WO2003020139A2 - Surgical instrument - Google Patents
Surgical instrument Download PDFInfo
- Publication number
- WO2003020139A2 WO2003020139A2 PCT/NL2002/000574 NL0200574W WO03020139A2 WO 2003020139 A2 WO2003020139 A2 WO 2003020139A2 NL 0200574 W NL0200574 W NL 0200574W WO 03020139 A2 WO03020139 A2 WO 03020139A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- glass fibre
- instrument
- force
- working element
- operating element
- Prior art date
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
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- 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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- 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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00026—Conductivity or impedance, e.g. of tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- 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 present invention relates to an instrument for surgery, in particular minimally invasive surgery, which instrument comprises an elongate frame which, in the vicinity of a first end thereof, comprises an operating element, which can be operated manually, and, at a second end thereof, at least one working element which can move with respect to the frame.
- a suitable instrument therefore comprises at least one elongate frame, a working element which can move with respect to the frame and an operating element, by means of which the working element of the instrument can be operated.
- the working element of the instrument may have various functions. For example, it can be used to clamp, grip, cut or staple. In cases which require a plurality of actions or instruments, two or more working elements which can move with respect to the frame will be used.
- Minimally invasive operating techniques have the advantage that a smaller incision is required, and consequently there is generally less risk of infection and on average a shorter hospitalization is required.
- WO 98/11833 discloses an instrument for minimally invasive operating techniques in which the friction in the instrument is reduced compared to conventional designs through the use of rolling-contact bearings. This results in an improved mechanical feedback of the force which is exerted on the working element of the instrument.
- friction and hysteresis are still present in the design, and consequently the force which is exerted on the working element of the instrument is not correctly fed back to the operating mechanism of the instrument.
- the user of an instrument of this type does not have an optimum "feeling" for the tissue or the like which he is manipulating with the instrument. It is then difficult for a surgeon to position the working element of the instrument accurately.
- the object of the invention is to provide an improved instrument for use in surgery, in particular minimally invasive surgery, which eliminates the abovementioned drawback.
- an instrument characterized in that the instrument comprises means for feeding back a force which is exerted on the working element of the instrument to the operating element, which means comprise at least a first force sensor for measuring the force which is exerted on the working element, a control unit and a first actuator which is coupled to the operating element, the control unit controlling at least the first actuator on the basis of a signal which originates from the first force sensor.
- the user can feel the force which is exerted by the working element without this feeling being influenced by friction and/or hysteresis in the instrument.
- the operating element is then, as it were, controlled by the first actuator .
- the working element used in the instrument may have various functions. For example, it may be suitable for clamping, gripping, pinching or stapling or for holding a needle or the like. Often, there are two or more of these working elements which can move with respect to the frame. Furthermore, the instrument may be designed in such a manner that the working elements can be positioned exchangeably in the instrument.
- the operating element is operated manually and is generally an operating handle as is present in a conventional surgical instrument.
- the operating element it is also possible for the operating element to be designed differently, for example as a rotary button or the like.
- the surgical instrument is preferably to be held by hand.
- the sensors, actuators and the control unit are preferably integrated in the instrument or secured direct to the instrument.
- the instrument remains easy to handle, so that the user finds it easy to use and can be very flexible in his movements.
- the instrument according to the invention can be designed advantageously with dimensions substantially corresponding to the dimensions of conventional minimally invasive instruments or an only slightly enlarged version thereof.
- control unit determines an impedance to which the working element is subject, for example as a result of the presence of a tissue or the like, on the basis of the force which is exerted on the working element, the position in which the working element is located with respect to the frame and the speed at which the working element is moving with respect to the frame, the control unit controlling at least the first actuator on the basis of the impedance.
- the impedance of a specific material is a good measure of the feeling provided by a material of this type when it is touched.
- the control unit according to the invention advantageously feeds the impedance to which the working element of the instrument is subject back to the operating element, so that the user has a very realistic "feeling" of the tissue or the like which is being manipulated by the working element.
- the force which is exerted on the working element and the position of the working element with respect to the frame are determined with the aid of the first force sensor and first position sensor respectively.
- the speed of the working element is preferably determined by the derivative over the course of time of the position signal measured by the first position sensor, but it is also possible, by way of example, to determine the speed using a separate speed sensor.
- the instrument has a connecting rod or the like which is coupled to the working element and to the operating element in order to drive the working element.
- the instrument has a connecting rod or the like which is coupled to the working element in order to drive the working element, the connecting rod or the like being driven by a second actuator which is controlled by the control unit.
- the controls of the operating movements of the surgeon and the movement of the working element pass via the control unit.
- the control unit controls the two actuators on the basis of signals which are obtained from the force and position sensors.
- the control unit preferably determines an impedance to which the operating element is subject on the basis of the force which is exerted on the operating element, the position and speed of the operating element, which impedance is likewise fed back to the actuators. In this way, the feedback of feeling is improved still further.
- the force on the operating element and the position of the operating element are measured by means of a second force sensor and position sensor, respectively.
