Improved minimally invasive surgical device

Abstract

A minimally invasive surgical device is disclosed, comprising a body element, a plurality of tools, a tube assembly having a proximal end and a distal end, wherein the proximal end of the tube assembly is connected to the body element, a tool magazine configured for receiving the plurality of tools, a tool activation mechanism, wherein the tool activation mechanism is configured for mounting one of the plurality of tools to the distal end of the tube assembly, and an operating element. The tool magazine is located at the body element. The tool activation mechanism is configured for exchanging the tool mounted to the distal end of the tube assembly. The operating element is an operating lever. The minimally invasive surgical device is a handheld device. A plurality of methods are also disclosed, comprising using the minimally invasive surgical device for a minimally invasive surgery, and / or connecting the minimally invasive surgical device to a generator configured to provide electrical power for electrocautery.

Description

[0001] This invention relates to the field of surgical devices, and more particularly to the field of minimally invasive surgical devices.

[0002] WO 02 / 065933 discloses a remotely controllable surgical instrument, comprising: an instrument shaft having a proximal end drivably interconnected with a drive unit and a distal end insertable into a subject to perform a medical procedure at a surgical site within the subject; a remotely configured user interface interconnected with a remotely configured signal processor that processes commands received from the user interface; the signal processor being interconnected with the drive unit for transmitting processed command signals received from the user interface to the drive unit, characterized in that the instrument shaft includes an elongated disposable shaft removably interconnected with the drive unit via a coupling mechanism, and further includes a distal instrument driven by a cable.

[0003] US 2007 / 0239186 A1 discloses a method for performing a medical procedure (e.g., coronary artery bypass surgery) on a patient. The method includes: introducing at least one medical device into the patient's body (e.g., percutaneous introduction); transmitting a control signal from a remote controller to a drive unit; and operating the drive unit according to the control signal to actuate at least one tool located on each of the one or more medical devices, thereby laterally securing a first anatomical vessel (e.g., a blood vessel) to the sidewall of a second anatomical vessel (e.g., another blood vessel). In one method, the control signal is transmitted from the remote controller to the drive unit in response to a user command. The user command may be a movement made on a user interface that corresponds to a movement of the one or more medical devices.

[0004] Although existing technical solutions may be satisfactory in some aspects, they still have certain defects and drawbacks.

[0005] Therefore, the object of this invention is to overcome or at least mitigate the defects and drawbacks of the prior art. In particular, the object of this invention is to provide an improved minimally invasive surgical device and its method of use.

[0006] Another optional object of the present invention is to provide a minimally invasive surgical device that allows for improved surgical efficiency, and a method of using the device.

[0007] Another optional objective of the present invention is to provide a minimally invasive surgical device that allows for more flexible use of the operating tools, and a method for using the device.

[0008] In a first embodiment, a minimally invasive surgical device is disclosed. The minimally invasive surgical device includes a main body element, a plurality of tools, and a tube assembly having a proximal end and a distal end. The proximal end of the tube assembly is connected to the main body element.

[0009] The minimally invasive surgical device also includes a tool compartment configured to receive multiple tools, particularly to receive multiple tools simultaneously.

[0010] In other words, a tool repository can be configured to receive all the tools from a plurality of tools. In yet another sense, a tool repository can be configured to store all the tools from a plurality of tools.

[0011] The minimally invasive surgical device also includes a tool actuation mechanism and an operating element. The tool actuation mechanism is configured to mount one of a plurality of tools to the distal end of the tube assembly.

[0012] Multiple tools may include, for example, scissors, probes, peelers, hooks and / or grippers.

[0013] Minimally invasive surgical devices can be devices for minimally invasive surgery in humans and / or animals. Minimally invasive surgical devices can be configured for laparoscopic examination. Minimally invasive surgical devices can be configured to connect to interface devices and / or devices that provide electrical power for the operation of the minimally invasive surgical device and / or its tools.

[0014] The term "distal" can refer to the side of the device facing the patient, and / or the direction toward that side, when the instrument and / or tubular components of the device are inserted into the patient's body. The term "proximal" can refer to the side of the device opposite to the side facing the patient, and / or the corresponding direction.

[0015] The tool compartment can be located at the main component. For example, the tool compartment can communicate with the proximal end of the pipe assembly.

[0016] The tool bay may include multiple tool receive bits. Each tool receive bit may be configured to receive at least one of a plurality of tools.

[0017] For example, each tool receive bit can be configured to receive one of multiple tools simultaneously.

[0018] The tool magazine may include multiple chambers. A tool receiving position may correspond to a corresponding chamber. In other words, each tool receiving position may include a chamber. Therefore, optionally and advantageously, the tool may be secured within the tool magazine, thereby facilitating manipulation of the tool magazine, for example, in its uninstalled state.

[0019] The tool magazine can be configured to present multiple positions corresponding to each chamber, for example, by rotation and / or movement. For example, for each chamber, there may be a position where the chamber is aligned with the tube assembly to allow the tool to be moved from a chamber of the tool magazine to the tube assembly, or to retract the tool from the tube assembly into a chamber of the tool magazine.

[0020] The tool magazine can be configured to rotate about its longitudinal axis. In such embodiments, the tool magazine can operate in a rotating manner.

[0021] Each chamber may comprise approximately the same distance from the longitudinal axis of the tool magazine. In other words, each chamber may comprise substantially the same radial position. Therefore, optionally and advantageously, by rotating the tool magazine about its longitudinal axis, the tool can be accessed at the same radial position.

[0022] The tool magazine can be configured to move along at least one translational axis. For example, the tool magazine can be configured to move along at least one translational axis, with the chambers of the tool magazine arranged along that axis. In other words, the chambers of the tool magazine can be arranged along a line, allowing access to the chambers by sliding the tool magazine.

[0023] The tool actuation mechanism can be configured for replacing the tool installed on the distal end of the tube assembly, particularly when the distal end is in a surgical configuration. A surgical configuration refers to the distal end being located within the patient's body.

[0024] The tool actuation mechanism may include a coupling element configured to releasably couple one tool to the tool actuation mechanism. Specifically, the coupling element may be configured to releasably couple one tool to the tool actuation mechanism at a time.

[0025] The connecting element can be configured to engage with and disengage from the tool in a tool magazine configuration. A tool magazine configuration refers to a configuration in which the tool is located in a tool magazine (e.g., retracted into the tool magazine) and can perform a disengagement operation.

[0026] The connecting element can be configured to move along the interior of the tube assembly from the tool magazine configuration toward the distal end of the tube assembly. When the tool is mounted to the distal end of the tube assembly, the connecting element can be in the mounted configuration.

[0027] Internal channels can be formed inside the tube assembly. These internal channels can be substantially parallel to the longitudinal axis of the tube assembly.

[0028] The operating element can be a joystick. A joystick can be, for example, a manually operable joystick.

[0029] At least one of the multiple tools may be a multi-part tool. A multi-part tool may include at least one movable tool part configured to move relative to another part of the tool, such as the remaining parts of the tool or a second movable part of the tool.

[0030] The movable part of a tool can be, for example, the blade of a pair of scissors or the jaws of a pair of pliers. The remaining parts, or the second movable part, can be the corresponding blade or jaws of the tool. However, the second movable part can also be in the same kinematic chain as the first part, for example, a lever connected to the first movable part.

[0031] At least one multi-part tool may include at least one of scissors and pliers.

[0032] When a multi-part tool is in its installed configuration, at least one movable tool part can be moved by applying a force.

[0033] Multiple tools can be multiple tools used in minimally invasive surgery.

[0034] At least one of the tools may be a tool for electrocautery.

[0035] At least one multi-part tool may include at least one multi-part tool configured for bipolar electrocautery.

[0036] The tool actuation mechanism may include a rack and / or a lever.

[0037] The rod may be, for example, a push-pull cable or a metal rod. In some embodiments, the rod may be composed of multiple parts.

[0038] A rack can be flexible when resisting bending and is essentially rigid when compressed, especially when compressed.

[0039] In other words, a rack can be configured to transmit compressive force and withstand bending about at least one axis.

[0040] The rod is essentially rigid under tension, especially under tension, and flexible when bent.

[0041] Therefore, optionally and advantageously, the lever can transmit tensile and compressive forces to the installed tool, while the rack holds the tool in place at the distal end of the tube assembly. Thus, optionally, the tool can be actuated during installation.

[0042] The lever can also remain essentially rigid under compression, especially under compression. Therefore, optionally and advantageously, actuation can be achieved in more than one direction. For example, a scissor tool can be opened and closed without relying on a spring in the tool to open it.

[0043] A rack can be a gear rack.

[0044] The rack may include an internal volume configured to receive the rod. For example, the rack may be hollow, slotted, or include a C-shaped cross-section.

[0045] The rack and pinion can be configured for internal movement through the tube assembly.

[0046] The rack and / or lever may be configured to move the connecting element through the interior of the tube assembly and into the tool compartment configuration.

[0047] Racks and / or bars can be configured to transmit tensile and compressive forces to connecting elements.

[0048] At least one movable tool component of a multi-part tool can be movable by a tensile force provided by a lever. For example, the movable component can be movable by each of a tensile force in a first direction and a compressive force in another direction, such as the opposite direction.

[0049] The tool actuation mechanism can be configured to move the tool from the tool magazine to the distal end of the tube assembly by using a rack to move the tool along the interior of the tube assembly.

[0050] The tool actuation mechanism can be further configured to move the tool along the interior of the tube assembly by using a rack, thereby moving the tool from the distal end of the tube assembly to the tool magazine.

[0051] The pole can be a steel cable. For example, the pole can include steel wire.

[0052] The rack may include metal segments encased in polymer segments. These polymer segments may be made of, for example, polypropylene.

[0053] The metal section includes wound metal wire, such as a steel spring.

[0054] Therefore, optionally with advantages, the rack can be adapted to properly secure the tool at the distal end of the tube assembly while still providing sufficiently low bending stiffness.

[0055] For example, in the unbiased configuration of the rack, adjacent coils of the wire can come into contact with each other, thereby increasing the compressive stiffness of the rack.

[0056] The polymer section includes the linear gear section.

[0057] The rack's bending stiffness can be up to 600 N / mm², particularly up to 500 N / mm², for example up to 470 N / mm². Therefore, it is advantageously possible to achieve coiled storage of the rod, for example, with a bending radius of up to 40 mm.

