U.S. patent application number 16/240085 was filed with the patent office on 2019-10-10 for soft conformal laparoscopic instrument.
The applicant listed for this patent is Soft Robotics, Inc.. Invention is credited to Ryan Richard Knopf, Joshua Aaron Lessing, Carl Everett Vause.
Application Number | 20190309928 16/240085 |
Document ID | / |
Family ID | 52697591 |
Filed Date | 2019-10-10 |
United States Patent
Application |
20190309928 |
Kind Code |
A1 |
Vause; Carl Everett ; et
al. |
October 10, 2019 |
SOFT CONFORMAL LAPAROSCOPIC INSTRUMENT
Abstract
A soft robotic instrument that is capable of changing its form
factor (e.g., expanding and contracting) during use to facilitate
minimally invasive surgery. The instrument may be formed wholly or
partly of an elastomeric, electrically insulating material for
mitigating the risk of injuring tissue and for mitigating the risk
of electrical arcing during electrosurgery.
Inventors: |
Vause; Carl Everett;
(Concord, MA) ; Lessing; Joshua Aaron; (Cambridge,
MA) ; Knopf; Ryan Richard; (Cambridge, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Soft Robotics, Inc. |
Cambridge |
MA |
US |
|
|
Family ID: |
52697591 |
Appl. No.: |
16/240085 |
Filed: |
January 4, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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14645301 |
Mar 11, 2015 |
10208925 |
|
|
16240085 |
|
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|
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61950954 |
Mar 11, 2014 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 2090/0427 20160201;
A61B 2017/2215 20130101; A61B 2090/0817 20160201; A61B 2017/00535
20130101; B25J 15/12 20130101; B25J 15/0023 20130101; A61B 17/22032
20130101; A61B 34/30 20160201; F21V 14/085 20130101; F21V 23/0414
20130101; A61B 17/29 20130101; A61B 2017/00539 20130101; A61B
2017/306 20130101; A61B 2017/2217 20130101; A61B 2017/00557
20130101; A61B 17/221 20130101; F21L 4/00 20130101 |
International
Class: |
F21V 14/08 20060101
F21V014/08; A61B 34/30 20060101 A61B034/30; B25J 15/00 20060101
B25J015/00; B25J 15/12 20060101 B25J015/12; A61B 17/221 20060101
A61B017/221; A61B 17/29 20060101 A61B017/29; F21V 23/04 20060101
F21V023/04; F21L 4/00 20060101 F21L004/00; A61B 17/22 20060101
A61B017/22 |
Claims
1. A medical device, comprising: an actuator, comprising an
elastomeric material and a plurality of interconnected fluid
compartments, wherein the actuator is moveable between a first
configuration characterized by a first internal pressure within the
plurality of fluid compartments and a second configuration
characterized by a second internal pressure within the plurality of
fluid compartments, the second internal pressure being different
than the first internal pressure; and a fluid conduit sized and
shaped to couple to a fluid source, the fluid conduit in fluid
communication with at least one of the fluid compartments and
adapted to transmit fluid pressure between the fluid source and the
at least one fluid compartment.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation application based on U.S.
application Ser. No. 14/645,301, filed on Mar. 11, 2015, which
claims the benefit of priority under 35 U.S.C. .sctn. 119(e) to
U.S. Provisional Patent Application No. 61/950,954 by Carl Everett
Vause, et al. titled "Soft Conformal Laparoscopic Instrument." The
entire disclosure of the foregoing application is incorporated
herein by reference for all purposes.
FIELD OF THE DISCLOSURE
[0002] The disclosure relates generally to the field of medical
devices and more particularly to soft robotic instruments for
performing medical procedures.
BACKGROUND OF THE DISCLOSURE
[0003] Laparoscopic surgery is a surgical technique in which
operations in the abdomen are performed through small incisions
(usually 0.5-1.5 cm). There are a number of advantages provided to
a patient undergoing laparoscopic surgery versus an open surgical
procedure. These include a much smaller incision, reduced pain and
hemorrhaging, and shorter recovery time.