- the speed is preferably determined as a derivative over the course of time of the position signal measured by the second position sensor.
- At least one of the force sensors and/or position sensors comprises a glass fibre, whereby a light source and a light sensor are positioned in the vicinity of a first end of the glass fibre, and whereby a reflective surface, which moves as a function of the position and/or force which is to be measured, is arranged at a distance from a second end of the glass fibre.
- the force and/or position sensors make use of glass fibres and reflective surfaces, the extent to which light which originates from the light source and emerges from the second end of the glass fibre is reflected into the second end of the glass fibre being representative of the force or position which is to be measured. The amount of light which is reflected is in this case detected by the light sensor.
- a surgical simulator comprises an operating element which can be operated manually, a first actuator for controlling the operating element by means of a force, and control means which are designed to control the first actuator on the basis of an impedance from an actual surgical procedure carried out using an instrument as described above.
- the use of the instrument according to the invention in a specific surgical intervention can therefore be practised by simulating the working element and the forces exerted on it with the aid of the control means.
- the first actuator can be controlled in the same way as if it were being controlled by the control unit of the instrument, and the abovementioned second force sensor and second position sensor can also be used in corresponding ways.
- FIG. 1 diagrammatically depicts a first preferred embodiment of an instrument according to the invention
- FIG. 2 diagrammatically depicts a second preferred embodiment of an instrument according to the invention
- Figure 3 diagrammatically depicts a force sensor of an instrument according to the invention
- Figure 4 diagrammatically depicts a position sensor of an instrument according to the invention.
- FIG. 1 shows a first preferred embodiment of the instrument according to the invention, denoted overall by reference numeral 1.
- the various components of the instrument 1 are diagrammatically depicted in the figure.
- the instrument 1 comprises an elongate frame 2 having, at a first end, at least one operating element 3 and, at the second end, a working element 4 which is moveably secured to the frame and a second working element 5 which in this case is fixed to the frame and forms a component thereof. It is also possible to make a second working element moveable with respect to the frame and to provide more than two fixed or moveable working elements.
- a force sensor 6 for measuring the force which is exerted on the working element 4 and a position sensor 7 for measuring the position of the working element 4 with respect to the frame 2 are also arranged in or close to the working element 4.
- a force sensor 8 for measuring the force which is exerted on the operating element and a position sensor 9 for measuring the position of the operating element with respect to the frame are arranged in or close to the operating element 3. The measured signals from the force sensors 6, 8 and position sensors 7, 9 are transmitted to a control unit 10.
- the force sensors 6, 8 and position sensors 7, 9 may be conventional sensors which, by way of example, use strain gauges, potentiometers or the like. For in particular the sensors which are positioned in or close to the working element 4, it is preferable to use sensors in which glass fibres are used. Sensors of this type are less sensitive to interference than electrical sensors and will be described in more detail below.
- the instrument 1 also comprises an actuator 11 which is coupled to the operating element 3 and an actuator 12 which drives a connecting rod 13 to which the working element 4 is coupled.
- the actuators can be controlled independently of one another by the control unit.
- the actuators are preferably linear electromagnetic actuators.
- the impedance to which the working element 4 is subject is determined on the basis of the force which is exerted on the working element 4, the position of the working element 4 and the speed of the working element 4.
- An impedance to which the operating element is subject is also determined on the basis of the force to which the operating element is subject, the position of the operating element and the speed of the operating element.
- the speeds are in this case calculated by taking the derivative over time of the signal from the position sensors.
- the two actuators 11, 12 are controlled by the control unit 10 on the basis of the two impedances which have been determined.
- the instrument 1 comprises at least two parts which can be detached from one another, of which a reusable part is suitable for reuse after sterilization and another, disposable part is suitable for single use.
- the two parts which can be separated from one another are indicated by line A-A in the figure.
- the two parts can be coupled to one another by means of a coupling.
- the coupling comprises a mechanical coupling 14 for driving the connecting rod 13 in the disposable part.
- the control unit 10 controls the actuator 11, with a view to controlling the operating handle, on the basis of the impedance which is determined in the control unit by means of the measured position and force and the calculated speed.
- the user is provided with good feedback about the way in which he is manipulating a tissue or the like using the working element.
- the instrument 1 is composed of a disposable part and a reusable part which comprises a coupling in the region of line A-A.
- the coupling has a mechanical coupling 14 for driving the working element 4 and an optical coupling 15 for transmitting optical information.
- Figure 3 shows at least part of a preferred embodiment of the force sensor of the instrument according to the invention, which force sensor comprises a glass fibre.
- the figure shows one end of an instrument, where two working elements 4 which can move with respect to the frame and form a clamping jaw, are arranged.
- the clamping jaw is opened by moving the connecting rod 13 in the direction of the clamping jaw, and the clamping jaw is closed by moving the connecting rod 13 away from the clamping jaw.
- One end of a glass fibre 16 extends at least part way into one of the working elements 4.