[0058] Therefore, optionally and advantageously, the rack can be stored in a coiled state in the rod housing, for example, including a bending radius of up to 40 mm.

[0059] The compressive stiffness of the rack can be at least 300 N / mm, particularly at least 600 N / mm, for example at least 1000 N / mm.

[0060] A rack may include multiple interconnected rack elements. For example, the rack may be hinged.

[0061] Rack and pinion elements can be connected via rack and pinion connecting elements. Each rack and pinion connecting element provides at least one degree of rotational freedom. The rack and pinion connecting element can be, for example, a joint or a bolt.

[0062] The distal end of the rack can be connected to a connecting element. The actuation mechanism can be configured to move the connecting element from the tool compartment configuration to the installed configuration by means of the rack.

[0063] The tool actuation assembly may include a rack and pinion driver. The rack and pinion driver may be configured to move the coupling element between the tool magazine configuration and the mounted configuration.

[0064] A rack and pinion actuator may include a gear that meshes with a rack.

[0065] A rack and pinion actuator may include a rack and pinion drive motor and a rack and pinion drive transmission mechanism. The rack and pinion drive motor may be connected to the rack and pinion drive transmission mechanism.

[0066] Rack and pinion drives can be self-locking, and in particular, non-reverse driven. In other words, if the rack and pinion motor does not apply torque to the motor side of the rack and pinion drive, the force applied to the rack will not cause the rack and pinion drive to move.

[0067] Therefore, optionally with advantages, the tool can be held securely when it is installed at the distal end of the tube assembly, providing reliable tool installation.

[0068] Rack and pinion drive mechanisms may include self-locking worm gear units. This optionally and advantageously allows for compact and / or simple solutions.

[0069] The rack and pinion drive mechanism may include an automatic locking mechanism. For example, the rack and pinion drive mechanism may include a pin for locking the drive mechanism when the motor is not driving the rack. In another example, the rack and pinion drive motor may apply a holding torque, for example by means of position control, which is activated once the tool is mounted to the distal end of the tube assembly.

[0070] Minimally invasive surgical devices may include a tool cartridge actuator configured to move the tool cartridge to one of a plurality of positions corresponding to the chambers.

[0071] The tool magazine driver can be configured to rotate the tool magazine about its longitudinal axis to present multiple positions. In such an example, the tool magazine driver may include, for example, a stepper motor, and / or a BLDC motor equipped with a position sensor (e.g., a Hall sensor) and appropriate position control (e.g., PID control). This motor may also be referred to as a tool magazine drive motor.

[0072] Alternatively, the tool bay driver may include a switchable gear configured to connect a rack-and-pinion drive motor to the tool bay.

[0073] The tool magazine drive can be configured to move the tool magazine along at least one translation axis to present multiple positions, for example by means of a rack and pinion drive motor or a tool magazine drive motor.

[0074] The rack and pinion drive and the tool magazine drive can be positioned adjacent to each other.

[0075] The minimally invasive surgical device, particularly the tool cartridge actuator, may include sensors configured to sense the position of the tool cartridge, such as its angular and / or translational position. For example, in the case of a rotatable tool cartridge, the sensor may be configured to sense the angular position of the tool cartridge; and in the case of a tool cartridge configured to move along a translational axis, the sensor may be configured to sense the translational position of the tool cartridge.

[0076] Sensors configured to sense the position of the tool bay may include incremental encoders and / or reference sensors, such as reference switches. The reference switch may, for example, include a proximity sensor.

[0077] Alternatively, an absolute encoder can be used.

[0078] Tool bay drives may include gear stages, such as planetary gears.

[0079] The tool magazine driver can be configured to rotate the tool magazine to multiple angular positions corresponding to different tools.

[0080] The rod may include a distal rod end and a proximal rod end. When installing the tool, the operating element may be configured to apply a force to the proximal rod end, thereby causing at least one of the following: a tensile force on the rod and movement of the rod toward its proximal end.

[0081] The installation tool may include actuating the operating element at least once, for example, enabling the operating element to apply force to the proximal end of the rod.

[0082] An actuating element may be connected to an actuating rod. The proximal end of the rod may include a rod end piece. The actuating rod may include an actuating rod end piece.

[0083] The actuator rod end piece can also be referred to as the actuator rod connector. The actuator rod end piece can be positioned, for example, on the proximal side of the end of the actuator rod facing the end piece.

[0084] When installing the tool, the actuating rod end piece can be configured to engage with the rod end piece, thereby causing at least one of the following: the rod is subjected to a tensile force and the rod moves toward the proximal end of the rod.

[0085] When installing the tool, the actuating rod end piece can be configured to subject the rod to a compressive force and to move the rod toward the distal end of the rod, at least one of these.

[0086] In other words, when installing the tool, the actuating rod end piece can be configured to engage with the rod end piece and apply compressive and tensile forces to the rod, optionally moving the rod toward the distal end and proximal end of the rod, respectively.

[0087] The main component may include a channel configured to provide clearance for the actuating rod end member to allow the actuating rod end member to move substantially parallel to the direction of movement of the proximal rod end member during tool installation.

[0088] The actuator end piece may include a hook-like structure.

[0089] The rod end member may include a bolt-like portion configured to be engaged by the actuating rod end member.

[0090] The actuator end piece and the rod end piece can be configured to engage with each other.

[0091] Minimally invasive surgical devices can be robotic minimally invasive surgical devices.

[0092] The operating elements can be actuated by the robot, for example by means of linear drives and / or eccentric wheels. This is optionally advantageous, for example, in the case of robot-assisted surgery.

[0093] Minimally invasive surgical devices can be manually operated and / or handheld devices. In this case, the lever, for example, can be manually operated.

[0094] The tool actuation mechanism can be configured to disengage the lever end from the actuation lever end when the tool is not installed. For example, the tool actuation mechanism can also disengage the lever end from the actuation lever end while the tool is being installed and / or removed.

[0095] The actuator end piece may include a hinged connection with the rest of the actuator rod.

[0096] The rack may include a distal rack end and a proximal rack end. A connecting element may be located at the distal rack end. The tool actuation mechanism may be configured to disengage the lever end member from the actuating lever end member by moving the proximal rack end member in a proximal direction of the rack.

[0097] The proximal rack end can be configured to move the actuating rod end member to disengage it, for example, to rotate the actuating rod end member to disengage it. Specifically, the proximal rack end can be configured to rotate the hook-like structure.

[0098] The proximal rack end can be configured to move the actuating rod end member to disengage the hook-like structure from the rod end member.

[0099] The actuator end piece can be spring-loaded so as to engage with the rod end piece.

[0100] Minimally invasive surgical devices may include a rack receptacle configured to receive a proximal segment of a rack and a proximal segment of a bar.

[0101] The rack receiving portion can be configured to receive the proximal section of the rack in a wound state, in particular, wherein the bending axis is substantially orthogonal to the longitudinal axis of the tube assembly.

[0102] The rack housing can be configured to store the rack in a spiral or circular curved shape.

[0103] The rolling axis and the longitudinal axis of the tube assembly can be spaced apart from each other. In particular, the distance between the two axes is substantially equal to the bending radius of the proximal section of the rack received in the rack receptacle. In other words, the longitudinal axis of the tube assembly can substantially coincide with the tangent of the rod wound in the rod receptacle.

[0104] Therefore, optionally and advantageously, the bending of the rack can be reduced, for example, compared to a receiving portion that includes a bending axis intersecting the longitudinal axis of the tube assembly.

[0105] The rack in its wound state may have a bending radius of up to 60 mm, particularly up to 50 mm, for example up to 40 mm.

[0106] Therefore, optionally with advantages, the device can be designed to be more compact.

[0107] The operating element can be configured to actuate at least one of a plurality of tools when the tool is installed, particularly actuating at least one multi-part tool.

[0108] The actuating element can be connected to the end section of the actuating rod. The end section can be opposite the end piece of the actuating rod. The actuating element can apply a thrust to the actuating rod.

[0109] The operating element can be connected to the end section of the rod via a joint.

[0110] Without the installation tool, especially when the rod end piece is disengaged from the actuating rod end piece, the operating element will not move the rod.

[0111] The tube assembly may include a tool rotating structure configured to prevent rotational movement of the mounted tool relative to the tube assembly. For example, during tool mounting, the tool rotating structure may include a shape-fitting connection to the tool.

[0112] Minimally invasive surgical devices may include directional configurations. These directional configurations may be configured to rotate the mounted tools.

[0113] The orientation configuration can be configured to allow the tube assembly to rotate relative to the body element. For example, the orientation configuration can be manually operated, such as by attaching a handle to the tube assembly.

[0114] In other words, in some embodiments, the orientation configuration may be configured to rotate the mounted tool by rotating the tube assembly, wherein the tool rotation structure prevents rotational movement of the mounted tool relative to the tube assembly, thereby optionally and advantageously enabling the transfer of rotation from the orientation configuration to the mounted tool, thus providing a means of rotating the mounted tool.

[0115] The connecting element can be configured to releasably connect a tool and further provide rotational degrees of freedom relative to the connected tool, such as the rotational degrees of freedom of the lever and / or rack relative to the connected tool.

[0116] The connecting element may include a groove for engaging with the base of the tool, wherein the width of the more distal end of the groove is less than the width of the more proximal end of the groove, wherein the tool is located at the distal end.

[0117] Each tool may include a base, wherein the base is rotationally symmetric.

[0118] The tube assembly can be configured to transmit power to at least one tool, particularly to electrocautery tools.

[0119] The main component may include a hole, such as a sleeve bearing. The hole may be configured for a receiving tube assembly. The hole may be made of a conductive material, such as stainless steel. In other words, the hole may include an inner surface made of a conductive material, such as stainless steel.

[0120] The aperture can be configured to transmit electricity from the body element to the tube assembly. Those skilled in the art will readily understand that, for example, electricity transmission can be achieved by connecting the conductive material of the aperture to the power lines of the body element.

[0121] The tube assembly may include an electrically insulating outer layer and a conductive layer located within the insulating outer layer. For example, the conductive layer may include a metal tube that substantially forms a structural portion of the tube assembly. In another example, the conductive layer may include the wires included in the tube assembly.

