System and method for performing surgical procedures with a modular surgical system

Abstract

A surgical system is provided including a reusable handle assembly having a controller and a reusable cannula assembly configured to be operatively connected to and steerable by the reusable handle assembly. Additionally, the surgical system includes a plurality of surgical instruments configured to be inserted through the reusable handle assembly and configured to advance a length of the reusable cannula assembly, such that the plurality of surgical instruments are engaged with at least one trigger mechanism of the reusable handle assembly. The handle assembly, the cannula assembly, and the plurality of surgical instruments are modular components configured to be releasably or removably coupled or interconnected to each other.

Claims

1. A surgical system comprising: a reusable handle assembly having a controller and an electrical switch; a reusable cannula assembly steerable by the reusable handle assembly, the reusable cannula assembly being a tubular member defining a lumen therethrough, the reusable cannula assembly having first linkages and second linkages formed on sections of the tubular member; and a plurality of surgical instruments configured to be inserted through the reusable handle assembly and configured to advance through the reusable cannula assembly from a proximal end to a distal end thereof such that the plurality of surgical instruments are engaged with at least one trigger mechanism of the reusable handle assembly; wherein the reusable handle assembly, the reusable cannula assembly, and the plurality of surgical instruments are modular components configured to be releasably coupled to each other; and wherein the first linkages have a first linear configuration and a second pre-set bent configuration, the first linkages configured to transition from the linear configuration to the pre-set bent configuration in response to activation of the electrical switch of the reusable handle, the second linkages articulating in response to the controller.

2. The surgical system according to claim 1, wherein the reusable handle assembly is configured to include a self-contained battery pack and a motor incorporated therewith for powering the surgical system.

3. The surgical system according to claim 2, wherein the reusable handle assembly is configured to include electronic circuitry electrically communicating with at least one processor for enabling flow of electrosurgical energy between the self-contained battery pack and the motor.

4. The surgical system according to claim 1, wherein the controller of the reusable handle assembly is a joystick mechanism configured to steer the second linkages.

5. The surgical system according to claim 1, wherein the proximal end of the reusable cannula assembly is slidably inserted into a mating mechanism of the reusable handle assembly.

6. The surgical system according to claim 1, wherein the second linkages include first and second segments, the first segment having a length equal to a length of the second segment.

7. The surgical system according to claim 1, wherein the second linkages are flexible segments.

8. The surgical system according to claim 1, wherein the proximal end of the reusable cannula assembly includes an articulation assembly for interfacing with at least one cable for steering the second linkages.

9. The surgical system according to claim 1, wherein at least one surgical instrument of the plurality of surgical instruments includes a proximal end, a flexible shaft connected to the proximal end, and an end effector assembly connected at a distal end of the flexible shaft.

10. The surgical system according to claim 9, wherein the at least one surgical instrument of the plurality of surgical instruments is configured to include at least one mechanical mating mechanism for mating with the reusable handle assembly.

11. The surgical system according to claim 10, wherein the at least one mechanical mating mechanism of the at least one surgical instrument of the plurality of surgical instruments includes a plurality of spaced protrusions and a plurality of spaced recesses for enabling snapping or coupling with the reusable handle assembly.

12. The surgical system according to claim 9, wherein the end effector assembly includes a pair of opposed jaw members such that at least one of the jaw members is induced to move relative to the other jaw member between open and closed positions in response to manipulation of the reusable handle assembly.

13. The surgical system according to claim 1, wherein the reusable handle assembly includes at least sensor positioned thereabout.

14. The surgical system according to claim 1, wherein the reusable handle assembly includes at least one indicator configured to indicate at least one parameter related to the reusable cannula assembly and the plurality of surgical instruments.

15. The surgical system according to claim 14, wherein the at least one indicator is selected from a group consisting of a numerical indicator and a color indicator or a combination thereof.

16. The surgical system according to claim 14, wherein the at least one parameter relates to positional orientations of the second linkages.

17. The surgical system according to claim 14, wherein the at least one parameter relates to battery pack life.

18. The surgical system according to claim 14, wherein the at least one parameter relates to end-of-life of the reusable handle assembly after a predetermined number of replacements exceed a predetermined limit.

19. The surgical system according to claim 14, wherein the at least one parameter relates to actuations of the plurality of surgical instruments.

