End effector for endoscopic surgical device

Abstract

An end effector for an endoscopic surgical device, the end effector comprising: a tool configured to interact with tissue; a body comprising a support column portion to which the tool is connected; a base comprising a surface facing the support column portion, the support column portion and the surface forming a spherical joint; and a plurality of muscle portions connected to the body to control movement of the tool in two degrees of freedom.

Description

Technical Field

[0001] This invention generally relates to endoscopic surgery, such as intranasal neurosurgery. More specifically, this invention relates to an end effector for an endoscopic surgical apparatus, an endoscopic surgical apparatus including the end effector, and a method of manufacturing an end effector for an endoscopic surgical apparatus. Background Technology

[0002] Minimally Invasive Surgery (MIS) has achieved tremendous success since its initial introduction in the early 1980s. Compared to conventional surgery, MIS requires smaller incisions, which equates to less trauma, thus reducing pain and hospital stays, making MIS a standard and established procedure in many surgeries, such as laparoscopic surgery. Despite its many advantages, MIS procedures are ergonomically challenging to perform due to the use of rigid equipment, visual-motor axis misalignment, limited sensory feedback, and the need for high sensitivity. These drawbacks have led to the development of robotic surgical devices, which are now causing a paradigm shift in surgery.

[0003] Robot-Assisted Minimally Invasive Surgery (RAMIS) has had a significant impact, enabling precise and accurate movements while reducing the learning curve for surgeons. This means more surgeons can perform RAMIS in situations where they would otherwise require open surgery. With the introduction of robots into the operating room, many routine specialties, such as urology, gynecology, and abdominal and cardiothoracic surgery, have integrated current robotic technology into their procedures, enhancing surgeon capabilities and improving patient outcomes. Recently, an increasing number of surgical procedures have used or are beginning to utilize robotic devices, with neurosurgery at the forefront of these advanced technologies.

[0004] Due to the complexity and challenging nature of neurosurgical procedures, neurosurgery has consistently required adaptation to new technologies and techniques. One such adaptation is surgical robotics in brain and spinal applications. While most neurosurgical robots are stereotactic, advancements in image-guided, endoscopic, and laparoscopic devices have led to the development of robotic tools for minimally invasive neurosurgery. However, the application of robotics in "keyhole" neurosurgical pathways remains quite limited.

[0005] Numerous studies have been conducted to realize concentric tube robotic tools. A prototype system for bimanually teleoperated intranasal skull base surgery was developed in Burgner, J, Swaney, PJ, Rucker, DC, Gilbert, HB, Nill, ST, Russell, PT, Weaver, KD, Webster, RJ (in the 2011 IEEE / RSJ International Conference on Intelligent Robots and Systems, pp. 2517–2523, IEEE (2011)). However, concerns remain regarding the distal sensitivity of this manipulator and its grasping force and / or force sensing capabilities.

[0006] It is desirable to provide an end effector for an endoscopic surgical device that is capable of applying greater force and / or being more robust and / or capable of manipulating tissue more sensitively and / or has a smaller size than known devices. Summary of the Invention

[0007] The present invention aims to achieve this objective by providing an end effector for an endoscopic surgical apparatus, an endoscopic surgical apparatus including the end effector, and a method for manufacturing an end effector for an endoscopic surgical apparatus.

[0008] According to the present invention, an end effector for an endoscopic surgical device is provided, the end effector comprising: a tool configured to interact with tissue; a body including a support column to which the tool is connected; a base including a surface facing the support column, the support column and the surface forming a spherical joint; and a plurality of ribs connected to the body to control movement of the tool in two degrees of freedom.

[0009] According to the present invention, an endoscopic surgical device is provided, the endoscopic surgical device including the end effector.

[0010] According to the present invention, a method for manufacturing an end effector for an endoscopic surgical device is provided, the method comprising: providing a tool configured to interact with tissue; connecting the tool to a body including a support column portion of a ball joint; and connecting a plurality of ribs to the body to allow controlled movement of the tool in two degrees of freedom. Attached Figure Description

[0011] The invention will now be described by way of non-limiting example only with reference to the accompanying drawings, in which:

[0012] Figure 1 An end effector for an endoscopic surgical apparatus according to the present invention is shown;

[0013] Figure 2 It shows in Figure 1 The axes of the degrees of freedom of the end effector are shown in the figure;

[0014] Figure 3 Is Figure 1 An exploded view of the end effector shown in the image;

[0015] Figures 4 to 6 Each shows the corresponding degree of freedom of how the ribs control the movement of the end effector;

[0016] Figure 7 The surface of the base of the end effector facing the support column is shown;

[0017] Figure 8 The proximal end of the support column is shown, which faces the... Figure 7 The surface shown in the image;

[0018] Figure 9 The distal end of the support column is shown, facing the tool of the end effector;

[0019] Figures 10 to 16 An alternative arrangement of channels for the ribs is shown;

[0020] Figure 17 and Figure 18 A variation of the support column is shown;

[0021] Figure 19 and Figure 20 An alternative method for connecting the base of the end effector to the shaft is shown;

[0022] Figure 21 Alternative tools for end effectors are shown;

[0023] Figure 22 A route-changing mechanism for connecting the rib to the motor is shown;

[0024] Figure 23 and Figure 24 Different views of an alternative configuration of the end effector body are shown, the end effector body including a support column.