[0122] The conduit assembly may include a cable configured to conduct electricity from the body element to at least one of the tools, particularly to electrocautery tools.

[0123] At least one section of the rod may be configured to transmit electricity to at least one tool, particularly to an electrocautery tool.

[0124] Electricity can be transmitted to the rod via an actuation rod end piece. For example, electricity can be transmitted to the rod via electrical contact (e.g., sliding contact) between the actuation rod end piece and the rod end piece, a joint of the actuation rod end piece or the actuation rod, and / or a power line connecting the main body element and the flexible cable of the actuation rod.

[0125] Power can be transmitted to the rod via a section of the rack. In the construction of the installation tool, this section may, for example, be located between the tube assembly and the end piece of the actuating rod.

[0126] The tube assembly may be configured to form a first pole for transmitting power to an electrocautery tool, and wherein at least this section of the rod is configured to form a second pole for transmitting power to the electrocautery tool.

[0127] The rack may include at least one cable for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0128] A rack may include two mutually insulated cables for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0129] Two cables form the first and second poles, used to transmit power to electrocautery tools.

[0130] At least one movable part of at least one multi-part tool configured for bipolar electrocautery is electrically insulated from another part of the multi-part tool. As described above, the other part of the multi-part tool may be, for example, a second movable part, or the remainder of the multi-part tool.

[0131] Multiple tools may include at least scissors and / or probes and / or peelers and / or hooks and / or grippers.

[0132] At least one multi-part tool may include at least one multi-part tool configured for tripolar electrocautery.

[0133] Minimally invasive surgical devices may include a third electrode for transmitting power to electrocautery tools.

[0134] The third pole wire can be configured to be attached to the tube assembly.

[0135] The third electrode can be configured to be electrically insulated from the tube assembly.

[0136] Minimally invasive surgical devices may include at least one cable for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0137] The tubing assembly and / or tool actuation mechanism may include at least one cable for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0138] Minimally invasive surgical devices may include at least two mutually insulated cables for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0139] The tubing assembly and / or tool actuation mechanism may include at least two mutually insulated cables for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0140] Minimally invasive surgical devices may include three mutually insulated cables for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0141] The tubing assembly and / or tool actuation mechanism may include three mutually insulated cables for transmitting power to at least one of the tools, particularly to electrocautery tools.

[0142] The three cables can form a first pole, a second pole, and a third pole for transmitting power to electrocautery tools.

[0143] Any cable included in the minimally invasive surgical device can be configured to connect to a generator configured to provide power for electrocautery.

[0144] Any cable included in the minimally invasive surgical device can be configured to connect via a switching module to a generator configured to provide power for electrocautery, wherein the switching module can be configured to switch the connection between any cable included in the minimally invasive surgical device and the generator.

[0145] According to any of the foregoing embodiments of the minimally invasive surgical device, the voltage of any cable included in the minimally invasive surgical device is different from the voltage of any other cable included in the minimally invasive surgical device.

[0146] At least a first component of at least one multi-component tool configured for tripolar electrocautery may be electrically insulated from a second component of the multi-component tool, wherein the second component of the multi-component tool may be electrically insulated from a third component of the multi-component tool, and wherein the third component of the multi-component tool is electrically insulated from the first component. It should be understood that one or more of the first, second, and third components may be movable.

[0147] At least one of the multiple tools is configured to have an independent electrical connection with any cable included in the minimally invasive surgical device.

[0148] At least one of the multiple tools may be configured to have at least one electrical connection of the following: a connection to a first cable included in the minimally invasive surgical device, a connection to a second cable included in the minimally invasive surgical device, and a connection to a third cable included in the minimally invasive surgical device. At least one of the multiple tools may be configured to have at least two electrical connections of the following: a connection to the first cable included in the minimally invasive surgical device, a connection to the second cable included in the minimally invasive surgical device, and a connection to the third cable included in the minimally invasive surgical device. At least one of the multiple tools may be configured to have an electrical connection to the first cable included in the minimally invasive surgical device, an electrical connection to the second cable included in the minimally invasive surgical device, and an electrical connection to the third cable included in the minimally invasive surgical device.

[0149] Any one of the connections is an independent electrical connection to a part of a multi-part tool. This part may be a movable component.

[0150] The rod end member can be configured to lock with the actuating rod end member.

[0151] The rod end member may include a mushroom-shaped portion configured to engage via an actuating rod end member.

[0152] The actuator end piece may include a groove.

[0153] This groove corresponds to the mushroom-shaped part of the rod end.

[0154] A method is also disclosed. The advantages and details discussed in the context of this method are equally applicable to the context of both the system and the computer program product.

[0155] In a second embodiment, a method is disclosed that includes using the minimally invasive surgical device. The method includes using the minimally invasive surgical device in minimally invasive surgery.

[0156] In a third embodiment, a method is disclosed that includes connecting the minimally invasive surgical device to a generator configured to provide power for electrocautery.

[0157] In a fourth embodiment, a method is disclosed that includes using a minimally invasive surgical device for minimally invasive surgery and connecting the minimally invasive surgical device to a generator configured to provide power for electrocautery.

[0158] In a fifth embodiment, a method is disclosed that includes connecting a minimally invasive surgical device according to any surgical device embodiment to a generator configured to provide power for electrocautery, particularly for monopolar electrocautery and / or bipolar electrocautery and / or tripolar electrocautery.

[0159] In a sixth embodiment, a method is disclosed that includes connecting a minimally invasive surgical device according to any surgical device embodiment to a generator configured to provide power for electrocautery via a switching module.

[0160] The following embodiments also form part of this invention.

[0161] System Implementation Examples

[0162] The following sections will discuss embodiments of the minimally invasive surgical device. System embodiments are abbreviated using the letter "S" followed by a number. Whenever "surgical device embodiment" is mentioned in this document, it refers to these embodiments.

[0163] S1. A minimally invasive surgical device, comprising:

[0164] - Main components;

[0165] - Multiple tools;

[0166] - A tube assembly having a proximal end and a distal end, wherein the proximal end of the tube assembly is connected to a body element;

[0167] - Tool compartment, configured to accommodate multiple tools, particularly configured to accommodate multiple tools simultaneously;

[0168] - A tool launching mechanism, wherein the tool launching mechanism is configured to mount one of a plurality of tools to the distal end of a pipe assembly; and

[0169] - Operating elements.

[0170] S2. The minimally invasive surgical device according to the foregoing embodiments, wherein the tool compartment is located at the main body element, and in particular, the tool compartment is connected to the proximal end of the tube assembly.

[0171] S3. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tool compartment includes a plurality of tool receiving positions, wherein each tool receiving position is configured to receive at least one of a plurality of tools, particularly, to receive one of a plurality of tools simultaneously.

[0172] S4. The minimally invasive surgical device according to the foregoing embodiments, wherein the tool compartment includes multiple chambers, and the tool receiving position corresponds to the corresponding chamber.

[0173] S5. The minimally invasive surgical device according to any of the foregoing embodiments having feature S4, wherein the tool magazine is configured to present multiple positions corresponding to the chamber, for example by rotation and / or movement.

[0174] S6. The minimally invasive surgical device according to any of the foregoing embodiments having feature S4, particularly according to the foregoing embodiments, wherein the tool magazine is configured to rotate about the longitudinal axis of the tool magazine.

[0175] S7. The minimally invasive surgical device according to the aforementioned embodiment having feature S4, wherein each chamber includes a distance approximately equal to the longitudinal axis of the tool magazine.

[0176] S8. The minimally invasive surgical device according to any of the foregoing embodiments having feature S4, particularly a minimally invasive surgical device having feature S5, wherein the tool compartment is configured to move along at least one translational axis, particularly, along the chamber of the tool compartment along at least one translational axis arranged thereon.

[0177] S9. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tool actuation mechanism is configured for replacing the tool mounted on the distal end of the tube assembly, particularly while the distal end is in the surgical configuration.

[0178] S10. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tool activation mechanism includes a coupling element configured to releasably couple one of a plurality of tools to the tool activation mechanism, specifically, releasably couple one tool to the tool activation mechanism at a time.

[0179] S11. The minimally invasive surgical device according to the foregoing embodiments, wherein the connecting element is configured to connect with and disconnect from the tool in the tool magazine configuration.

[0180] S12. The minimally invasive surgical device according to the foregoing embodiments, wherein the connecting element is configured to move along the interior of the tube assembly from the tool magazine structure toward the distal end of the tube assembly, and

[0181] When the tool is installed at the distal end of the pipe assembly, the connecting element is in the installed configuration.

[0182] S13. The minimally invasive surgical device according to any of the foregoing embodiments, wherein an internal channel is formed inside the tube assembly, and the internal channel is substantially parallel to the longitudinal axis of the tube assembly.

[0183] S14. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the operating element is an operating lever.

[0184] S15. The minimally invasive surgical device according to any of the foregoing embodiments, wherein at least one of the plurality of tools is a multi-part tool, wherein the multi-part tool includes at least one movable tool part configured to move relative to another part of the tool, such as the remaining parts of the tool or a second movable part of the tool.

[0185] S16. The minimally invasive surgical device according to the foregoing embodiments, wherein at least one multi-part tool includes at least one of scissors and forceps.

[0186] S17. The minimally invasive surgical device according to any of the foregoing embodiments having the features of S15, wherein, when the multi-part tool is in the installed configuration, at least one movable tool part moves by applying force.

[0187] S18. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the plurality of tools are a plurality of tools for minimally invasive surgery.

[0188] S19. The minimally invasive surgical device according to any of the foregoing embodiments, wherein at least one of the plurality of tools is an electrocautery tool.

[0189] S20. The minimally invasive surgical device according to any of the foregoing embodiments having the features of S15, wherein at least one multi-part tool includes at least one multi-part tool configured for bipolar electrocautery.

[0190] S21. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tool actuation mechanism includes a rack and / or a lever.

[0191] S22. The minimally invasive surgical device according to the foregoing embodiments, wherein the rack is flexible when resisting bending and substantially rigid when compressed, in particular, it is rigid when compressed.

[0192] S23. The minimally invasive surgical device according to any of the foregoing embodiments having the features of S21, wherein the rod is substantially rigid under tension, and in particular, is rigid under tension and flexible when bent.