20. The surgical system according to claim 14, wherein the at least one parameter relates to coupling relationships between the reusable handle assembly, reusable cannula assembly, and the plurality of surgical instruments.

21. A surgical system comprising: a reusable handle assembly having a controller, an electrical switch, and a mating mechanism; a reusable cannula assembly steerable by the reusable handle assembly, the reusable cannula assembly having first linkages and second linkages formed on an outer surface of the reusable cannula assembly, the reusable cannula assembly having a proximal end slidably insertable into the mating mechanism to interconnect the reusable cannula assembly and the reusable handle assembly; and a plurality of surgical instruments configured to be inserted through the reusable handle assembly and configured to advance through the reusable cannula assembly from a proximal end to a distal end thereof such that the plurality of surgical instruments are engaged with at least one trigger mechanism of the reusable handle assembly, wherein the first linkages are configured to transition from a first linear configuration to a second pre-sent bent configuration in response to activation of the electrical switch, and wherein the second linkages are configured to articulate independent of the first linkages.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiment(s) given below, serve to explain the principles of the disclosure, wherein:

(2) FIG. 1 is a perspective view of a surgical system having a reusable/modular handle assembly, a reusable/modular cannula assembly, and a surgical instrument, in accordance with the present disclosure;

(3) FIG. 2A is a cut-away view of the handle assembly, in accordance with the present disclosure;

(4) FIG. 2B is a side view of the handle assembly, in accordance with the present disclosure;

(5) FIG. 3A is a perspective view of the reusable cannula assembly, in accordance with the present disclosure;

(6) FIG. 3B is a magnified interior view of a proximal end of the reusable cannula assembly of FIG. 3A, in accordance with the present disclosure; and

(7) FIGS. 4A-4C are perspective views of the surgical system of FIG. 1, illustrating how the handle assembly, cannula assembly, and surgical instrument are releasably or removably coupled/connected/attached to each other, in accordance with the present disclosure.

DETAILED DESCRIPTION

(8) Embodiments of the presently disclosed apparatus will now be described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term distal refers to that portion of the tool, or component thereof which is further from the user while the term proximal refers to that portion of the tool or component thereof which is closer to the user.

(9) In the exemplary embodiments of the present disclosure, the surgical system includes: 1) a powered reusable handle assembly with a joystick controller and a self-contained battery pack, 2) a reusable and steerable shape locking cannula assembly, and 3) at least one flexible instrument with the ability to swap out and be used within the same reusable handle assembly. The components or units or assemblies are modular and snap together for use and snap apart for cleaning. The cannula assembly is designed to be inserted straight through a single incision and is electronically activated to have a preset offset bend, which modifies the angle of approach to be lateral within the abdomen of a patient. Flexible surgical instruments are then guided down and follow the inside shape of the cannula assembly. Distal articulating linkages are then steered by using a controller, such as a joystick controller, to gain precise movement in and around the target surgical site.

(10) In the exemplary embodiments of the present disclosure, through a single incision, the ability to provide lateral traction inside the abdomen without instrument crossover/clashing is achieved. Hand separation and comfort to the end user through powered controls as opposed to manual wrist operation is also achieved. The modular design of the components/assemblies results in cost efficiency by reusing a single motor repeatedly.

(11) Referring to FIG. 1, a surgical system 100 for use in a surgical procedure, e.g., a minimally invasive procedure is illustrated. Surgical system 100 includes a powered reusable handle assembly 110, a steerable reusable cannula assembly 120, and at least one surgical instrument 130.

(12) The powered reusable handle assembly 110 includes a controller 112, a motor 114, a mating mechanism 116, a trigger mechanism 118, and a handle portion 119. The powered reusable handle assembly 110 also includes a switch 115 for activating an initial offset bend of the reusable cannula assembly 120.

(13) The controller 112 of the powered reusable handle assembly 110 may be a joystick mechanism configured to steer a plurality of articulation linkages 128, which are distally disposed on the reusable cannula assembly 120, as described below.