[0025] Figure 25 and Figure 26 Different views of alternative configurations of the end effector body are shown. Detailed Implementation

[0026] Figure 1 An end effector 10 is shown. The end effector 10 is used in endoscopic surgical equipment. (As shown in...) Figure 1 As shown, the end effector 10 includes a tool 11. The tool 11 forms the tip of the end effector 10. The tool 11 is configured to interact with tissue. For example, the tool 11 may be configured to clamp, puncture, move, cut, and / or dissect tissue during surgical procedures. Figure 1 In the example shown, tool 11 is gripper 11a. Gripper 11a is configured to grip tissue. Other types of tools are compatible with end effector 10, such as in... Figure 21 As shown in the figure.

[0027] As in Figure 1 As shown, the end effector 10 includes a ball joint 12. The ball joint 12 includes a support post 14 and a surface 15 facing the support post 14. The ball joint 12 is configured to connect the control device of the endoscopic surgical apparatus to the tool 11. (As shown in...) Figure 1 As shown, in the ball joint 12 of the end effector 10, the support stud 14 does not necessarily need to be enclosed in the housing. Instead, the support stud 14 can be held relative to the facing surface 15 solely by the rib 13, which will be described in more detail below. The ball joint 12 allows the tool 11 to move (e.g., change direction) relative to the facing surface 15.

[0028] As in Figure 1 As shown, tool 11 is connected to support post 14. For example, tool 11 (or at least a portion of the tool) can be fixed relative to support post 14. As described above, Figure 1 The tool 11 is shown as an example of a clamp 11a. The clamp 11a may include an upper part 31 and a lower part 32. The upper part 31 and the lower part 32 are movable relative to each other. This allows the clamp 11a to clamp tissue during use. Optionally, only one of the upper part 31 and the lower part 32 is fixed relative to the support post 14. For example, Figure 1 An embodiment is shown in which the bottom component 32 is connected to the support column 14. The upper component 31 is connected to the support column 14 only via the bottom component 32 of the gripper 11a. With one of the upper component 31 and the bottom component 32 fixed relative to the support column 14, only the other (non-fixed) component needs to be controlled to fully activate the gripper 11a. However, this is not always the case. In alternative embodiments, both the upper component 31 and the bottom component 32 are hinged relative to the support column 14 and can be actuated independently or together.

[0029] By connecting tool 11 to support column 14, movement of support column 14 relative to facing surface 15 causes tool 11 to move relative to facing surface 15. By controlling ball joint 12, the movement of tool 11 at the tip of end effector 10 can be controlled in two degrees of freedom.

[0030] Figures 4 to 6 This demonstrates how to use the rib 13 to control the movement of the tool 11. (As shown in...) Figures 4 to 6 As shown, the end effector 10 includes a plurality of ribs 13. The ribs 13 are connected to the support column 14. The ribs 13 are configured to control the movement of the tool 11 in at least two degrees of freedom.

[0031] This invention employs a rib-driven mechanism. By using rib 13 to drive the robot, the end effector exhibits better distal sensitivity and force sensing capabilities than a concentric tube robot. Furthermore, fracture and fatigue are subject to greater limitations.

[0032] Figures 4 to 6 Each of the diagrams illustrates how the rib 13 is used to control the movement of the tool 11 in different degrees of freedom. Figure 4 and Figure 5 The movement of tool 11 in degrees of freedom achieved by the movement of ball joint 12 is shown. Figure 6 Further degrees of freedom associated with the relative movement between the upper part 31 and the lower part 32 of the gripper 11a are shown. Figures 4 to 6 In the image, the arrow indicates the movement of the rib 13.

[0033] Figure 2 A coordinate system showing the degrees of freedom of movement of the tool 11 on the end effector 10 is shown. Figure 4 and Figure 5 The two first degrees of freedom shown have a coordinate system located at the midpoint of the base of the ball joint 12. These two degrees of freedom are represented by axes with subscripts 0 and 1. The coordinate system of the third degree of freedom is located on the rotation axis of the gripper 11a, and... Figure 2 The subscript 2 indicates this. Figure 2 In the coordinate system, the movement of the tip of tool 11 is represented by axes x3, y3, and z3. Optionally, the tip of tool 11 is constrained to a fixed point (such as at...). Figure 2 As shown, when the fixed point is the origin of coordinate system 0 and 1, the maximum distance that can be covered is at least about 10 mm on each of the y-axis and z-axis, and optionally at least about 20 mm.