[0193] S24. The minimally invasive surgical device according to the foregoing embodiments, wherein the rod remains essentially rigid when compressed, and in particular, is rigid when compressed.

[0194] S25. The minimally invasive surgical device according to any of the foregoing embodiments having the features of S21, wherein the rack is a gear rack.

[0195] S26. The minimally invasive surgical device according to any of the foregoing embodiments having feature S21, wherein the rack includes an internal volume configured to receive a rod.

[0196] S27. The minimally invasive surgical device according to any of the foregoing embodiments having feature S21, wherein the rack and rod are configured for internal movement through the tube assembly.

[0197] S28. The minimally invasive surgical device according to any of the foregoing embodiments having features S21 and S10, particularly having feature S11, wherein the rack and / or rod are configured to move the connecting element through the interior of the tube assembly and into the tool magazine configuration.

[0198] S29. The minimally invasive surgical device according to any of the foregoing embodiments having features S21 and S10, wherein the rack and / or rod are configured to transmit tensile and compressive forces to the connecting element.

[0199] S30. The minimally invasive surgical device according to any of the foregoing embodiments having features S21 and S15, wherein at least one movable tool component of the multi-part tool is movable by a tensile force provided by a rod, particularly by each of a tensile force and a compressive force.

[0200] S31. The minimally invasive surgical device according to any of the foregoing embodiments having feature S21, wherein the tool actuation mechanism is configured to move the tool from the tool magazine to the distal end of the tube assembly by using a rack to move the tool along the interior of the tube assembly.

[0201] S32. The minimally invasive surgical device according to the foregoing embodiment, wherein the tool actuation mechanism is further configured to move the tool from the distal end of the tube assembly to the tool magazine by using a rack to move the tool along the interior of the tube assembly.

[0202] S33. The minimally invasive surgical device according to any of the foregoing embodiments having feature S23, wherein the rod is a steel cable.

[0203] S34. The minimally invasive surgical device according to any of the foregoing embodiments having feature S22, wherein the rack includes a metal segment encased in a polymer segment.

[0204] S35. The minimally invasive surgical device according to the foregoing embodiments, wherein the metal section includes wound metal wire, such as a steel spring.

[0205] S36. The minimally invasive surgical device according to any of the foregoing embodiments having feature S34, wherein the polymer segment includes a linear gear segment.

[0206] S37. The minimally invasive surgical device according to any of the foregoing embodiments having feature S22, wherein the bending stiffness of the rack is at most 600 N / mm², particularly at most 500 N / mm², for example at most 470 N / mm².

[0207] S38. The minimally invasive surgical device according to any of the foregoing embodiments having feature S20, wherein the compressive stiffness of the rack is at least 300 N / mm, particularly at least 600 N / mm, for example at least 1000 N / mm.

[0208] S39. The minimally invasive surgical device according to any of the foregoing embodiments having feature S22 but not features S34 to S36, wherein the rack comprises a plurality of interconnected rack elements, and in particular, the rack is hinged.

[0209] S40. The minimally invasive surgical device according to the foregoing embodiments, wherein the rack elements are connected by rack connecting elements, wherein each rack connecting element provides at least one rotational degree of freedom.

[0210] S41. The minimally invasive surgical device according to any of the foregoing embodiments having features S10 and S21, wherein the distal end of the rack is connected to a connecting element, and wherein the actuation mechanism is configured to move the connecting element from the tool magazine configuration to the installed configuration by means of the rack.

[0211] S42. The minimally invasive surgical device according to any of the foregoing embodiments having features S21 and S41, particularly having feature S10, wherein the tool actuation assembly includes a rack driver, wherein the rack driver is configured to move the connecting element between the tool compartment configuration and the installed configuration.

[0212] S43. The minimally invasive surgical device according to the foregoing embodiments, wherein the rack driver includes a gear meshing with a rack.

[0213] S44. The minimally invasive surgical device according to any of the foregoing two embodiments, wherein the rack actuator includes a rack drive motor and a rack drive transmission mechanism, wherein the rack drive motor is connected to the rack drive transmission mechanism, and wherein the rack drive transmission mechanism is self-locking, and in particular, is non-reverse driven.

[0214] S45. The minimally invasive surgical device according to the foregoing embodiments, wherein the rack and pinion drive transmission mechanism includes a self-locking worm gear unit.

[0215] S46. The minimally invasive surgical device according to the penultimate embodiment, wherein the rack and pinion drive mechanism includes an automatic locking mechanism.

[0216] S47. The minimally invasive surgical device according to any of the foregoing embodiments having feature S4, wherein the minimally invasive surgical device includes a tool compartment actuator configured to move the tool compartment to present one of a plurality of positions corresponding to the chambers.

[0217] S48. A minimally invasive surgical device according to the foregoing embodiment and having feature S6, wherein the tool cartridge actuator is configured to rotate the tool cartridge about the longitudinal axis of the tool cartridge to present multiple positions.

[0218] S49. A minimally invasive surgical device according to the penultimate embodiment and having the feature of S5, wherein the tool cartridge actuator is configured to move the tool cartridge along at least one translation axis to present multiple positions.

[0219] S50. The minimally invasive surgical device according to any of the foregoing embodiments having features S42 and S47, wherein the rack actuator and the tool magazine actuator are positioned adjacent to each other.

[0220] S51. The minimally invasive surgical device according to any of the foregoing embodiments having feature S5, wherein the device, particularly the tool cartridge driver, includes sensors configured to sense the tool cartridge, for example, the angular position and / or translational position of the tool cartridge.

[0221] S52. The minimally invasive surgical device according to the foregoing embodiments, wherein the sensor configured to sense the position of the tool magazine includes an incremental encoder and / or a reference sensor, such as a reference switch.

[0222] S53. The minimally invasive surgical device according to any of the foregoing embodiments having feature S47, wherein the tool bay driver includes a gear stage, such as a planetary gear.

[0223] S54. The minimally invasive surgical device according to any of the foregoing embodiments having features S48 and S51, wherein the tool magazine actuator is configured to rotate the tool magazine to a plurality of angular positions corresponding to different tools.

[0224] S55. The minimally invasive surgical device according to any of the foregoing embodiments having feature S21, particularly having feature S41, wherein the rod includes a distal rod end and a proximal rod end.

[0225] In this context, when installing the tool, the operating element is configured to apply a force to the proximal end of the rod, thereby causing at least one of the following: the rod is subjected to a tensile force and the rod moves toward its proximal end.

[0226] S56. The minimally invasive surgical device according to the foregoing embodiments, wherein the operating element is connected to the actuating rod, and the proximal rod end includes a rod end member, wherein the actuating rod includes the actuating rod end member, and

[0227] In this embodiment, during tool installation, the actuating rod end piece is configured to engage with the rod end piece, thereby causing at least one of the following: the rod is subjected to a tensile force and the rod moves toward the proximal end of the rod.

[0228] S57. The minimally invasive surgical device according to the foregoing embodiments, wherein, when installing the tool, the actuating rod end is configured to subject the rod to a compressive force and to move the rod toward the distal end of the rod, at least one of the following:

[0229] In other words, when installing the tool, the actuating rod end piece can be configured to engage with the rod end piece and apply compressive and tensile forces to the rod, optionally moving the rod toward the distal end and the proximal end of the rod, respectively.

[0230] S58. The minimally invasive surgical device according to any one of the foregoing two embodiments, wherein the main body element includes a channel configured to provide clearance for the actuating rod end member to move substantially parallel to the direction of movement of the proximal rod end member during tool installation.

[0231] S59. The minimally invasive surgical device according to any of the foregoing embodiments having feature S55, wherein the actuating rod end includes a hook-shaped structure.

[0232] S60. The minimally invasive surgical device according to any of the foregoing embodiments having feature S56, wherein the rod end member includes a bolt-like portion engaged by the actuating rod end member.

[0233] S61. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the actuating rod end member and the rod end member are configured to engage with each other.

[0234] S62. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the minimally invasive surgical device is a robotic minimally invasive surgical device.

[0235] S63. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the operating element is actuated by a robot.

[0236] S64. The minimally invasive surgical device according to any of the embodiments having feature S14, wherein the minimally invasive surgical device is a manually operated device and / or a handheld device.

[0237] S65. The minimally invasive surgical device according to any of the foregoing embodiments having features S41 and S56, wherein the tool activation mechanism is configured to disengage the rod end from the actuating rod end when the tool is not installed.

[0238] S66. The minimally invasive surgical device according to at least one of the foregoing embodiments and S56, wherein the actuator end member and the remainder of the actuator rod include a hinged connection.

[0239] S67. The minimally invasive surgical device according to any of the foregoing embodiments having feature S65, wherein the rack includes a distal rack end and a proximal rack end, wherein the connecting element is located at the distal rack end, and

[0240] The tool actuation mechanism is configured to disengage the lever end member from the actuating lever end member by moving the proximal rack end member along the proximal direction of the rack.

[0241] S68. The minimally invasive surgical device according to the two embodiments above, wherein the proximal rack end is configured to move the actuating rod end member to disengage the rod end member, for example, to rotate the actuating rod end member to disengage the rod end member.

[0242] S69. A minimally invasive surgical device according to the two embodiments described above and having the feature of S59, wherein the proximal rack end is configured to move the actuating rod end to disengage the hook-like structure from the rod end.

[0243] S70. A minimally invasive surgical device having the features of S61, particularly according to the foregoing embodiments, wherein the actuating rod end is spring-loaded for engagement with the rod end.

[0244] S71. A minimally invasive surgical device according to any of the embodiments having feature S21, wherein the minimally invasive surgical device includes a rack receiving portion configured to receive a proximal segment of a rack and a proximal segment of a rod.

[0245] S72. The minimally invasive surgical device according to the foregoing embodiment, wherein the rack receiving portion is configured to receive the proximal section of the rack in a wound state, and in particular, wherein the bending axis is substantially orthogonal to the longitudinal axis of the tube assembly.

[0246] S73. The minimally invasive surgical device according to the foregoing embodiment, wherein the rack receiving portion is configured to store the rack in a spiral or circularly curved shape.

[0247] S74. The minimally invasive surgical device according to either of the foregoing two embodiments, wherein the rolling axis and the longitudinal axis of the tube assembly are spaced apart from each other. In particular, the distance between the two axes is substantially equal to the bending radius of the proximal section of the rack received in the rack receptacle.

