Articulation mechanisms for robotic surgical tools
US-2024252025-A1 · Aug 1, 2024 · US
US9867631B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9867631-B2 |
| Application number | US-201414464463-A |
| Country | US |
| Kind code | B2 |
| Filing date | Aug 20, 2014 |
| Priority date | Aug 20, 2013 |
| Publication date | Jan 16, 2018 |
| Grant date | Jan 16, 2018 |
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Official abstract text for this publication.
Surgical forceps for gripping internal organs during minimally invasive surgery are provided. The surgical forceps can be a sanitizable sheet in a folded configuration that includes a first elongate region which transitions to a resilient hinge which transitions to a second elongate region, all of which are formed of the same sheet. The first elongate region can further include a first grasper end opposite the resilient hinge and the second elongate region can include a second grasper end opposite the resilient hinge. The resilient hinge can apply a spring force to the first elongate region and the second elongate region that biases the forceps in an open configuration where the first grasper end and the second grasper end are distal from each other. When an external force is applied against the resilient hinge, the first grasper end can close against the second grasper end.
Opening claim text (preview).
What is claimed is: 1. A surgical forceps, comprising: a sanitizable sheet in a folded configuration having a plurality of folds, the folded configuration comprising: a first elongate region which transitions to a resilient hinge which transitions to a second elongate region, wherein the first elongate region, the resilient hinge, and the second elongate region are all formed of a same sheet; the first elongate region having a first grasper end opposite the resilient hinge; the second elongate region having a second grasper end opposite the resilient hinge; wherein the resilient hinge applies a spring force to the first elongate region and the second elongate region that biases the forceps in an open configuration where the first grasper end and the second grasper end are spaced from each other; wherein application of an external force against the resilient hinge of sufficient magnitude to overcome the spring force of the resilient hinge causes the first grasper end to close against the second grasper end in mutual contact; and wherein the sheet is configured with a plurality of panels each defined by spaces between each of the plurality of panels and a plurality of bridging connectors, and wherein each of the plurality of bridging connectors traverses the spaces and connects opposing ends of two adjacent panels of the plurality of panels together at the plurality of folds. 2. The surgical forceps of claim 1 , wherein each fold of the plurality of folds occurs along a section of the sheet having a thickness dimension that is less than an average thickness dimension of the sheet at areas other than the plurality of folds. 3. The surgical forceps according to claim 1 , wherein the plurality of bridging connectors are selected from a group consisting of bridges and creases. 4. The surgical forceps of claim 1 , wherein the plurality of folds occur at the plurality of bridging connectors. 5. The surgical forceps of claim 1 , wherein the forceps are constructed of the sheet formed of a single material. 6. The surgical forceps of claim 1 , wherein the forceps are constructed of the sheet formed of a single monolithic or composite material. 7. The surgical forceps of claim 1 , wherein the forceps are constructed of the sheet formed of two or more layers of material adhered together. 8. The surgical forceps of claim 1 , wherein the forceps are constructed of the sheet formed of a continuous material. 9. The surgical forceps according to claim 1 , wherein the first and second elongate regions are flat. 10. The surgical forceps according to claim 1 , wherein the first and second elongate regions are in mutual contact when the forceps are introduced into a body cavity. 11. The surgical forceps according to claim 1 , wherein the first and second elongate regions are folded flat when the forceps are introduced into a body cavity. 12. The surgical forceps according to claim 1 , wherein the resilient hinge comprises a diamond-like or rectangular pattern. 13. The surgical forceps according to claim 1 , wherein the resilient hinge forms a 90 degree interior crease angle, a 45 degree interior crease angle, an interior crease angle of less than 90 degrees, or an interior crease angle of more than 45 degrees. 14. The surgical forceps according to claim 1 , wherein the first grasper end and the second grasper end are capable of compliantly conforming in shape to an organ or structure within a body upon application of the external force against the resilient hinge. 15. The surgical forceps according to claim 1 , further comprising a mechanism for manipulating the resilient hinge. 16. The surgical forceps according to claim 15 , wherein the mechanism for manipulating the resilient hinge causes the first grasper end and second grasper end to move relative to one another, thereby compliantly conforming in shape to an organ or structure within a body. 17. A kit comprising: surgical forceps according to claim 1 ; and a port suitable for use in inserting the surgical forceps into a body cavity, wherein said port comprises a flexible, elongate hollow tube suitable for passage of the surgical forceps therethrough. 18. A method for gripping an organ or structure within a body comprising the steps of: a) introducing surgical forceps into a body cavity containing the organ or structure, comprising: (i) a sanitizable sheet in a folded configuration having a plurality of folds, the folded configuration comprising: a first elongate region which transitions to a resilient hinge which transitions to a second elongate region, wherein the first elongate region, the resilient hinge, and the second elongate region are all formed of a same sheet; the first elongate region having a first grasper end opposite the resilient hinge; the second elongate region having a second grasper end opposite the resilient hinge; wherein the resilient hinge applies a spring force to the first elongate region and the second elongate region that biases the forceps in an open configuration where the first grasper end and the second grasper end are spaced from each other; and wherein application of an external force against the resilient hinge of sufficient magnitude to overcome the spring force of the resilient hinge causes the first grasper end to close against the second grasper end in mutual contact; and (ii) a mechanism for manipulating the resilient hinge; b) applying the external force to cause the first grasper end and the second grasper end to compliantly conform in shape to the organ or structure and grip the organ or structure; wherein the sheet is configured with a plurality of panels each defined by spaces between each of the plurality of panels and a plurality of bridging connectors, and wherein each of the plurality of bridging connectors traverses the spaces and connects opposing ends of two adjacent panels of the plurality of panels together at the plurality of folds.
connectable to a finger · CPC title
Forceps for use in minimally invasive surgery · CPC title
Methods of manufacturing · CPC title
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with flexible part · CPC title
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