[0034] Optionally, each rib 13a to 13d extends through the facing surface 15 to reach the support column 14. (As in...) Figure 4As shown, optionally, each rib 13a to 13d extends through the support column portion 14. Alternatively, the rib 13 may pass around the outside of the support column portion 14. Each rib 13a to 13d is connected to the body 18 including the support column portion 14.

[0035] Figure 4 The movement of tool 11 in the degrees of freedom that can be referred to as the up and down movement of tool 11 is shown. For example, in Figure 4 As shown, this movement is controlled by ribs 13a and 13b. Ribs 13a and 13b terminate at different locations. Figure 4 The ribs 13a and 13b shown in the figure have vertical degrees of freedom. Optionally, the ribs 13a and 13b are located on the distal surface 20 of the body 18, including the support column portion 14. Figure 9 (As shown in the diagram) terminates at the distal surface 20. Ribs 13a and 13b do not necessarily have to terminate at the distal surface 20. For example, ribs 13a and 13b may terminate within the channel 19 extending through the support column 14.

[0036] Figure 23 and Figure 24 Different views of alternative configurations of the main body 18, including the support column 14, are shown. Figure 25 and Figure 26 Different views of other alternative configurations of the main body 18, including the supporting column 14, are shown. (See also...) Figures 23 to 26 As shown in the configuration, optionally, the rib 13 has a termination point 50 at the outer peripheral wall 21 of the body 18. The rib 13 can be fixed to the outer peripheral wall 21 instead of to the support column 14. The rib 13 can extend from the termination point 50 to the outside of the body 18. The termination point 50 can be formed as a hole in the outer peripheral wall 21, into which the rib 13 is fixed.

[0037] There are no particular restrictions on how the ribs 13a to 13d are secured to their corresponding termination positions. As an example, the loose ends of rib 13 can be knotted (e.g., a knot in the shape of the number eight). Alternatively, a tube can be crimped at the end of rib 13.

[0038] Optionally, the ribs 13a to 13d are curled at their corresponding termination positions. Optionally, the ribs 13a to 13d are curled together with the sleeve at their corresponding termination positions. The sleeve may be a steel pipe sleeve.

[0039] Optionally, the ribs 13a to 13d are secured to their corresponding end positions by placing the tool 11 against the body 18. Optionally, the sleeve is secured by pressing the tool 11 against the body 18. The sleeve does not necessarily need to be welded into place.

[0040] As in Figure 4As shown, tendons 13a and 13b function in an antagonistic manner. This means that when one tendon 13a is pulled, the other tendon 13b has released tension (relaxed). This implies that tool 11 has bidirectional actuation capability (e.g., in...). Figure 4 The degrees of freedom shown are upward and downward. Figure 4 The top image shown illustrates a situation where one rib 13a is pulled while the other rib 13b is released. This causes tool 11 to move upward (in the direction shown in the attached figure). Figure 4 The bottom image shows the opposite situation, where one rib 13a is released and the other rib 13 is pulled. This causes the tool 11 to move downwards. The ribs 13 remain taut to hold the support column 14 relative to the facing surface 15.

[0041] As in Figure 4 As shown in the figure, Figure 4 The ribs (ribs 13a and 13b) have termination points at different positions in the vertical direction. Optionally, ribs 13a and 13b have termination points at the same position in the horizontal direction. Optionally, ribs 13a and 13b have termination points at the same position in the axial direction.

[0042] Figure 5 This illustrates how two additional ribs 13c and 13d act in an antagonistic manner to control the movement of tool 11. Ribs 13c and 13d control the left and right degrees of freedom. Figure 5 In the left-hand image, one rib 13c is pulled and the other rib 13d is released, causing tool 11 to move to the right (when viewed along the longitudinal direction of the end effector 10 from the proximal end to the distal end (tool 11 is positioned at the distal end)). Figure 5 In the image on the right, one tendon 13c is released, and another tendon 13d is pulled. This causes tool 11 to move to the left.

[0043] Ribs 13c and 13d have termination positions at different points in the left-right direction. Optionally, ribs 13c and 13d have termination points at the same position in the up-down direction. Optionally, ribs 13c and 13d have termination points at the same position in the axial direction.

[0044] As in Figure 4 and Figure 5 As shown, the ball joint 12 enables the tool 11 to move in two degrees of freedom. The ball joint 12 rotates only about two axes, the pitch axis and the yaw axis. The ball joint 12 does not need to rotate about the roll axis. Optionally, the ribs 13a to 13d and the antagonistic motion constrain the rotation of the ball joint 12 about the roll axis.

[0045] Optionally, the translation and tumbling movements of tool 11 are performed by a robotic arm, on which the device is mounted. Alternatively, the tumbling and / or translational movements of tool 11 can be performed by the arm of the surgeon performing the procedure.