[0248] S75. The minimally invasive surgical device according to any of the two preceding embodiments, wherein the rack, in its wound state, includes a bending radius of up to 60 mm, particularly up to 50 mm, for example up to 40 mm.

[0249] S76. A minimally invasive surgical device having feature S15 according to any of the foregoing embodiments, wherein the operating element is configured to actuate at least one of a plurality of tools when the tools are installed, particularly actuating at least one multi-part tool.

[0250] S77. A minimally invasive surgical device according to any of the foregoing embodiments having feature S56, wherein the operating element is connected to the rod end section of the actuating rod. The rod end section is opposite to the actuating rod end member, and

[0251] The actuating element applies a thrust to the actuating rod.

[0252] S78. The minimally invasive surgical device according to the foregoing embodiment, wherein the operating element is connected to the rod end section via a joint.

[0253] S79. The minimally invasive surgical device according to any of the foregoing embodiments having feature S65, wherein, when no tool is installed, particularly when the rod end is disengaged from the actuating rod end, the operating element does not move the rod.

[0254] S80. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tube assembly includes a tool rotation structure configured to prevent rotational movement of the mounted tool relative to the tube assembly.

[0255] S81. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the minimally invasive surgical device includes an orientation configuration configured for rotating an installed tool.

[0256] S82. The minimally invasive surgical device according to any of the two preceding embodiments, wherein the orientation configuration is configured to rotate the tube assembly relative to the main body element.

[0257] S83. The minimally invasive surgical device according to any of the foregoing embodiments having feature S10, wherein the connecting element is configured for releasably connecting a tool and further provides rotational freedom relative to the connected tool.

[0258] S84. The minimally invasive surgical device according to any of the foregoing embodiments having feature S10, wherein the connecting element includes a groove for engaging with the base of the tool, wherein the width of the more distal end of the groove is smaller than the width of the more proximal end of the groove, wherein the tool is located at the distal end.

[0259] S85. The minimally invasive surgical device according to any of the foregoing embodiments having feature S10, wherein each tool includes a base, and wherein the base is rotationally symmetric.

[0260] S86. The minimally invasive surgical device according to any of the foregoing embodiments having feature S19, wherein the tube assembly is configured to transmit power to at least one tool, particularly to an electrocautery tool.

[0261] S87. The minimally invasive surgical device according to any of the foregoing embodiments having feature S86, wherein the body element includes a hole, such as a sleeve bearing, the hole being configured to receive a tube assembly, and wherein the hole is made of a conductive material, such as stainless steel, and wherein the hole is configured to transmit power from the body element to the tube assembly.

[0262] S88. The minimally invasive surgical device according to any of the foregoing embodiments having the feature of S86, wherein the tube assembly includes an electrically insulating outer layer and a conductive layer located within the insulating outer layer.

[0263] S89. The minimally invasive surgical device according to any of the foregoing embodiments having the feature of S86, wherein the tubular assembly includes a cable configured to conduct electricity from the main body element to at least one of the tools, particularly to an electrocautery tool.

[0264] S90. The minimally invasive surgical device according to any of the foregoing embodiments having features S19 and S21, wherein at least one section of the rod is configured to transmit power to at least one tool, particularly to an electrocautery tool.

[0265] S91. The minimally invasive surgical device according to any of the foregoing embodiments having the features of S90, wherein power is transmitted to the rod by means of an actuating rod end member.

[0266] S92. The minimally invasive surgical device according to any of the foregoing embodiments having the features of S90, wherein power is transmitted to the rod by means of a section of the rack.

[0267] S93. The minimally invasive surgical device according to any of the foregoing embodiments having features S86 and S90, particularly having feature S20, wherein the tube assembly is configured to form a first pole for transmitting power to an electrocautery tool, and wherein at least this section of the rod is configured to form a second pole for transmitting power to an electrocautery tool.

[0268] S94. The minimally invasive surgical device according to any of the foregoing embodiments having features S19 and S21, wherein the rack includes at least one cable for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0269] S95. The minimally invasive surgical device according to the foregoing embodiments, wherein the rack includes two mutually insulated cables for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0270] S96. The minimally invasive surgical device according to the foregoing embodiment, wherein two cables form a first pole and a second pole for transmitting power to the electrocautery tool.

[0271] S97. The minimally invasive surgical device according to any of the foregoing embodiments having at least one of the features of S20 and S93 and S96, wherein at least one movable part of at least one multi-part tool configured for bipolar electrocautery is electrically insulated from another part of the multi-part tool.

[0272] S98. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the plurality of tools include at least scissors and / or probes and / or dissectors and / or hooks and / or grippers.

[0273] S99. The minimally invasive surgical device according to any of the foregoing embodiments having feature S15, wherein at least one multi-part tool includes at least one multi-part tool configured for tripolar electrocautery.

[0274] S100. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the minimally invasive surgical device includes a third electrode for transmitting power to an electrocautery tool.

[0275] S101. The minimally invasive surgical device according to the foregoing embodiment, wherein the third electrode wire is configured to be attached to the tube assembly.

[0276] S102. The minimally invasive surgical device according to any of the foregoing embodiments having feature S99, wherein the third electrode wire is configured to be electrically insulated from the tube assembly.

[0277] S103. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the minimally invasive surgical device includes at least one cable for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0278] S104. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tube assembly and / or the tool actuation mechanism includes at least one cable for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0279] S105. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the minimally invasive surgical device includes at least two mutually insulated cables for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0280] S106. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tube assembly and / or tool actuation mechanism includes at least two mutually insulated cables for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0281] S107. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the minimally invasive surgical device includes three mutually insulated cables for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0282] S108. The minimally invasive surgical device according to any of the foregoing embodiments, wherein the tube assembly and / or tool actuation mechanism includes three mutually insulated cables for transmitting power to at least one of the tools, particularly to the electrocautery tool.

[0283] S109. The minimally invasive surgical device according to either of the two preceding embodiments, wherein three cables form a first pole, a second pole, and a third pole for transmitting power to the electrocautery tool.

[0284] S110. The minimally invasive surgical device according to any of the foregoing embodiments having any of the features of embodiments S103 to S108, wherein any cable included in the minimally invasive surgical device is configured to connect to a generator configured to provide power for electrocautery.

[0285] S111. The minimally invasive surgical device according to any of the foregoing embodiments having any of the features of embodiments S103 to S108, wherein any cable included in the minimally invasive surgical device is configured to be connected via a switching module to a generator configured to provide power for electrocautery, wherein the switching module is configured to switch the connection between any cable included in the minimally invasive surgical device and the generator.

[0286] S112. The minimally invasive surgical device according to any of the foregoing embodiments having any of the features of embodiments S103 to S108, wherein the voltage of any cable included in the minimally invasive surgical device is different from the voltage of other cables included in the minimally invasive surgical device.

[0287] S113. The minimally invasive surgical device according to any of the foregoing embodiments having the features of embodiment S15, wherein at least a first component of at least one multi-component tool configured for tripolar electrocautery is electrically insulated from a second component of the multi-component tool, wherein the second component of the multi-component tool is electrically insulated from a third component of the multi-component tool, and wherein the third component of the multi-component tool is electrically insulated from the first component.

[0288] S114. The minimally invasive surgical device according to any of the foregoing embodiments having any of the features of embodiments S103 to S108, wherein at least one of the plurality of tools is configured to have an independent electrical connection with any cable included in the minimally invasive surgical device.

[0289] S115. The minimally invasive surgical device according to any of the foregoing embodiments having any of the features of embodiments S103 to S108, wherein at least one of the plurality of tools is configured to have at least one electrical connection of the following connections: connection to a first cable included in the minimally invasive surgical device, connection to a second cable included in the minimally invasive surgical device, and connection to a third cable included in the minimally invasive surgical device.

[0290] S116. The minimally invasive surgical device according to any of the foregoing embodiments having any of the features of embodiments S103 to S108, wherein at least one of the plurality of tools is configured to have at least two of the following electrical connections: a connection to a first cable included in the minimally invasive surgical device, a connection to a second cable included in the minimally invasive surgical device, and a connection to a third cable included in the minimally invasive surgical device.

[0291] S117. The minimally invasive surgical device according to any of the foregoing embodiments having any of the features of embodiments S103 to S108, wherein at least one of the plurality of tools is configured to have an electrical connection with a first cable included in the minimally invasive surgical device, an electrical connection with a second cable included in the minimally invasive surgical device, and an electrical connection with a third cable included in the minimally invasive surgical device.

[0292] S118. A minimally invasive surgical device according to any of the three embodiments described above, having the features of embodiment S15, wherein any one of the connections is an independent electrical connection to a part of a multi-component tool.

[0293] S119. The minimally invasive surgical device according to any of the foregoing embodiments having the feature of S56, wherein the rod end is configured to lock with the actuating rod end.

[0294] S120. The minimally invasive surgical device according to any of the foregoing embodiments having the features of S56, wherein the rod end member includes a mushroom-shaped portion configured to engage via an actuation rod end member.

[0295] S121. The minimally invasive surgical device according to any of the foregoing embodiments having the feature of S56, wherein the actuating rod end includes a groove.

[0296] S122. The minimally invasive surgical device according to any of the foregoing embodiments having the features of embodiments S120 and S121, wherein the groove corresponds to the mushroom-shaped portion of the rod end member.

[0297] Method Implementation Examples

[0298] The following will discuss embodiments of the method. Method embodiments are abbreviated using the letter "M" followed by numbers. Whenever "method embodiments" is mentioned in this specification, it refers to these embodiments.

[0299] M1. A method comprising using a minimally invasive surgical device according to any of the foregoing embodiments, the method comprising using the minimally invasive surgical device for minimally invasive surgery.

[0300] M2. A method comprising connecting a minimally invasive surgical device according to any surgical device embodiment to a generator configured to provide power for electrocautery.

[0301] M3. A combination of the two aforementioned method embodiments.

[0302] M4. A method comprising connecting a minimally invasive surgical device according to any surgical device embodiment to a generator configured to provide power for electrocautery, particularly monopolar electrocautery and / or bipolar electrocautery and / or tripolar electrocautery.

[0303] M5. A method comprising connecting a minimally invasive surgical device according to any surgical device embodiment via a switching module to a generator configured to provide power for electrocautery.