- a light source and a light sensor are arranged in the vicinity of the other end of the glass fibre 16. The light source emits light through the glass fibre 16, and the light source detects the light which returns through the glass fibre 16.
- a reflective surface 17 which at least partially reflects light which emerges from the end of the glass fibre 16 into the glass fibre 16.
- the reflective surface is positioned at a set distance from the end of the glass fibre 16. If a force is then exerted on the working element 4, the working element 4 will bend slightly. The result of this bending is that the amount of light which is reflected by the reflective surface 17 into the glass fibre 16 changes. This change, which is detected by the light sensor, is a measure of the force which is exerted on the working element 4. The amount of light which is measured is converted by the light sensor into an electrical signal which is representative of the force exerted on the instrument. This signal is transmitted to the control unit 10.
- Figure 4 shows at least part of a preferred embodiment of the position sensor of the instrument according to the invention, which position sensor comprises a glass fibre 18.
- the figure shows an end of an instrument corresponding to Figure 3.
- the glass fibre 18 is secured to the frame 2 of the instrument 1.
- One end is directed towards a reflective surface 19 which is secured to one of the working elements 4.
- the light which is emitted by a light source (not shown) arranged at the other end of the glass fibre is at least partially reflected by the reflective surface 19 into the glass fibre 18. If the clamping jaw is moved with respect to the frame 2, more or less light is reflected into the glass fibre 18.
- the amount of light which is reflected and which is detected by the light sensor is a measure of the position of a working element 4 of the clamping jaw with respect to the frame 2.
- the light sensor emits an electrical signal, which is representative of the position of the working elements 4, to the control unit 10.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/488,442 US7300450B2 (en) | 2001-09-03 | 2002-09-03 | Surgical instrument |
DE60238332T DE60238332D1 (en) | 2001-09-03 | 2002-09-03 | SURGICAL INSTRUMENT |
AT02763075T ATE488186T1 (en) | 2001-09-03 | 2002-09-03 | SURGICAL INSTRUMENT |
EP02763075A EP1423056B1 (en) | 2001-09-03 | 2002-09-03 | Surgical instrument |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL1018874 | 2001-09-03 | ||
NL1018874A NL1018874C2 (en) | 2001-09-03 | 2001-09-03 | Surgical instrument. |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2003020139A2 true WO2003020139A2 (en) | 2003-03-13 |
WO2003020139A3 WO2003020139A3 (en) | 2003-08-07 |
Family
ID=19773955
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NL2002/000574 WO2003020139A2 (en) | 2001-09-03 | 2002-09-03 | Surgical instrument |
Country Status (8)
Country | Link |
---|---|
US (1) | US7300450B2 (en) |
EP (2) | EP2281515B1 (en) |
AT (1) | ATE488186T1 (en) |
DE (1) | DE60238332D1 (en) |
ES (2) | ES2539948T3 (en) |
NL (1) | NL1018874C2 (en) |
PT (2) | PT1423056E (en) |
WO (1) | WO2003020139A2 (en) |
Cited By (324)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2003090630A3 (en) * | 2002-04-25 | 2004-04-08 | Tyco Healthcare | Surgical instruments including micro-electromechanical systems (mems) |
WO2005112808A1 (en) * | 2004-05-12 | 2005-12-01 | Medtronic, Inc. | Device and method for determining tissue thickness and creating cardiac ablation lesions |
JP2006334417A (en) * | 2005-06-03 | 2006-12-14 | Tyco Healthcare Group Lp | Instrument for surgical operation using sensor |
EP1943958A1 (en) * | 2007-01-10 | 2008-07-16 | Ethicon Endo-Surgery, Inc. | Surgical instrument with elements to communicate between control unit and end effector |
JP2008212637A (en) * | 2007-01-10 | 2008-09-18 | Ethicon Endo Surgery Inc | Surgical instrument with wireless communication between control unit and remote sensor |
WO2009009220A2 (en) | 2007-07-09 | 2009-01-15 | Immersion Corporation | Minimally invasive surgical tools with haptic feedback |
EP2127604A1 (en) | 2008-05-30 | 2009-12-02 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | An instrument for minimally invasive surgery |
EP1943957A3 (en) * | 2007-01-10 | 2009-12-02 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
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Also Published As
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US20050021078A1 (en) | 2005-01-27 |
NL1018874C2 (en) | 2003-03-05 |
EP1423056A2 (en) | 2004-06-02 |
ATE488186T1 (en) | 2010-12-15 |
EP2281515A1 (en) | 2011-02-09 |
US7300450B2 (en) | 2007-11-27 |
DE60238332D1 (en) | 2010-12-30 |
EP2281515B1 (en) | 2015-03-25 |
ES2356121T3 (en) | 2011-04-05 |
EP1423056B1 (en) | 2010-11-17 |
PT1423056E (en) | 2011-02-02 |
ES2539948T3 (en) | 2015-07-07 |
PT2281515E (en) | 2015-07-28 |
WO2003020139A3 (en) | 2003-08-07 |
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