IT201800006185A1 (it) * 2018-06-11 2019-12-11 Strumento provvisto di sensore di forza di contatto
EP3944823A1 (fr) * 2020-07-30 2022-02-02 Covidien LP Pointe courbe de détection pour instruments d'agrafage chirurgicaux
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 (ru) * 1978-08-18 1980-01-15 Предприятие П/Я А-7631 Захват очуствленного манипул тора
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 (fr) * 2003-08-27 2005-03-10 Academisch Medisch Centrum Capteur de force et instrument laparoscopique equipe de ce capteur

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU709357A1 (ru) * 1978-08-18 1980-01-15 Предприятие П/Я А-7631 Захват очуствленного манипул тора
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 (fr) * 2003-08-27 2005-03-10 Academisch Medisch Centrum Capteur de force et instrument laparoscopique equipe de ce capteur

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
US20180256161A1 (en) * 2017-03-08 2018-09-13 Covidien Lp Surgical instruments including sensors
JP2018143773A (ja) * 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 センサを含む外科用器具
US20180256163A1 (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 (fr) * 2017-03-08 2018-09-12 Covidien LP Instruments chirurgicaux comprenant des capteurs
JP7123575B2 (ja) 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 センサを含む外科用器具
US11871900B2 (en) 2018-06-11 2024-01-16 Università Degli Studi Di Siena Instrument comprising a contact force sensor device
IT201800006185A1 (it) * 2018-06-11 2019-12-11 Strumento provvisto di sensore di forza di contatto
WO2019239331A1 (fr) 2018-06-11 2019-12-19 Università Degli Studi Di Siena Instrument comprenant un dispositif de détection de force de contact
US11877833B2 (en) 2019-07-26 2024-01-23 Covidien Lp Systems and methods for monitoring blood pressure with a powered linear drive
CN110507388A (zh) * 2019-08-07 2019-11-29 深圳市罗伯医疗科技有限公司 一种柔性机械臂和内镜组件
EP3944823A1 (fr) * 2020-07-30 2022-02-02 Covidien LP Pointe courbe de détection pour instruments d'agrafage chirurgicaux
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 (nl) 2008-07-11

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