[0304] Exemplary features of the present invention are further described in detail in the accompanying drawings and the following description of the drawings. Attached Figure Description

[0305] Figure 1 A view of the minimally invasive surgical device is shown.

[0306] Figure 2 An exploded view of the minimally invasive surgical device is shown.

[0307] Figure 3a , 3b Views 3c show the main body components and rod end pieces.

[0308] Figures 4a-4e Different cross-sectional views of the minimally invasive surgical device are shown.

[0309] Figures 5a-5c The section showing the tool magazine, connecting elements, tools, and rack in the first configuration is illustrated.

[0310] Figures 6a-6c The section showing the tool compartment, connecting elements, tools, and rack in the second configuration is illustrated.

[0311] Figures 7a-7c The section showing the tool compartment, connecting elements, tools, and rack in the third configuration is illustrated.

[0312] Figures 8a-8f Different views of the toolbox are shown.

[0313] Figure 9 Showing a section of the pipe assembly and two tools.

[0314] Figures 10a-10c A view of a first example embodiment of the rack and lever is shown.

[0315] Figures 11a-11c A view of a second example embodiment of the rack and lever is shown.

[0316] Figures 12a-12c A view of a third example embodiment of the rack and pinion is shown.

[0317] Figure 13-14 A view of an example embodiment of a rack and pinion is shown.

[0318] Figures 15a-15c A view of the distal end of the tube assembly is shown.

[0319] Figures 16a-16bAn embodiment of a tool for bipolar electrocautery and the corresponding insulating parts of the tool components are shown.

[0320] Figures 17a-24b Other different views of the components of the minimally invasive surgical device are shown.

[0321] Figure 25 The distal end of a tube assembly according to an embodiment of the present invention is shown by way of example.

[0322] Figure 26 A tool according to an embodiment of the invention is shown by way of example, particularly configured for tripolar electrocautery.

[0323] Figure 27 A portion of a tool according to an embodiment of the invention is shown by way of example, particularly configured for tripolar electrocautery.

[0324] Figure 28 A minimally invasive surgical device, connected to a generator via a switching module according to an embodiment of the present invention, is illustrated by way of example.

[0325] Figure 29 Electrode assignment options for an example tool according to an embodiment of the present invention are shown by way of example.

[0326] Figure 30 An example tool of a minimally invasive surgical device according to an embodiment of the present invention is shown. Detailed Implementation

[0327] For clarity, some features may be shown only in some of the figures, and others may be omitted. However, omitted features may also be present, and the features shown and discussed are not necessarily present in all embodiments.

[0328] Figure 1 A minimally invasive surgical device 1 is shown. This device is configured to perform minimally invasive surgical procedures, such as laparoscopy. Figure 1 The minimally invasive surgical device 1 is configured to introduce a tool 40 into the body, such as a human body, or, in another example, an animal body. The tool 40 is mounted at the distal end of the tube assembly 10. The tube assembly 10, particularly the distal end of the tube assembly 10, is configured for introduction into the human or animal body, allowing access to a surgical point remote from the incision for introducing the tool.

[0329] exist Figure 1 In the example, the minimally invasive surgical device 1 is a handheld minimally invasive surgical device 1. In the prior art, a handheld minimally invasive surgical device includes a tool 40. If a different tool 40 is to be used, the previously used handheld device must be removed and the different handheld device must be introduced into the body through an incision, which would prolong the time required for surgery, such as when the patient needs to be under anesthesia.

[0330] Figure 1 The minimally invasive surgical device 1 includes multiple tools 40. The minimally invasive surgical device 1 is configured for changing the installed tools while the distal end of the tube assembly 10 is inside the patient's body.

[0331] Figure 2 An exploded view of the minimally invasive surgical device 1 is shown. As shown in the figure, Figure 2 The minimally invasive surgical device 1 shown includes a tube assembly 10, a directional configuration 4, a tool 40, a rack 12, a tool magazine 42, a main body element 14, and a rack driver 44. Furthermore, the minimally invasive surgical device 1 also includes a rack receiving portion 3. The rack receiving portion shown in the figure is in an open configuration.

[0332] As shown in the figure, the tube assembly 10 is configured to be mounted to the body element 14. The orientation configuration 4 allows the tube assembly 10 to rotate about the longitudinal axis of the tube assembly.

[0333] exist Figure 2 In the example, the main component 14 includes a handle and an operating lever, as well as a connecting cable for connecting the minimally invasive surgical device 1 to a control unit (not shown), which may, for example, supply power to the minimally invasive surgical device 1.

[0334] The minimally invasive surgical device 1 is configured for replacing an installed tool, namely a tool 40 mounted at the distal end of the tube assembly 10. The distal end of the tube assembly 10 is the part facing the patient's body during use of the minimally invasive surgical device 1.

[0335] Furthermore, the tool magazine actuator is housed together with the rack actuator. The tool magazine actuator is configured to move the tool magazine 42 to a rotary position, i.e., an angular position. Thus, optionally and advantageously, the tool magazine actuator can be configured to align the chamber of the tool magazine 42 with the tube assembly 10.

[0336] like Figure 4a As shown, during use, when tool 40 is installed, it is located at the distal end of the tube assembly 10. Other tools 40 are stored in the tool compartment 42. In the example shown in the figures, the tool compartment 42 is a rotary tool compartment with multiple chambers configured to accommodate different tools 40. The tool compartment 42 is arranged near the body element 14 at the proximal end of the tube assembly 10.

[0337] exist Figure 4a In the example, a pliers tool 40 is installed. The pliers tool 40 includes two jaws that can move relative to each other. However, the tool magazine 42 also provides other tools 40, such as scissors, probes, and hooks.

[0338] like Figure 4bAs shown, the jaws of tool 40 can be actuated by means of operating lever 2. Operating lever 2 is connected to actuating lever 30, which is configured to move actuating lever end member 32.

[0339] In the installed state, tool 40 is held by rack 12 and lever 20. Figures 4a-4e In the example, lever 20 is located inside rack 12. Rack 12 is configured to move the tool to the distal end of tube assembly 10 and transmit compressive force.

[0340] Specifically, the rack is configured to move the tool 40 along the longitudinal axis of the tube assembly 10 from the tool magazine 42 to the distal end of the tube assembly 10, and back to the tool magazine 42, for example by means of a connecting element (discussed further below).

[0341] Therefore, optionally with advantages, the rack allows for the installation of different tools through the tube assembly 10, in particular without having to remove the tube assembly 10 from the incision into which it is inserted into the patient and then reinsert it.

[0342] The lever 20 is configured to transmit tensile force, specifically tensile and compressive force, to the base of the tool 40. The tensile force allows the mechanically driven tool to be actuated, for example, to close. Figure 4b The pliers shown. By pulling the inner portion of the base of the tool 40, the jaws of the pliers close. Compressive force allows the jaws of the pliers or the blades of the scissors to open.

[0343] Therefore, optionally and advantageously, lever 20 allows for the actuation of multi-part tools.

[0344] In an alternative example (not shown in the figure), the multi-part tool can be closed by a tensile force transmitted by a lever and opened by a spring load.

[0345] The user can apply a tensile force to the lever 20 by actuating the operating lever 2. The operating lever 2 can then apply a compressive force to the actuating lever 30, pushing the actuating lever end member 32 in a proximal direction. In the example shown in the figures, the actuating lever end member 32 is connected to the rest of the actuating lever by means of a joint. Figures 4a-4b In the engagement state shown, the actuator end piece 32 engages with the actuator end piece 22, in Figures 4a-4e In the example, the thickness of the end member is greater than the thickness of the middle portion of the rod. In the engaged state, if the tool 40 includes multiple mechanically actuable components, actuation of the operating lever 2 will cause mechanical actuation of the tool 40. Moving the operating lever 2 in the opposite direction can thereby cause a compressive force to be applied to the lever 20, causing the tool 40 to make the opposite movement as described above.

[0346] Figure 3a An example of rod end piece 22 can be seen in the image. Figure 3b An example of the actuator rod end piece 32 can be seen in the image.

[0347] exist Figure 3b and 3c In the example, the actuator rod end 32 is connected to the remainder of the actuator rod 30 by means of a joint. The rod end 22 is typically configured to engage with the actuator rod end 32. The rod end 22 is typically configured to lock with the actuator rod end 32. Figure 3b In the example, the actuating rod end 32 includes a hook-like structure. This hook-like structure is configured to engage the rod end 22. Figure 3a In the example, the rod end member 22 includes a bolt-like portion configured to engage with the hook-like structure of the actuating rod end member 32. Figure 3c In the example, rod end member 22 includes a mushroom-shaped portion, and actuating rod end member 32 includes a groove that matches the mushroom-shaped portion.

[0348] Figures 4c-4e The illustration shows tool replacement, in which the minimally invasive surgical device 1 replaces the tool 40 mounted on the distal end of the tube assembly 10. Specifically, the mounted tool 40 is replaced with another tool 40 in the tool magazine.

[0349] For this purpose, rack 12 moves by means of rack actuator 44. First, rack actuator 44 retracts rack 12, causing the proximal rack end 13 of rack 12 to disengage from the engaging actuator end member 32 and rod end member 22. In Figure 4c In the example, the proximal rack end 13 includes a wedge-shaped section configured to rotate the free end (e.g., a hook-like structure) of the actuating lever end 32 downward, thereby releasing the lever end 22. In this state, actuation of the operating lever 2 does not result in actuation of the tool 40.

[0350] The rack 12 and the rod 20 retract further toward the rack housing 3 at the proximal end of the minimally invasive surgical device 1. As a result, the tool 40 retracts from the distal end of the tube assembly.

[0351] like Figure 4d As shown, the distal end of the tube assembly includes a tool rotation structure 46 configured to engage the base of the tool 40 and restrict the rotational movement of the tool 40 relative to the tube assembly 10, thus optionally and advantageously allowing the tool 40 to be rotated by means of the orientation configuration 4.

[0352] like Figure 4e As shown, the rack 12 and the rod 20 retract into the rack receiving portion 3. While the rack 12 is rigid under compression, it is flexible under bending. Therefore, optionally and advantageously, the rack 12 and the rod 20 can be retracted into the rack receiving portion 3 by winding (winding structure not shown). Thus, optionally, a minimally invasive surgical device 1 can be provided that includes a more compact shape, and in particular, a rack receiving portion 3 with a more compact shape.