[0004] Modem laparoscopic instruments, including
robotically-assisted laparoscopic instruments, typically include an
elongated shaft that terminates in a mechanical end effector for
reaching into a patient's body and manipulating the patient's
tissue in a desired manner. The end effector may be a simple
mono-polar electrode, a toothed grasper, scissors, or some other
device or structure that is adapted to perform a desired function
during a laparoscopic procedure. Laparoscopic instruments are
generally formed of rigid materials, such as metals and plastics,
in order to facilitate articulation, grasping, cutting, and other
movements and/or actions that may be necessary.
[0005] Conventional laparoscopic instruments are associated with a
number of shortcomings. For example, due to their rigidity, and
since they are generally not conformal and are not capable of
significantly altering their shape during use, such instruments
have outer dimensions that define minimum and maximum dimensions of
surgical access ports in patients' through which they extend. This
restricts the number of useful procedures and operating
environments in which such instruments may be employed.
[0006] A further shortcoming associated with conventional
laparoscopic instruments is that, since these instruments often
include teeth, blades, jaws, serrations, or other such features
that are formed of hard plastic and/or metal, there exists a
significant risk of unintentionally injuring tissue while
performing a laparoscopic procedure, such as may result from
accidental and/or overly-forcible contact with tissue.
[0007] A further shortcoming associated with conventional
laparoscopic instruments is that, in embodiments of such
instruments that have metallic surfaces and that are used for
performing electosurgery and/or are used in conjunction with other
instruments that are used for electrosurgery, instances of
electrical arching have been known to occur, sometimes resulting in
injury to patients.
[0008] The above described challenges have heretofore been
mitigated by heightened surgeon awareness, extensive training, and
complete avoidance of certain anatomical structures and pathologies
that are known to present challenges. This places a significant
burden on surgeons and limits the range of applications in which
laparoscopic instruments may be used.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] FIG. 1a is perspective view illustrating a first exemplary
embodiment of a soft robotic instrument in accordance with the
present disclosure.
[0010] FIG. 1b is a side view illustrating an exemplary embodiment
of pressurizeable fluid source in accordance with the present
disclosure.
[0011] FIG. 1e is a cross sectional view illustrating a shaft cuff
of the soft robotic instrument shown in FIG. 1a.
[0012] FIG. 2a is perspective view illustrating a second exemplary
embodiment of a soft robotic instrument in accordance with the
present disclosure in a pressurized configuration.
[0013] FIG. 2b is perspective view illustrating the soft robotic
instrument shown in FIG. 2a in a depressurized configuration.
[0014] FIG. 3a is perspective view illustrating a third exemplary
embodiment of a soft robotic instrument in accordance with the
present disclosure in a pressurized configuration.
[0015] FIG. 3b is perspective view illustrating the soft robotic
instrument shown in FIG. 3a in a depressurized configuration.
[0016] FIG. 4 is perspective view illustrating a fourth exemplary
embodiment of a soft robotic instrument in accordance with the
present disclosure.
[0017] FIG. Sa is perspective view illustrating a fifth exemplary
embodiment of a soft robotic instrument in accordance with the
present disclosure in one of a pressurized or depressurized
configuration.
[0018] FIG. Sb is perspective view illustrating the soft robotic
instrument shown in FIG. Sa in a depressurized or pressurized
configuration, depending upon whether the configuration of FIG. Sa
is pressurized or depressurized, respectively.
SUMMARY OF THE INVENTION
[0019] "Soft robotic" actuators that are configured to perform new
fundamental motions--such as bending, twisting, and
straightening--are described. Soft robotic technologies are
discussed in PCT International Publication Number WO2012/148472,
which is incorporated herein by reference in its entirety. The
present invention includes the implementation of soft robotic
technologies into specific configurations that are useful for
minimally invasive surgical techniques, and minimally invasive
surgical methods that employ such soft robotic configurations.
[0020] Certain embodiments of the present disclosure describe
fabrication and operation of pressurizable networks of channels or
chambers (Pneu-Nets) embedded in elastomeric or extensible bodies.