[0046] As in Figure 6 As shown, optionally, the end effector 10 includes at least one additional rib 13e, 13f. The additional ribs 13e, 13f may extend through the channel 19 in the support column 14. The additional ribs 13e, 13f differ from the other ribs 13a to 13d because they are not fixed to the support column 14. The additional ribs 13e, 13f are connected to the tool 11 for controlling the movement of the tool 11 in additional degrees of freedom.

[0047] For example, Figure 6 An example of a gripper 11a being used as a tool 11 is shown. Ribs 13e and 13f have termination points 34 and 35 on the upper part 31 of the gripper 11a. The bottom part 32 of the gripper 11a is connected to the body 18, which includes a support column 14. The additional ribs 13e and 13f function in an antagonistic manner. Figure 6 In the top image shown, one rib 13e is pulled and the other rib 13f is released, causing the clamp 11a to open (i.e., the distal portion of the upper part 31 moves away from the bottom part 32). Figure 6 In the lower image, one rib 13e is released, and the other rib 13f is pulled. This causes the gripper 12a to close (i.e., the distal portion of the upper part 31 moves toward the lower part 32). Alternatively, when the gripper 11a is closed, the distal portion of the upper part 31 contacts the lower part 32.

[0048] Figure 3 An exploded view of the end effector 10 is shown. (As shown in...) Figure 3 As shown, optionally, the end effector 10 includes a body 18, which includes a support column 14. The body 18 may be formed as a single piece of material. The support column 14 is formed as a solid body of material. Optionally, the support column 14 is a single piece of material. This means that the support column is formed as a single component, rather than multiple components that are later joined together. As will be further described in detail below, the support column 14 includes a plurality of channels 19 for receiving ribs 13. Apart from the channels 19, the support column 14 is a generally solid piece of material with no other obvious holes. The support column 14 is relatively dense, containing a relatively large amount of material in a relatively small volume. The support column 14 is robust and can be used to apply greater forces at the tip of the end effector 10. In contrast, a concentric tube robot cannot apply the same amount of force and is not as robust.

[0049] By providing a ball joint 12 to the end effector 10 to allow the tool 11 to move, the end effector 10 is more robust than known devices and can apply greater force. The ability to apply greater force is particularly useful for manipulating tissue with the tool 11 and / or for cutting bone. For example, a bone punch 11b is an example of a tool 11 that can be used to cut bone.

[0050] As in Figures 1 to 3 As shown, the support column 14 faces the facing surface 15. Optionally, only the rib 13 is configured to constrain the axial position of the support column 14 relative to the surface 15 facing the support column 14. The rib 13 remains taut during use. This means that the support column 14 does not need to be encapsulated. There is no need to surround the support column 14 in the radial direction, which helps to reduce the overall diameter of the end effector 10. This allows the end effector 10 to be used in smaller spaces, such as for intranasal neurosurgery.

[0051] Optionally, the surface 15 facing the support column 14 is coated with a coating configured to affect the friction between the proximal end of the support column 14 and the surface 15 facing the support column 14. Alternatively, the proximal end of the support column 14 is coated with a coating configured to affect the friction between the proximal end of the support column 14 and the surface 15 facing the support column 14.

[0052] Optionally, the end effector 10 includes a friction assembly between the surface 15 and the support column 14 to influence the effective frictional force between the support column 14 and the surface 15. This friction assembly is not shown in the figures. For example, the assembly can be inserted between the support column 14 and the surface 15 to reduce or increase the frictional force that would exist without it. The friction assembly can be used to control the level of frictional force.

[0053] The amount of friction between the support column 14 and the surface 15 can be controlled by selecting coatings or components. Different levels of friction may be required for different applications of the end effector 10 (e.g., when different levels of accuracy are required). Being able to control the level of friction is also helpful in controlling the lifespan of the end effector 10.

[0054] As in Figure 3 As shown, optionally, the end effector 10 includes a base 16. The base 16 is formed as a separate component from the body 18, which includes a support column 14. (As shown in...) Figure 3 As shown, optionally, tool 11 is initially manufactured as a component separate from body 18. Therefore, tool 11 can be attached to body 18 during the manufacturing process. For example, as in... Figure 3As shown, optionally, tool 11 includes a connecting element 33 for connecting tool 11 to body 18. Optionally, tool 11 is fixedly connected to body 18. (As shown in...) Figure 3 As shown in the example, tool 11 optionally includes components movable relative to each other. Optionally, the upper component 31 is formed as a separate assembly from the bottom component 32. The upper component 31 is connected to the bottom component 32 in a manner that allows the distal end of the upper component 31 to move relative to the bottom component 32. (As shown in...) Figure 3 As shown, optionally, the proximal portion of the upper component 31 is connected to the lower component 32 via a hinge.

[0055] As in Figures 1 to 3 As shown, optionally, the end effector 10 is attached to the shaft 23. The shaft 23 has an internal channel through which the rib 23 extends. Optionally, the shaft 23 extends from the end effector 10 to the other end of the rib 13, where the rib is coupled to the control device of the device.