(14) The reusable cannula assembly 120 includes a distal end 122 and a proximal end 124. The distal end 122 is connected to the proximal end 124 via a shaft portion 126. The distal end 122 includes a plurality of articulation linkages 128. The articulation linkages 128 may be equally spaced apart from each other. The articulation linkages 128 may be flexible segments, which are of equal length relative to each other or which are of different length relative to each other. The plurality of articulation linkages 128, distally disposed, facilitate the bending of a portion of the surgical instrument 130 via the controller 112, described below. Additionally, the reusable cannula assembly 120 may include linkages 129 that are not controlled by the controller 112. The linkages 129 may define a pre-set bend actuated by operating switch 115.

(15) The surgical instrument 130 includes an end effector assembly 132 at its distal end and an actuation mechanism 138 at its proximal end 134. The end effector assembly 132 is connected to the actuation mechanism 138 via a flexible shaft portion 136.

(16) The end effector assembly 132 of the surgical instrument 130 may include a pair of opposed jaw members such that at least one of the jaw members is induced to move relative to the other jaw member between open and close positions in response to manipulation of the reusable handle assembly 110.

(17) It is noted that the entire surgical instrument 130 may be slidable inserted through and locked into the reusable handle assembly 110 or that a portion of the surgical instrument 130 may be slidable inserted through and locked within the reusable handle assembly 110. FIG. 4C, described below, illustrates a portion of the surgical instrument 130 protruding from the reusable handle assembly 110.

(18) In operation, the reusable cannula assembly 120 is configured to be operatively connected to and steerable by the reusable handle assembly 110. The proximal end 124 of the reusable cannula assembly 120 is connected to the mating mechanism 116 of the reusable handle assembly 110. After the connection of the reusable cannula assembly 120 and the reusable handle assembly 110 takes place, the surgical instrument 130 is configured to be inserted through the reusable handle assembly 110 and configured to advance a length of the reusable cannula assembly 120. The surgical instrument 130 is configured to engage with the trigger mechanism 118 of the reusable handle assembly 110.

(19) It is noted that the handle assembly 110, the cannula assembly 120, and the surgical instrument 130 are modular components configured to be releasably coupled/connected/attached to each other. The mating mechanism 116 enables snapping or interconnecting with the cannula portion 125. The mating mechanism 116 may include a plurality of spaced protrusions and a plurality of spaced recesses for enabling snapping or interconnecting with the reusable handle assembly 110. The cannula portion 125 may also include a plurality of protrusions and/or recesses for enabling its connection with the mating mechanism 116. It is noted that the connection is a releasable or removable or detachable connection, in order to allow the components to be modular components. Thus, releasable securement is caused by the mechanical mating mechanism 116, which may be incorporated on proximal and/or distal ends of the reusable handle assembly 110, the reusable cannula assembly 130, and/or the surgical instrument 130.

(20) Referring to FIG. 2A, a cut-away view 200A of the reusable handle assembly is presented, whereas referring to FIG. 2B, a side view 200B of the reusable handle assembly is presented, in accordance with the present disclosure.

(21) FIG. 2A depicts the batteries 210 and the electronic circuitry 220 positioned within the handle portion 119 of the reusable handle assembly 110. The reusable handle assembly 110 is configured to include the battery pack 210 and the motor 114 incorporated therewith for powering the surgical system 100 (see FIG. 1). Additionally, FIG. 2A depicts the controller 112, which is in electrical communication with the batteries 210 and the trigger mechanism 118, which is in mechanical cooperation with the motor/cannula assembly interface 230. The electronic circuitry 220 is configured to electrically communicate with at least one processor for enabling flow of electrosurgical energy between the battery pack 210 and the motor 114.

(22) FIG. 2B depicts the relative positions of the motor 114, the trigger mechanism 118, the controller 112, and the switch 115 with respect to the handle portion 119. Once again, the controller 112 may be a joystick mechanism that steers the articulation linkages 128 of the reusable cannula assembly 120 (see FIG. 1), which are distally disposed on the reusable cannula assembly 120.

(23) It is also envisioned that battery pack 210 includes at least one disposable battery. The disposable battery may be between about 9 volts and about 30 volts and may be useful in a disposable surgical system configuration. Other power-supplying means are also contemplated including electric power. In alternative embodiments a cord is provided to connect the surgical system 100 to a generator. Additionally, the surgical system 100 may be wirelessly connected to a power source.