The pressurizable network actuators can be programmed to change
shape and mechanical properties using an external stimulus,
including pneumatic or hydraulic pressure. The soft robot
structures utilize designs of embedded pneumatic or hydraulic
networks of channels in elastomers that inflate like balloons for
actuation or in folded extensible fabrics that can open up when
pressurized. A plurality of chambers embedded within an elastomer
can be used as a series of repeating components. Stacking and
connecting these repeated components provide structures capable of
complex motion. In this type of design, complex motion requires
only a single pressure source (although more than one source can be
used, if desired). The appropriate distribution, configuration, and
size of the pressurizable networks, in combination with a sequence
of actuation of specific network elements, determine the resulting
movement.
[0021] In one aspect, the present invention relates to a medical
device that includes a soft robotic actuator (referred to, for
brevity, as an "actuator") comprising an elastomeric material and a
plurality of interconnected fluid compartments. The actuator is
moveable between first and second configurations characterized by
different first and second internal pressures within the plurality
of fluid compartments, respectively. The device also includes a
fluid conduit sized and shaped to couple to a fluid source, which
conduit is in fluid communication with at least one of the fluid
compartments so as to transmit fluid pressure between the fluid
source and the fluid compartment(s). The medical device can
optionally include one or more additional features. For instance,
the actuator can include a strain limiting portion about which the
actuator bends when moved between the first and second
configurations. Alternatively or additionally, the second
configuration can be characterized by a larger outer diameter than
the first configuration, and the outer diameter of the first
configuration can be less than the inner diameter of a medical
device (such as a dilator, an introducer sheath, and a working
channel of a laparoscope or endoscope) through which the medical
device is inserted into a patient. When it is moved from the first
to the second configuration, the actuator optionally undergoes a
motion such as bending, twisting, curling and straightening. In
some cases, the device includes a plurality of actuators defining a
grasping structure, in which case the grasping structure may be
open when the actuators are in a first configuration and closed
when the actuators are in the second configuration, or vice versa.
The grasping structure may also include a mesh, a membrane or a
polymer sheet extending between the plurality of actuators, such
that the grasping structure defines a cup. In some cases, the
device includes first and second loop shaped actuators which define
a substantially spherical space. To do this, the second actuator is
attached to the first actuator but is oriented transversely to it.
Additionally, the device optionally includes a user-activated
mechanism for moving fluid between the fluid reservoir and the
plurality of fluid chambers.
[0022] In another aspect, the present invention relates to a system
for treating a patient that includes a medical device comprising an
actuator and a fluid conduit substantially as described above,
along with a fluid source configured to couple to the fluid conduit
and a user-activated mechanism (also as described above) for moving
fluid between the fluid source and the plurality of fluid
compartments, thereby changing the configuration of the actuator.
The system preferably (though not necessarily) includes a hollow
shaft, in which case the actuator is slidably disposed within the
hollow shaft. As discussed above, the system can also include a
plurality of actuators defining a grasping structure, in which case
the grasping structure may be open when the actuators are in a
first configuration and closed when the actuators are in the second
configuration, or vice versa. The grasping structure may also
include a mesh, a membrane or a polymer sheet extending between the
plurality of actuators, such that the grasping structure defines a
cup. Alternatively, the system includes first and second loop
shaped actuators which define a substantially spherical space. As
above, this is accomplished by means of the attachment and
transverse orientation of the second actuator relative to the first
actuator. The method also optionally includes
[0023] In another aspect, the present invention relates to a method
of treating a patient which includes inserting at least part of a
medical device or system comprising a soft robotic actuator and
fluid source, as described above, into the body of a patient. The
method can also include moving the actuator from the first to the
second configuration, which step may entail contacting a body
tissue and/or a medical instrument with the actuator. Alternatively
or additionally, the step of moving the actuator includes one or
more of pushing, pulling or grasping a body tissue without damaging
the tissue. As is discussed in greater detail below, one advantage
of the soft robotic actuators relative to currently used rigid
medical devices is that the soft robotic actuators may be
significantly less traumatic, facilitating the atraumatic or
minimally-traumatic manipulation of delicate body tissues. In some
cases, the insertion of the device into the body includes disposing
a distal end of a hollow shaft (e.g. a catheter, cannula, dilator,
laparoscope or endoscope working channel) within the body of the
patient and advancing at least a portion of the medical device
through the hollow shaft and into the body of the patient.