[0353] exist Figure 4eIn the middle, tool 40 is located in a position where it can be interchanged with another tool in tool magazine 42, which will combine Figure 5a-9 To elaborate.

[0354] Furthermore, the rack and pinion actuator 44 is self-locking. In other words, when the motor of the rack and pinion actuator 44 is not running, the rack and pinion actuator 44 restricts the movement of the rack 12 unless the rack is deformed due to external forces. Therefore, optionally and advantageously, the rack 12 can safely hold the tool 40 in place when the tool 40 is installed.

[0355] exist Figures 4a-4e In the example, the rack and pinion actuator 44 includes a worm gear to provide a self-locking drive. Optionally and advantageously, this provides a self-locking drive to lock the rack and pinion actuator 44 without requiring additional components or additional actuators. Furthermore, optionally and advantageously, the rack and pinion actuator 44 remains locked in the event of a power outage, thereby providing a defined position for the tool 40 and increasing safety in the event of an electrical failure.

[0356] However, alternatively, the motor of the rack and pinion actuator 44 may be designed to hold the rack 12 in place, for example by maintaining engagement position control once the tool 40 is installed, or by applying a permanent force, but this is less efficient or requires more complex control. In another example, the rack and pinion actuator 44 may include a locking mechanism, such as securing the pin of the rack and pinion actuator 44 or the rack 12 once the target position has been reached.

[0357] Figures 17a-24b The tool change is shown from the configuration of installing the first tool 40 to the configuration of installing the second tool 40.

[0358] Figure 17a The diagram shows the configuration in which the first tool is mounted to the distal end of the tube assembly 10. In the case where tool 40 is a multi-part tool, actuation of the operating lever 2 causes tool 40 to be actuated. Figure 17b It shows Figure 17a An enlarged view of section A. It can be seen that the hook-shaped structure of the actuating rod end piece 32 engages with the rod end piece 22. Therefore, force can be transmitted from the actuating rod 30 to the rod 20. Figures 17a-24b In the example, the stretching of lever 20 causes the actuation of the multi-part tool. The multi-part tool thus... Figure 17a , 17b The middle is closed, meaning it is actuated.

[0359] exist Figures 18a-18b In this case, lever 2 is not fully actuated. Therefore, the multi-part tool is not actuated, but at least partially opened.

[0360] Figures 19a-19bThe setup for starting tool replacement is shown. Specifically, tool 40 has begun to retract, and the minimally invasive surgical device 1 has begun to move rack 12 toward the proximal end of the rack.

[0361] exist Figures 20a-21b In this configuration, the proximal rack end 13 has rotated the actuating rod end 32 to disengage it from the rod end 22. In the example shown in the figures, this rotation is caused by the movement of a wedge-shaped section on the proximal side of the proximal rack end 13 in a proximal direction. Therefore, optionally advantageously, during tool changing, the disengagement of the actuating rod end 32 from the rod end 22 allows for the complete retraction of the tool 40 toward the tool magazine 42.

[0362] Figures 22a-22b This illustrates the configuration where tool 40 has retracted into tool magazine 42. Figures 22a-22b In the example, the connecting element 16 has been moved to the proximal side of the tool magazine 42, so optionally, advantageously, the tool magazine 42 can be rotated to replace the tool 40 connected to the connecting element 16.

[0363] exist Figure 22b In the illustrated configuration, the rack 12 retracts to its proximal end to the greatest extent compared to the remaining stages of the tool changing process. Those skilled in the art will readily understand that in this configuration, a section of the rack 12 can be wound to, for example... Figures 4a to 4e The rack housing 3 shown thus optionally allows for a more compact design of the minimally invasive surgical device 1.

[0364] exist Figures 23a-23b In the middle, rack 12 has moved further towards its farthest position. But... Figures 23a-23b In the example, rack 12 has not yet reached the farthest position, meaning tool 40 has not yet been fully installed.

[0365] exist Figures 24a-24b In this position, rack 12 has reached its farthest point, and tool 40 is mounted to the far end of tube assembly 10. However, actuating rod end 32 has not yet engaged with rod end 22.

[0366] exist Figures 17a-24b In the example, the actuator rod end piece 32 can be spring-loaded in a substantially horizontal orientation, thus causing the actuating lever 2 to press the actuator rod end piece 32 downward against the spring force, as shown. Figure 24a As shown in / 24b, the actuating rod end 32 includes a wedge-shaped end that is pushed against the rod end 22, thereby causing the hook-shaped structure of the actuating rod end 32 to be pressed down.

[0367] For example, the proximal side of the hook-like structure may include a wedge shape.

[0368] exist Figures 24a-24bIn subsequent steps, the actuating lever 2 can be actuated, causing a section of the actuating lever end member 32 to be pushed in the proximal direction, thereby enabling the actuating lever end member 32 to engage the lever end member 22. More specifically, in Figures 24a-24b The actuation lever 2, under its structure, allows the minimally invasive surgical device 1 to be presented. Figures 17a-17b The structure shown is followed, and the tool changing process is completed. Figures 5a-5c The example shows a tool magazine 42, a rack 12, and multiple tools 40. The tools 40 are stored in a chamber of the tool magazine 42. Figures 5a-5c In the example, tool bay 42 includes a passageway that does not accommodate tool 40.

[0369] In the example of Figures 6-9, the connecting element 16 is implemented as a pawl that engages with a thickened portion, such as a ball, at the base end of each tool 40. However, other releasable connections, such as magnetic connecting elements, may also be suitable.

[0370] exist Figure 5c , 6c In 7c, the distal end of the tool compartment 42 is shown from the following perspective: In the assembled state, the tool compartment 42 is located to the left of the proximal end of the tube assembly 10, and the distal end of the tube assembly 10 is located further to the right. Figures 5a-7c Pipe assembly 10 is not shown in the image.

[0371] exist Figures 6a-6c In this configuration, the connecting element 16 engages with the base of one of the tools 40. In this state, the rack 12 can move the tool 40 along the longitudinal axis of the tube assembly 10 by means of the connecting element 16.

[0372] exist Figures 7a-7c In the middle, the tool extends along the tool compartment 42 to the far end of the tool compartment 42.

[0373] Figures 8a-8f Different views of an embodiment of the toolbox 42 are shown. It can be seen that, in Figures 8a-8f In the example embodiment shown, the tool compartment 42 includes eight chambers that can hold up to eight tools 40. These tools 40 may be different in pairs, but some tools may also appear multiple times, such as two pairs of scissors.

[0374] Figure 9 Two exemplary tools 40 are shown: a hook and pliers. Additionally, the distal end of the tube assembly 10 is also shown.

[0375] exist Figure 9 In the image, the tool's rotation structure 46 can be seen. Figure 9 In the example, the tool's rotating structure is configured to engage the base of tool 40 via a shape fit. Figure 9In the example, the rotating structure includes an indentation, and tool 40 includes corresponding, matching other indentations, such as an inverted indentation.

[0376] Figure 10a-14 Different embodiments of rack 12 and rod 20 are shown.

[0377] exist Figures 10a-10c In the example, rack 12 includes a toothed side configured to engage with a gear via rack driver 44. Furthermore, rack 12 is slotted. Specifically, the slot is located on the side opposite the toothed side. Therefore, optionally advantageously, rack 12 is flexible in resisting bending, particularly in resisting coiling into rack receiver 3.

[0378] As will be readily understood by those skilled in the art, according to the present invention, the bending flexibility may in some cases refer only to bending about an axis and only in one direction, thus optionally and advantageously allowing the rack 12 to be wound into the rack receiving portion 3.

[0379] Figures 11a-11c Another embodiment of the rack 12 and lever 20 is shown. The rack 12 includes an inner steel helix and a polymer layer that includes teeth and thus forms toothed sections of the rack. Figures 11a-11c In the example, the polymer layer is further grooved on the side opposite to the tooth, thus providing improved flexibility when wound into the rack housing 3.

[0380] Figures 12a-12c Another embodiment of the rack 12 is shown. Figures 12a-12c In the example, rack 12 includes a plurality of rack elements connected by joints, allowing bending about a bending axis. These rack elements are connected to allow bending about only one axis and in only one direction, thus adapting to retract into rack receptacle 3.

[0381] Figure 13 and 14 Perspective views of two embodiments of rack 12 and rod 20 are shown.

[0382] Figure 15a This is a cross-sectional view of the distal end of the pipe assembly 10 on which the tool 40 is mounted. In the cross-sectional view of the distal end of the pipe assembly 10, the tool 40, the connecting element, the rack 12, and the rod 20 can be seen.

[0383] Figure 15b This is another cross-sectional view of the distal end of the pipe assembly 10 on which tool 40 is mounted. Figure 15a and Figure 15c In contrast, for clarity and ease of understanding of the present invention, the connecting element 16 and the rod 20 are not shown; only the tool 40, the tube assembly 10, and the rack 12 are shown.

[0384] Figure 15c Another cross-sectional view of the distal end of the pipe assembly 10 with the tool 40 mounted is shown. For clarity and ease of understanding of the invention, the rack 12 is not shown; only the pipe assembly 10, tool 40, connecting element 16, and rod 20 are shown.

[0385] Figures 16a-16b An example embodiment of a minimally invasive surgical device configured for bipolar electrocautery is shown. Figures 16a-16b In one example, a multi-part tool 40 (e.g., pliers) configured for bipolar electrocautery is mounted to the distal end of the tube assembly 10. In this example, two polar lines transmit power to different parts of the pliers, such as the first and second jaws.

[0386] In the example shown, the tube assembly 10 is configured to transmit power to the tool 40, thus optionally forming a first pole wire. Referring further to the example shown, the lever 20 also transmits power to the pliers and forms a second pole wire.

[0387] In addition, Figure 16a and 16b In the diagram, the electrical insulation layer is represented by thick lines. Therefore, the tube assembly 10 includes an external electrical insulation layer. Furthermore, in the case of the bipolar electrocautery tool 40, the various parts of the tool can be insulated from each other, such as the jaws of pliers and the parts connected to the poles. In the case of using a unipolar electrocautery tool, such insulation may not be necessary.