(24) Referring to FIG. 3A, a perspective view of the reusable cannula assembly, in accordance with the present disclosure is presented. Referring to FIG. 3B, a magnified interior view of a proximal end of the reusable cannula assembly of FIG. 3A, in accordance with the present disclosure is presented.

(25) FIGS. 3A and 3B pertain to the interior view 300 of the reusable cannula assembly 120. The proximal end 124 of the reusable cannula assembly 120 may be referred to as the articulation assembly 124. The articulation assembly 124 includes racks 320 that attach to cables 310 to steer the articulation linkages 128, distally disposed. The articulation assembly 124 also includes a motor interface 330 and lead screws 340 driven by the motor 114 (see FIG. 2B). Additionally, the shaft portion 126 may be a flexible portion which houses the cables 310. Therefore, the reusable cannula assembly 120 includes an articulation assembly 124 at a proximal end thereof for interfacing with at least one cable 310 for steering the plurality of articulation linkages 128, which are distally disposed on the reusable cannula assembly 120.

(26) Referring to FIGS. 4A-4C, perspective views of the surgical instrument system of FIG. 1, illustrating how the handle assembly, cannula assembly, and surgical instrument are releasably coupled/connected/attached to each other, in accordance with the present disclosure is presented.

(27) FIGS. 4A-4C illustrate the connection mechanism 400 of the modular components. In a first step 410, shown in FIG. 4A, the modular cannula assembly 120 snaps into or releasably interconnects with the modular handle assembly 110. In a second step 420, shown in FIG. 4B, the surgical instrument 130 snaps into or releasably interconnects within the modular handle assembly 110. In the third step 430, shown in FIG. 4C, the surgical instrument 130 is slidably inserted through the modular cannula assembly 120. In the fourth step 440, shown in FIG. 4C, the surgical instrument 130 releasably or removably engages with the trigger mechanism 118 of the modular handle assembly 110.

(28) Therefore, one method of the exemplary embodiments includes releasably securing the modular handle assembly 110 to the modular cannula assembly 120, the modular handle assembly 110 including a joystick controller 112, a self-contained battery pack 210, electronic circuitry 220, and the motor 114, inserting at least one surgical instrument 130 through the modular handle assembly 110, advancing the at least one surgical instrument 130 a length of the modular cannula assembly 120, releasably securing the at least one surgical instrument 130 to the modular handle assembly 110 and steering the modular cannula assembly 120 via the joystick controller 112 of the modular handle assembly 110 so as to actuate the at least one surgical instrument 130.

(29) In an alternative embodiment, the reusable handle assembly 110 may include at least one sensor positioned thereon or therewith. For example, electrical contacts, proximity sensors, optical sensors, photo diodes, and/or mechanical or metallic sensors may be used to control and/or record information concerning the end effector assembly 132 or the articulation linkages 128 distally disposed or the coupling relationships established between the components of the surgical system 100.

(30) In yet another alternative embodiment, the reusable handle assembly 110 may include at least one indicator configured to indicate at least one parameter related to the reusable cannula assembly 120 and the surgical instrument 130.

(31) The at least one indicator may be either a numerical indicator or a color indicator or a combination thereof.

(32) The at least one parameter may relate to positional orientations of a plurality of articulation linkages 128 distally disposed on the reusable cannula assembly 130, may relate to battery pack life, may relate to end-of-life of the reusable handle assembly 110 after a predetermined number of replacements exceed a predetermined limit, may relate to actuations of the surgical instrument 130, and may also relate to coupling relationships established between the reusable handle assembly 110, the reusable cannula assembly 120, and the surgical instrument 130.

(33) Additionally, the load or loads on battery pack 210 and motor 114 of powered surgical system 100 are determined to control a motor speed if the load or loads indicate a damaging limitation is reached or approached. For example, the energy remaining in battery pack 210, the number of firings remaining, whether battery pack 210 must be replaced or charged, and/or approaching the potential loading limits of powered surgical system 100 may be determined.

(34) While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of presently disclosed embodiments. Thus the scope of the embodiments should be determined by the appended claims and their legal equivalents, rather than by the examples given.

(35) Persons skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present disclosure. As well, one skilled in the art will appreciate further features and advantages of the present disclosure based on the above-described embodiments. Accordingly, the present disclosure is not to be limited by what has been particularly shown and described, except as indicated by the appended claims.