[0024] In still another aspect, a soft body robotic device includes
a flexible molded body having a plurality of interconnected
chambers disposed within the molded body. A portion of the molded
body is comprised of an elastically extensible material and a
portion of the molded body is strain limiting relative to the
elastically extensible material. The thickness of the molded body
is at least 1 mm. The soft body robotic device further includes a
pressurizing inlet that is configured to receive fluid for the
plurality of interconnected chambers. The molded body in the soft
body robotic device is configured to preferentially expand when the
plurality of interconnected chambers are pressurized by the fluid,
causing a bending motion around the strain limiting portion of the
molded body.
[0025] And in another aspect, a soft body robotic device includes a
flexible molded body comprising a plurality of interconnected
pleated chambers. The flexible molded body includes a flexible
material and is affixed to a strain limiting member in such a
manner that the strain limiting member forms a wall of the
plurality of interconnected pleated chambers. The thickness of the
molded body is at least 1 mm. The soft body robotic device further
includes a pressurizing inlet that is configured to receive fluid
for the plurality of interconnected pleated chamber. The plurality
of interconnected pleated chambers are configured to preferentially
unfold when the flexible molded body is pressurized through the
pressurizing inlet, causing bending motion around the strain
limiting member.
[0026] In yet another aspect, a soft body robotic device is capable
of extension. This soft robotic device includes a flexible molded
body having a plurality of interconnected chambers disposed within
the molded body. The soft robotic device also includes a sealing
member in a facing relationship with the flexible molded body, in
which the flexible molded body and the sealing member together
define a plurality of channels. Each channel is defined by upper,
lower and side walls. The sealing member is in a state of
compression in its resting state. The soft robotic device
additionally includes a pressurizing inlet in fluid communication
with the plurality of channels. The plurality of channels are
positioned and arranged such that the soft body robotic device
expands to relieve the strain in the sealing member when the soft
body robotic device is pressurized through the inlet.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0027] The present invention will now be described more fully
hereinafter with reference to the accompanying drawings, in which
preferred embodiments of the invention are shown. The invention,
however, may be embodied in many different forms and should not be
construed as being limited to the embodiments set forth herein.
Rather, these embodiments are provided so that this disclosure will
be thorough and complete, and will fully convey the scope of the
invention to those skilled in the art. In the drawings, like
numbers refer to like elements throughout.
[0028] In accordance with the present disclosure, a soft robotic
instrument is provided that is capable of changing its form factor
(e.g., expanding and contracting) during use to facilitate
minimally invasive surgery. Although the present invention is
described with specific reference to laparoscopic surgical
techniques, it is to be appreciated that the present invention may
be equally applicable to other types of minimally invasive surgery.
The instrument may be formed wholly or partly of an elastomeric,
electrically insulating material for mitigating the risk of
injuring tissue and for mitigating the risk of electrical arcing
during electrosurgery.
[0029] Referring to FIG. 1a, a first embodiment of an instrument in
accordance with the present disclosure includes a grasping device
100 (hereinafter "the grasper 100") that employs soft robotic
actuators 102 in place of metal jaws that are typically employed by
conventional laparoscopic graspers. The actuators 102 may extend
from an opening in an elongated, tubular shaft 103 that may be
inserted into the body of a patient during a laparoscopic procedure
as further described below.
[0030] Each of the actuators 102 may be defined by a flexible body
104 having one or more pressurizeable (e.g., inflatable) fluid
channels and/or chambers 106 formed therein. A portion of the
flexible body 104 may be formed of an elastomeric material and
another portion of the flexible body 104 may be strain limiting
relative to the elastomeric material. The elastomeric portions of
the flexible body 104 may be caused to bend around the strain
limiting portions via pressurization and depressurization of the
fluid chambers 106, thereby allowing the actuators 102 to be
controllably expanded, contracted, shaped, and/or moved in a
predefined manner.