[0056] Figure 7 This is a close-up view of the base 16 as viewed from the distal end. The surface 15 facing the support column 14 is arranged at the distal end of the base 16 of the end effector 10. Therefore, in Figure 7 This can be seen on surface 15. (As shown in...) Figure 7 As shown, optionally, the facing surface 15 includes a plurality of channels 17, through which the ribs 13 extend. (As shown in...) Figure 7 As shown, optionally, each rib 13 is provided with a corresponding channel 17. The correspondence between the channel 17 and the rib 13 is indicated by the letters in the reference numerals. Figure 1 , Figure 3 as well as Figure 7 As shown, the facing surface 15 is recessed.

[0057] Figure 8 This is a close-up view of the main body 18 as viewed from its proximal end. The support column 14 is located at the proximal end of the main body 18. Therefore, in Figure 8 The proximal surface of the support column 14 can be seen. For example, in... Figure 8 As shown, optionally, the support column 14 includes a plurality of channels 19, through which the ribs 13 extend from the proximal end of the support column 14 to the distal end of the support column 14. (As shown in...) Figure 8 As shown, optionally, each rib 13 is provided with a corresponding channel 19. This is indicated by the letters used in the reference numerals. Channels 17 and 19 reduce the possibility of tangling of the ribs 13 during use.

[0058] For each rotational degree of freedom, there are two ligaments 13, which control the movement of each angle in an agonist-antagonist manner. The length of the ligament 13 is selected by locating the 3D position of each ligament 13 passing through channels 17, 19 and calculating the distance between two consecutive channels. Optionally, the robot has six channels through which the ligaments 13 pass. Optionally, four of the ligaments 13a to 13d are positioned along the diameter at the same radius from the center. Optionally, the centers of channels 17a to 17d and 19a to 19d are positioned at least 0.5 mm from the central axis of the end effector. Optionally, the centers of channels 17a to 17d and 19a to 19d are positioned at most 2 mm from the central axis of the end effector. Optionally, the centers of channels 17a to 17d and 19a to 19d are positioned approximately 1 mm from the central axis of the end effector.

[0059] Optionally, four ribs 13a to 13d terminate on the main body 18 (e.g., at the distal end of the support column 14 or at the outer peripheral wall 21) and control two first degrees of freedom. The remaining two ribs 13e and 13f control the degrees of freedom of the gripper 11a. Optionally, the centers of channels 17e to 17f and 19e to 19f are positioned at least 0.1 mm from the central axis of the end effector. Optionally, the centers of channels 17e to 17f and 19e to 19f are positioned at most 0.5 mm from the central axis of the end effector. Optionally, the centers of channels 17e to 17f and 19e to 19f are positioned approximately 0.35 mm from the central axis of the end effector. Ribs 13e and 13f terminate at the attachment portion at the upper component 31 of the gripper 11a.

[0060] During use, the difference between the length of the rib 13 in the current joint space and its length in the desired joint space is converted into the angle that the corresponding motor should rotate in position control.

[0061] Figure 9 This is a close-up view of the main body 18 when viewed from the distal end. Therefore, the distal end surface of the support column 14 can be seen. Furthermore, the outer peripheral wall 21 (also...) Figure 3 (As shown in the diagram) is visible. Optionally, the outer peripheral wall 21 extends beyond the support column 14 at its distal end. The outer peripheral wall 21 may be integrally formed with the support column 14. In an alternative embodiment, the body 18 does not have such an outer peripheral wall 21. In such an embodiment, the body 18 may simply be formed from the support column 14.

[0062] from Figure 8 and Figure 9 It can be seen that channel 19 extends from the proximal end of support column 14 (in... Figure 8(as shown in the diagram) extends to the distal end of the support column 14 (in Figure 9 (as shown in the image).

[0063] pass Figure 8 and Figure 9 A comparison shows that channels 19a to 19d have a larger dimension at the proximal end of the support column 14 compared to the distal end of the support column 14. Optionally, channels 19a to 19d gradually taper towards the distal end of the support column 14. (As shown in...) Figure 9 As shown, optionally, at the distal end, the cross-section of channels 19a to 19d can be substantially circular. Conversely, as in Figure 8 As shown, furthermore, at the proximal end of the support column 14, channels 19a to 19d can extend further in the radial direction of the support column 14. For example, the additional dimension of channels 19a to 19d at the proximal end of the support column 14 can be achieved by providing additional holes (e.g., additional cylindrical holes) that merge with the main holes when channels 19a to 19d are formed. By making channels 19a to 19d smaller toward the distal end of the support column 14, ribs 13a to 13d can be moved more easily without needing to bend at extreme angles. This improves the controllable movement accuracy of tool 11 using ribs 13a to 13d.

[0064] Figures 10 to 16 An alternative arrangement of the rib 13 within channels 17 and 19 is shown. Figures 10 to 16 This is a close-up view of the base 16, showing the surface 15 facing the support column 14. However, in Figures 10 to 16 The pattern of channel 17 shown in the figure also applies to channel 19 extending through support column 14.