[0031] The fluid chambers 106 may be connected to one or more
pressurizeable fluid sources 105 (see FIG. 1b), such as via fluid
conduits (not shown) that extend through the shaft 103. The
pressurizeable fluid source 105 may be manually or automatically
operated to pressurize and depressurize the fluid chambers 106 in
the actuators 102. Referring to FIG. 1b, a non-limiting example of
the pressurizeable fluid source 105 may include a trigger-operated
pump or piston 107 that drives an amount of working fluid through a
cylinder 109 that is coupled to the fluid conduits in the shaft
103. Alternatively, the pressurizeable fluid source 105 may be
embodied by any suitable pneumatic or hydraulic fluid
pressurization device, including, but not limited to, hand pumps,
electric compressors, pressurized gas canisters, etc.
[0032] Each of the actuators 102 may be provided with a
corresponding rigid wire 108 (e.g., Nitinol wire) embedded therein
that may extend through the shaft 103. A portion of the wires 18
may protrude from a butt end of the shaft 103 and may be manually
or automatically manipulated to deploy and retract the actuators
102 relative to the tip of the shaft 103. For example, when the
grasper 100 is used to perform a laparoscopic procedure, the
actuators 102 may be depressurized (e.g., deflated) and, having a
reduced size relative to the pressurized configuration of the
actuators 102 shown in FIG. 1a, may be fully retracted into the
hollow interior of the shaft 103. The shaft 103 may then be
inserted into a surgical access port in a patient. Once the tip of
the shaft 103 is appropriately positioned within the patient, the
wires 108 may be manipulated (e.g., pushed) to extend the
depressurized actuators 102 out of the tip of the shaft 103 and
into a suitable position within the patient, such as surrounding a
portion of tissue that is to be grasped. The pressurizeable fluid
source 105 may then be actuated to pressurize the actuators 102,
causing the actuators 102 to expand, bend, and/or move to grasp the
desired tissue. The grasper 100 may then be used to manipulate the
grasped tissue in a desired manner.
[0033] When the grasper 100 is to be removed from the patient, the
actuators 102 may be depressurized and the wires 108 may be
manipulated (e.g., pulled) to retract the actuators 102 back into
the shaft 103. The shaft 103 may then be withdrawn from the
surgical access port. It will therefore be appreciated that the
surgical access port need only be as large as is necessary to
facilitate insertion and removal of the shaft 103, and need not be
so large as to accommodate the actuators 102 in their expanded
(i.e., pressurized), working configuration shown in FIG. 1a.
Moreover, since the actuators 102 are formed of a relatively soft,
elastomeric material, the risk of unintentionally damaging tissue
within the patient is mitigated relative to conventional
laparoscopic grabbers that are formed of rigid materials such as
metal and plastic. Still further, since the elastomeric material of
the actuators 102 is electrically insulating, the risk of
electrical arcing during electrosurgery is mitigated relative to
laparoscopic grabbers that have metallic components and/or
surfaces.
[0034] In addition to the rigid wires 108, it is contemplated that
the actuators 102 may be provided with various other embedded,
rigid components to aid in the actuation, deployment, and/or
retraction of the actuators 102. The actuators 102 may further be
provided with rigid exterior features, including, but not limited
to, teeth 110 and blades 112, such as may be formed of metal or
plastic, for aiding in the grasping and/or cutting of tissue. Such
rigid elements could be adapted for controllable actuation, such as
through the introduction of variable fluid pressure, as well as via
mechanical and/or electrical activation. It is further contemplated
that the actuators 102 can be provided with embedded electrodes for
performing mono-polar or bi-polar electrosurgical techniques, such
as electro-cautery. Still further, it is contemplated that the
actuators 102 may be provided with embedded transducers for
performing ultrasound or Doppler imaging. Still further, while the
grasper 100 has been described and shown as having two actuators
102, it is contemplated that the grasper 100 may be provided with
an additional number of similar actuators, such as may be suitable
or advantageous for manipulating various types of tissue or organs.
Still further, it is contemplated that the actuators 102 may be
provided with internal fluid conduits and outlet ports for
conveying and expelling liquid onto targeted tissue (e.g., to
perform irrigation). Still further, it is contemplated that the
actuators 102 may be provided with internal compartments or
channels for holding and controllably deploying surgical
instruments, such as biopsy needles or laser fibers.
[0035] Referring to FIGS. 1a and 1e, the grasper 100 may be
provided with an elastic cuff 114 that may fit over the tip of the
shaft 103. The cuff 114 may be provided with a plurality of
internal fluid chambers 116a-c that may each be connected to an
independent, pressurizeable fluid source (not shown) that may be
similar to the pressurizeable fluid source 105 described above. By
selectively pressurizing and depressurizing one or more of the
compartments 116a-c, the actuators 102 may be controllably oriented
(e.g., angled or otherwise displaced) relative to the shaft
103.
[0036] Referring to FIGS. 2a and 2b, an exemplary embodiment of a
"multi-fingered" grasper 200 in accordance with en embodiment of
the present disclosure is shown. The grasper 200 may be similar to
the grasper 100 described above, but may be provided with four
actuators 202 having internal fluid compartments that are connected
to a common pressurizeable fluid source that is similar to the
pressurizeable fluid source 105 described above. A lightweight
meshing 204 may extend between each adjacent pair of actuators 202
so that grasper 200 may, in its pressurized configuration shown in
FIG. 2a, form a "cup" that defines an interior volume. The cup may
be placed over a body of tissue that is to be removed or otherwise
manipulated. Of course, it is contemplated that the actuators 202
may be configured to form various types of enclosures other than a
round cup, such as a tent or a box. Moreover, as described above in
relation to the grasper 100, the grasper 200 may be provided with
various rigid features, irrigation fluid conduits, and/or other
embedded structures and devices.
[0037] Referring to FIG. 2b, the grasper 200 is shown in a
depressurized configuration. As can be seen, all of the actuators
202 are collapsed into a single, longitudinally extending "finger"
having a diameter that is smaller than, or substantially equal to,
the diameter of the shaft 203 from which the actuators 202 extend.
The meshing 204 may be collapsed within the actuators 202 in a
folded/interleaved configuration. Thus, like the grasper 100, the
grasper 200 may, in its depressurized configuration, be inserted
into, and withdrawn from, a surgical access port in a patient that
is only large enough to accommodate the shaft 203.
[0038] In addition to the graspers 100 and 200 described above, it
is contemplated that a soft robotic laparoscopic instrument in
accordance with the present disclosure may be implemented using a
variety of other configurations for addressing various operating
needs. For example, referring to FIGS. 3a and 3b, the instrument
may be embodied by a displacer 300 that may include a pair of
longitudinally and laterally oriented loop-shaped actuators 302a,
302b that are connected to one another in a transverse relationship
to define a substantially spherical volume. The actuators 302a,
302b may have internal fluid compartments that are connected to a
common pressurizeable fluid source (not shown) that is similar to
the pressurizeable fluid source 105 described above. A wire or
tendon 304 may extend longitudinally from the shaft 303 and may be
connected to a distal terminus of the longitudinally-extending
actuator 302a. After the actuators 302a, 302b of the displacer 300
are pressurized as shown in FIG. 3a, the tendon 304 may be pulled
longitudinally into the shaft 303 (as indicated by the
longitudinally oriented arrow in FIG. 3a) to radially expand the
displacer 300 (as indicated by the laterally oriented arrows in
FIG. 3a). The pressurized displacer 300 may thereafter be used to
displace sensitive tissues (lung, liver, etc.) to provide
convenient access to adjacent areas.
[0039] Referring to FIG. 3b, the displacer 300 is shown in a
depressurized configuration. As can be seen, the actuators 302 are
collapsed into a single, longitudinally extending "finger" having a
diameter that is smaller than, or substantially equal to, the
diameter of the shaft 303 from which the actuators 302 extend.