[0065] As in Figure 10 , Figure 11 , Figure 14 , Figure 15 as well as Figure 16 As shown, optionally, at least one pair of channels 17 are merged to form a common channel 22 for a corresponding pair of ribs 13. For example, Figure 10 An example is shown where channels 17a and 17e are merged together to form a common channel 22. Similarly, two other channels 17b and 17f are merged together to form another common channel 22. By merging channels 17 to form a common channel 22, the amount of cross-sectional space required to accommodate channels 17 can be reduced. In particular, additional channels 17e and 17f are required when tool 11 is arranged with moving parts that require ribs 13 to control the moving parts. By using the common channel 22, the amount of additional space in the cross-sectional area required to accommodate the additional channels 17e and 17f can be reduced.

[0066] For a tool 11 without moving parts, additional ribs 13e, 13f and corresponding channels 17e, 17f, 19e, 19f may not be provided. Alternatively, even when using a tool 11 without moving parts (so that additional ribs 13e, 13f are not needed), channels 17e, 17f, 19e, 19f may be provided so that the same body 18 and base 16 can also be used for a tool 11 that requires additional control ribs 13e, 13f. For example, tool 11 can be detached from body 18 and replaced by another tool 11 that requires a different number of ribs 13 for control.

[0067] Figure 11 An example is shown below: In this example, additional channels 17e, 17f of the additional ribs 13e, 13f used to control the movement of tool 11 are merged to form a common channel 22. For example, as in Figure 10 and Figure 11 As shown, the shared channel 22 can have the shape of the number 8.

[0068] As in Figures 7 to 11 As shown, optionally, the channels 17e, 17f, 19e, 19f for additional ribs 13e, 13f (for controlling the movement of tool 11) are aligned in a direction of movement with a different degree of mobility in cross-section. Specifically, as in... Figures 1 to 3 In the example of the gripper 11a shown, the additional degree of freedom is in the vertical direction. This is because if the gripper 11a is in the vertical direction, the additional degree of freedom is the movement of the upper part 31. The additional channels 17e and 17f are arranged in the vertical direction. By aligning the arrangement of the channels 17e and 17f according to their degrees of freedom, the possibility of the additional ribs 13e and 13f becoming entangled is reduced.

[0069] However, alignment of the other channels 17e and 17f according to other degrees of freedom is not necessary. For example, in Figure 13 As shown in the diagram, in an alternative embodiment, the additional channels 17e and 17f are aligned according to the direction of movement in the left and right degrees of freedom. This is also... Figure 14 and Figure 15 As shown in the diagram. Optionally, the additional channels 17e and 17f are aligned in cross-section according to the direction of movement of one of the two degrees of freedom achieved by the ball joint 12. Figures 1 to 3 In the example shown, one of the two degrees of freedom realized by the ball joint 12 coincides with the other degree of freedom associated with the action of the tool 11. However, this is not always the case. For example, the action of the tool 11 can deviate from the two degrees of freedom associated with the ball joint 12.

[0070] As in Figure 12 and Figure 16As shown, channels 17e and 17f are optionally aligned diagonally in the cross-sectional view. This may be particularly suitable when additional degrees of freedom associated with the action of tool 11 are aligned diagonally. Alternatively, additional channels 17e and 17f may be arranged diagonally (e.g., in...). Figure 12 and Figure 16 (as shown in the figure) to increase the distance between the edges of channel 17.

[0071] As in Figure 14 As shown, optionally, channels 17c and 17d associated with the left and right degrees of freedom are merged with other channels 17e and 17f to form a merged channel 22.

[0072] Figure 23 and Figure 24 Different views of alternative configurations of the main body 18, including the support column 14, are shown. Figure 23 It is a perspective view. Figure 24 This is a view taken from the far side of the main body 18. (As shown in...) Figure 23 and Figure 24 As shown, optionally, channels 19a to 19d continue through the outer peripheral wall 21 of the body. This allows ribs 13a to 13d to continue around the outer side of the body 18. Ribs 13a to 13d can be secured at one end to the outer peripheral wall 21 at termination point 50.

[0073] Figure 25 and Figure 26 Different views of other alternative configurations of the body 18, including the support column 14, are shown. Figure 25 It is a perspective view. Figure 26 This is a view taken from the far side of the main body 18. (As shown in...) Figure 25 and Figure 26 As shown, optionally, the body 18 is not provided with channels for the ribs 13a to 13d. Instead, the ribs 13a to 13d extend around the outer side of the support column 14. This simplifies the design of the support column. The ribs 13a to 13d can be fixed at one end to the outer peripheral wall 21 at the termination point 50.

[0074] Optionally, the internal width of channels 17 and 19 is at least 1.5 times the cross-sectional dimension of rib 13. This reduces the possibility that rib 13 may be stuck in channels 17 and 19, thus restricting its axial movement. Optionally, the internal width of channels 17 and 19 is at least twice the cross-sectional dimension of rib 13.