Thus, like the graspers 100 and 200 described above, the displacer
300 may, in its depressurized configuration, be inserted into, and
withdrawn from, a surgical access port in a patient that is only
large enough to accommodate the shaft 303.
[0040] Referring to FIG. 4, another soft robotic laparoscopic
instrument in accordance with the present disclosure may be
embodied by a spade 400 that may be used to displace or otherwise
manipulate tissue within a patient. The spade 400 may include a
single actuator 402 that may have an internal fluid compartment
that is connected to a pressurizeable fluid source (not shown) that
is similar to the pressurizeable fluid source 105 described above.
The spade 400 may thus be operably used in its pressurized
configuration shown in FIG. 4, or may be depressurized and
collapsed for insertion into, and withdrawal from, a patient.
[0041] The spade 400 may be provided with a plurality of suction
ports 404 that may be connected to a vacuum source (not shown). The
spade 400 may thereby employ suction to firmly grasp tissue for
secure manipulation thereof. This is particularly advantageous for
grasping delicate, slippery tissue without causing damage thereto.
The spade 400 may additionally be provided with a central aperture
406 for providing access to tissue by other surgical instruments
while the tissue is grasped by the spade 400. Although the use of
suction ports 404 is described with specific reference to spade
400, it should be appreciated that suction ports may be used with
any embodiment of the present invention.
[0042] Referring to FIGS. Sa and Sb, another soft robotic
laparoscopic instrument in accordance with the present disclosure
may be embodied by a finger 500 that may be used to grasp tissue
within a patient. The finger 500 may include a single actuator 502
that may have an internal fluid compartment that is connected to a
pressurizeable fluid source (not shown) that is similar to the
pressurizeable fluid source 105 described above. The finger 500 may
be inserted into a patient in a depressurized, substantially
straight or partially curled configuration as shown in FIG. Sa.
After the finger 500 is positioned adjacent a piece of tissue 504
that is to be grasped, the actuator 502 may be pressurized, causing
the finger 500 to curl or wrap around the tissue 504 one or more
times as shown in FIG. Sb. The finger 500 may then be used to
manipulate the tissue 504 in a desired manner. It should be
appreciated that the finger 500 may be used for a variety of
surgical applications, such as, for example clamping of blood
vessels to provide hemostasis, applying pressure to other bodily
lumens to prevent or minimize flow of fluids or gases therethrough,
or to facilitate anastomosis procedures.
[0043] In addition to the various embodiments, configurations, and
features described above, it is contemplated that a soft robotic
laparoscopic instrument in accordance with the present disclosure
may be provided with a modular configuration that would allow a
plurality of different instruments (i.e., end effectors) to be
interchangeably connected to a single shaft and to corresponding
pressurizeable fluid sources, rigid wires, vacuum sources, etc. It
is further contemplated that such a soft robotic laparoscopic
instrument could be used as a manual hand instrument. It is further
contemplated that such a soft robotic laparoscopic instrument could
be attached to a rigid robotic arm. It is further contemplated that
such a soft robotic laparoscopic instrument could be attached to a
soft or hard "tentacle" of differing form factors to enable a
wristed motion and control of the instrument. It is further
contemplated that such a soft robotic laparoscopic instrument could
be implemented in conjunction with other hard and/or soft robotic
devices. It is further contemplated that such a soft robotic
laparoscopic instrument could be used in open surgery as well as in
minimally invasive and laparoscopic surgery.
[0044] As used herein, an element or step recited in the singular
and proceeded with the word "a" or "an" should be understood as not
excluding plural elements or steps, unless such exclusion is
explicitly recited. Furthermore, references to "one embodiment" of
the present invention are not intended to be interpreted as
excluding the existence of additional embodiments that also
incorporate the recited features.
[0045] While the present invention has been disclosed with
reference to certain embodiments, numerous modifications,
alterations and changes to the described embodiments are possible
without departing from the sphere and scope of the present
invention, as defined in the appended claim(s). Accordingly, it is
intended that the present invention not be limited to the described
embodiments, but that it has the full scope defined by the language
of the following claims, and equivalents thereof.
* * * * *