[0075] Optionally, the diameter of the end effector 10 is such that it can fit through the nostril. Optionally, the diameter of the end effector 10 is such that two or three such end effectors 10 can fit through the same nostril simultaneously. Optionally, the maximum outer diameter of the end effector 10 is at most about 7 mm, and optionally, at most about 5 mm. Optionally, the maximum outer diameter of the end effector 10 is about 3.6 mm. Optionally, the length of the end effector 10 is at most about 20 mm.

[0076] Optionally, the end effector 10 is made of medical-grade steel. Optionally, the rib 13 is made of stainless steel. However, other materials are possible. For example, the tool 11, body 18, and base 16 can be made of plastic. Optionally, the rib 13 is made of tungsten.

[0077] Optionally, the diameter of the rib 13 is at most about 0.5 mm, or at most about 0.2 mm. Optionally, the diameter of the channels 17 and 19 is at most about 1 mm, or at most about 0.5 mm. Optionally, the diameter of the channels 17 and 19 is at least about 0.2 mm, or at least about 0.5 mm.

[0078] Optionally, the end effector 10 is fixed to the shaft 23. The shaft 23 may be a seamless tubular shaft of 316 stainless steel grade. Optionally, the outer diameter of the shaft 23 is at most 7 mm, and optionally at most 5 mm. Optionally, the outer diameter of the shaft 23 is 3 mm. Optionally, the shaft 23 includes a wire guide tube through which the rib 13 passes. Optionally, the diameter of the wire guide tube is approximately 0.5 mm.

[0079] As in Figure 9 As shown, optionally, the support column 14 includes a flat surface 20 at its distal end. Optionally, the rib 13 is attached to the flat surface 30. Optionally, the support column 14 has a generally hemispherical shape, with a convex surface (facing the facing surface 15) at its proximal end and a flat surface 20 at its distal end. By providing the support column 14 as a generally hemispherical object, the end effector 10 is easier to manufacture.

[0080] However, it is not necessary for the support column 14 to have a hemispherical shape. Figure 17 An alternative configuration of the main body 18 is shown, wherein the support column 14 has a spherical shape. The distal end surface 20 of the support column 14 is convex.

[0081] As described above, optionally, the channel 19 is wider at the proximal end of the support column 14 than at the distal end of the support column 14. However, this is not necessarily the case. Figure 18An alternative configuration of the body 18 is shown, wherein the channel 19 has a constant cross-section or width from the proximal end to the distal end of the support column 14. Specifically, Figure 18 It is shown that no information is provided in Figure 8 You can see it in (or you can see it in) Figures 1 to 6 Additional holes (as seen in the image).

[0082] As in Figures 1 to 3 As shown, optionally, the base 16 is attached to the shaft 23, and the rib 13 extends through the shaft. Figure 19 and Figure 20 An alternative method for connecting the base 16 of the end effector 10 to the shaft 23 is shown. (As in...) Figure 19 As shown, optionally, the base 16 includes a flange 24 at its proximal end. The flange 24 engages around the shaft 23 to connect the base 16 to the shaft 23. Optionally, the connection between the end effector 10 and the shaft 23 can be loosened without damaging the end effector 10. This makes it possible to replace the end effector 10 (e.g., if a different tool 11 is required). Alternatively, the connection between the end effector 10 and the shaft 23 is permanent (e.g., by welding), such that the end effector 10 cannot be replaced without damaging the end effector 10 and / or the shaft 23.

[0083] Figure 20 An alternative configuration is shown, in which the base 16 includes a protrusion 25 extending within the internal channel of the shaft 23. (As shown in...) Figure 20 As can be seen, optionally, channel 17 extends through base 16 including protrusion 25. The total diameter of protrusion 25 can be small enough that channels 17a to 17d are exposed to the inner wall of shaft 23.

[0084] In an alternative configuration, the base 16 is directly fixed to the shaft 23, eliminating the need for the protruding portion 25. Alternatively, the base 16 may be welded (e.g., laser welded) to the shaft 23.

[0085] As described above, different types of tools 11 can be used with the end effector 10. Optionally, one tool 11 can be replaced by another tool without replacing the rest of the end effector 10 (e.g., the body 18 and base 16). Alternatively, the entire end effector 10 can be replaced when it is desired to use a different tool 11.

[0086] exist Figure 21 The leftmost tool 11 shown is a clamp 11a, as in Figures 1 to 6As shown in the diagram. The next tool 11 is a bone punch 11b. The bone punch 11b has a moving part. Specifically, the bone punch 11b needs to move axially relative to each other between the upper part 36 and the bottom part 37. The bone punch 11b is configured to cut bone. The relative movement between the upper part 36 and the bottom part 37 of the bone punch 11b can be actuated by using additional ribs 13e, 13f. Alternatively, the bone punch 11b is spring-loaded. Figure 21 The intermediate tool 11 shown is a flat, elongated tongue depressor-like dissecter 11c. Figure 21 The fourth tool 11 shown is a circular tongue depressor-shaped dissecter 11d. Figure 21 The rightmost tool is the circular scraper 11e.

[0087] Rib 13 extends from its termination point (at the distal end of the rib) through shaft 23 to its proximal end. At the proximal end of the rib, rib 13 is attached so that the rib can be controlled by a motor. Figure 22 A rerouting mechanism 40 for the rib 13 is shown at the proximal end of the rib.

[0088] As in Figure 22 As shown, optionally, the rerouting mechanism 40 includes a housing 44. Optionally, the housing 44 is manufactured by additive manufacturing. Optionally, the housing 44 is made of polylactic acid (PLA) plastic. The housing 44 includes a connection point 41 for connection to the shaft 23. Rib 13 extends through the shaft 23 and through the connection point 41 into the rerouting mechanism 40.

[0089] As in Figure 22 As shown, the route-changing mechanism 40 includes multiple winches, with rib 13 connected to the winches. The winches are then connected to a stainless steel rod, which is then connected to a motor, causing rib 13 to move. (As shown in...) Figure 22 As shown, optionally, the route-changing mechanism 40 includes a plurality of pulleys 43. The pulleys 43 enable the rib to change its route at different axial positions of the winch 42.

[0090] The end effector 10 of the present invention can be applied to various types of surgery. For example, the end effector is suitable for use in neurosurgery. However, the present invention is not limited to neurosurgery. The end effector 10 can be used in other types of surgery, such as spinal surgery.

[0091] The invention has been described above primarily with respect to an end effector 10 having six ribs 13. However, different numbers of ribs 13 can be provided. For example, when the tool 11 does not need to be activated (e.g., when the tool 11 has no moving parts), the end effector 10 may include only four ribs for controlling two degrees of freedom. Alternatively, instead of two ribs 13 for each degree of freedom, the end effector 10 may include one rib 13 for each degree of freedom. For example, the ribs 13 may be annular (e.g., around a winch) such that the two ends of the ribs 13 are attached at different termination points to control movement in the degree of freedom. As another example, when the gripper 11a having both the upper part 31 and the lower part 32 can be independently actuated, the end effector 10 may include eight ribs 13 (two pairs of ribs for the vertical and horizontal degrees of freedom, and one pair of ribs for each part of the gripper 11a). There is no particular limitation on the number of ribs 13.

[0092] Optionally, the end effector 10 is manufactured by additive manufacturing (e.g., stereolithography or direct laser metal sintering). Optionally, the printing material is medical-grade steel or a pressure- and heat-resistant resin (the type used in fluid, optical, and mold making).

[0093] The accompanying drawings and the preceding description refer to preferred features only by way of illustration. It should be noted that alternative features of the structures and methods disclosed herein will be readily identified as possible alternatives. The above equivalents are merely examples, and it should be understood that the equivalents can be modified in many different ways while still remaining within the scope of the claims. Features of different embodiments and arrangements can be combined with each other unless these features are mutually exclusive.

Claims

1. An end effector for an endoscopic surgical apparatus, the end effector comprising: Tools, which are configured to interact with tissues; The body includes a support column, the tool is connected to the support column, and at least a portion of the tool is fixed relative to the support column; A base, the base including a surface facing the support column, the support column and the surface forming a spherical joint; and Multiple ribs are connected to the body to control the movement of the tool in two degrees of freedom, wherein the ribs pass around the outside of the support column.

2. The end effector according to claim 1, wherein, The supporting column is a single piece of material.

3. The end effector according to claim 1 or 2, wherein, The surface facing the support column and / or the proximal end of the support column is coated with a coating that is configured to affect the frictional force between the proximal end of the support column and the surface facing the support column.

4. The end effector according to claim 1 or 2, the end effector comprising a friction assembly between the surface facing the support column and the support column to influence the effective frictional force between the support column and the surface facing the support column.

5. The end effector according to claim 1 or 2, wherein, Only the rib is configured to constrain the axial position of the support column relative to the surface facing the support column.

6. The end effector according to claim 1 or 2, wherein, The body includes an outer peripheral wall extending distal to the support column portion, wherein the rib portion is attached to the outer peripheral wall.

7. The end effector according to claim 1 or 2, wherein, The support column includes a flat or convex surface at the distal end of the support column, and the rib is attached to the flat or convex surface.

8. An endoscopic surgical device, the endoscopic surgical device comprising an end effector according to any one of claims 1 to 7.

9. A method of manufacturing an end effector for an endoscopic surgical apparatus, the method comprising: Provide tools that are designed to interact with the organization; The tool is connected to a body comprising a support post of a ball joint, wherein at least a portion of the tool is fixed relative to the support post; and Multiple ribs are connected to the body to allow controlled movement of the tool in two degrees of freedom, wherein the ribs pass around the outside of the support column.

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