[0388] exist Figures 16a-16b In the example embodiment shown, the body element 14 may include a hole configured to receive the tube assembly 10, which may form a sleeve bearing. The hole may be made of a conductive material, such as stainless steel. The hole may be configured to transmit electricity from the body element 14 to the tube assembly 10.

[0389] In the illustrated example, power can be transmitted to the rod 20 via the actuating rod end member 32. For example, when the actuating rod end member 32 engages the rod end member 22, the minimally invasive surgical device 1 may include an electrical contact between the actuating rod end member 32 and the rod end member 22. Furthermore, flexible cables, articulated or sliding contacts may be used to provide an electrical connection between the power lines from the body element 14 and the actuating rod end member 32.

[0390] However, electricity can also be transmitted to the rod through a section of rack 12. For example, when tool 40 is installed, the section of rack 12 located inside body component 14 can be conductive. Therefore, rack 12 may optionally connect electrical contacts inside body component 14 to rod 20. The remainder of rack 12 may include at least one insulating layer, such as a toothed layer made of an insulating polymer. Therefore, it is optionally advantageous that rod 20 may be electrically insulated from tube assembly 10.

[0391] In addition, such as Figure 16bAs shown, the distal end A of the rack and the sliding member B of the connecting element 16 can be made of an electrically insulating material.

[0392] Therefore, optionally and advantageously, when connected to a suitable power generator, the minimally invasive surgical device 1 can be configured to mount and operate an electrocautery tool 40, to be attached to or replace a tool not configured for electrocautery.

[0393] Furthermore, those skilled in the art will readily understand that the above examples also allow for the supply of power to tools configured for monopolar electrocautery.

[0394] In the example discussed above, the minimally invasive surgical device 1 may include two cables, or in other words, two poles. When using a bipolar electrocautery tool, the two poles may be connected to the generator output, for example, via a switching module. If a monopolar electrocautery tool is used, the switching module may disconnect the unused pole and connect the other pole to the generator's monopolar output.

[0395] Figure 25 The distal end 47 of a tube assembly 10 according to an embodiment of the present invention is shown as an example.

[0396] The minimally invasive surgical device may include three mutually insulated cables for transmitting power to at least one tool 40, particularly to a tool 40 used for electrocautery. The three cables may have different voltages (e.g., the first cable 48 has a voltage of V1, the second cable 49 has a voltage of V2, and the third cable 50 has a voltage of V3). The first cable 48 may contact the rack 12 and / or define a first region D1 of the distal end 47, which is therefore at voltage V1. The second cable 49 and the third cable 50 may be included in a tube assembly 10. The first cable 48 may be included in the tube assembly 10. The second cable 49 may contact a second region D2 of the distal end 47, which is therefore at voltage V2. The third cable 50 may contact a third region D3 of the distal end 47, which is therefore at voltage V3. The regions D1, D2, and D3 may be electrically insulated from each other by an insulating assembly 51. It should be understood that the arrangement of the three cables and the resulting arrangement of the three voltages, or vice versa, may be covered in embodiments of the invention.

[0397] Figure 26 A tool 40' according to an embodiment of the present invention is shown as an example, particularly a tool 40' configured for tripolar electrocautery.

[0398] Tool 40' may include a tool tip 52. Tool 40' may also include a first tool region T2 and a second tool region T3. The regions are electrically insulated from each other by an insulating element 56 and from the tool tip 52. According to embodiments of the invention, regions T2 and / or T3 and / or the tool tip 52 may exist in other tools different from the specific example of tool 40'. Tool 40' may include a first component 53, a second component 54, and a third component 55. The components may be electrically insulated from each other. One or more of the components may be movable: for example, the third component 55 may be movable.

[0399] The tool 40' can be configured to have an independent electrical connection with any cable included in the minimally invasive surgical device. This connection may include, for example, electrical connections with the first component 53, the second component 54, and the third component 55. In practice, the tool 40' may include an electrical connection 57 between the first component 53 and the tool tip 52, an electrical connection 58 between the second component 54 and the first tool region T2, and an electrical connection 59 between the third component 55 and the second tool region T3. It is understood that various arrangements of connections 57, 58, and 59 may be included in embodiments of the invention. When the tool 40' is mounted to the distal end 47 of the tube assembly 10, for example via a tool actuation mechanism, the tool tip 52 typically contacts the first region D1 of the distal end 47, thereby establishing an electrical connection between the first component 52 and the first cable 48. Therefore, the first component 52 can be used as a first electrode. Furthermore, the first tool region T2 can contact the second region D2 of the distal end 47, thereby establishing an electrical connection between the second component 54 and the second cable 49. Therefore, the second component 52 can be used as a second electrode. Furthermore, the second tool region T3 can contact the third region D3 of the distal end 47, thereby establishing an electrical connection between the third component 55 and the second cable 50. Therefore, the third component 52 can be used as a third electrode.

[0400] Figure 27 A portion of a tool 40' according to an embodiment of the present invention is shown as an example, particularly a tool 40' configured for tripolar electrocautery.

[0401] When tool 40' is installed at the distal end 47 of tube assembly 10, tool end 52 may typically be under a first voltage, such as voltage V1. First tool region T2 may be under a second voltage, such as voltage V2. Second tool region T3 may be under a third voltage, such as voltage V3.

[0402] Figure 28An example is shown of a minimally invasive surgical device 1, connected to a generator 60 via a switching module 61 according to an embodiment of the invention. The generator may be configured to supply power to the minimally invasive surgical device 1, particularly with at least one tool 40 mounted on the distal end 47 of the tubing assembly 10. The generator may be configured to supply power to the minimally invasive surgical device 1, particularly with at least one tool 40 mounted on the distal end 47 of the tubing assembly 10, for use in monopolar and / or bipolar and / or tripolar electrocautery. The switching module 61 may be configured to control the connection between the generator 60 and the minimally invasive surgical device 1. For example, the connection to the minimally invasive surgical device 1 may be achieved via one cable, two cables, or three cables. For example, cables 62, 63, and 64 may be electrically connected to cables 48, 49, and 50, respectively. It should be understood that various arrangements and combinations of cables and / or their connections may be included in the embodiments of the invention. More generally, it should be understood that... Figure 28 The specific connections of cables such as 62, 63, and 64 are shown for illustrative purposes only as preferred embodiments and should not be construed as limiting the scope of the invention. In fact, those skilled in the art will understand that embodiments of the invention can cover… Figure 28 The number of cables shown and / or the cable connections are different from the number of cables shown and / or the cable connections.

[0403] Using a minimally invasive surgical device 1 connected to a generator 60 via a switching module 61, wherein the device 1 may include three cables, i.e., poles, and wherein the switching module 61 is adaptable to a three-pole configuration, offers at least several advantages. For example, no safety-critical switching of the connection to the generator is required. Furthermore, as another example, the connection to the generator does not need to be disconnected, for example, when the motor is running. Additionally, no additional safety risks are introduced if the tool is locked in the error chamber of the tool compartment. And, no further identification of the single-pole tip is required.

[0404] It should be understood that if a tool with three electrodes is used, where the three electrodes can be represented, for example, by three parts of the tool, then the first pair of electrodes can be used to perform, for example, sealing of tissue, and the second pair of electrodes can be used to perform, for example, cutting of tissue.

[0405] Figure 29 An example electrode distribution option of tool 40 according to an embodiment of the present invention is shown by way of example. Tool 40 may be suitable for, for example, monopolar and / or bipolar and / or tripolar electrocautery. It may be assumed here that the distal end 47 of tube assembly 10 may include three cables, such as... Figure 25 As shown.

[0406] As described above, regions D1, D2, and D3 of the distal end 47 can be at different voltages. For example, as shown in the example of the distal end 47', the three voltages are V2, V3, and V1, respectively. This defines a first configuration (see point 1 indicated by arrow 65). As another example, as shown in the example of the distal end 47'', the three voltages are V3, V2, and V1, which defines a second configuration (see point 2 indicated by arrow 66). As yet another example, as shown in the example of the distal end 47'', the three voltages are V3, V1, and V2, which defines a third configuration (see point 2 indicated by arrow 67).

[0407] Tool 40, particularly components of tool 40, such as the end portion of tool 40, may be movable and configured to form independent electrical connections with at least some of the three cables included in the minimally invasive surgical device via electrical connections with regions D1, D2, and D3. For example, electrical connections between the end portion of tool 40 and regions T2 and / or T3 and / or tool tip 52 may be achieved via cables. Further electrical connections between regions T2 and / or T3 and regions D2 and / or D3 may be achieved via spring contacts 68. When tool 40 is mounted to the distal end 47 of tube assembly 10, further electrical connections between tool tip 52 and region D1 are generally possible unless an insulating element is used to prevent such connections. The end portion of tool 40 may be used as an electrode. Insulating elements may also be used to electrically insulate the electrodes from each other and / or to electrically insulate the end portion of tool 40 from at least some of the three cables. The combination of independent electrical connection to at least some of the three cables and the use of insulating elements can at least achieve: (1) in the first configuration, the tool is a single-pole hook 40'', a double-pole gripper 40''' and / or a triple-pole gripper 40 4 ';(2)In the second construction, the tool is a single-pole hook 40 5 ', Bipolar Gripper 40 6 'and / or three-pole gripper 40' 7 '; and / or (2) in the third construction, the tool is a single-pole hook 40 8 ', Bipolar Gripper 40 9 'and / or three-pole gripper 40' 10 '.

[0408] Figure 30 An example of the tool 40 of the minimally invasive surgical device 1 according to an embodiment of the present invention is shown.

[0409] Tool 40 may, for example, involve construction 1 (label 65), construction 2 (label 66), and / or construction 3 (label 67).

[0410] For example, the bipolar gripper 40''' can be implemented in a second configuration via independent connections to the three cables included in the minimally invasive surgical device 1. An electrical connection 69 may exist between the second component 55' and the second region T3, and an electrical connection 70 may exist between the first component 53' and the first region T2. ​​One or more of these components may be movable; for example, the second component 55' may be movable. Furthermore, when the bipolar gripper 40''' is mounted to the distal end 47 of the tube assembly 10, an electrical connection may exist between the second region T3 and region D3, and between the first region T2 and region D2, wherein such connections may be achieved via spring contacts 68. Additionally, regions T3, T2, and the tool end 52 may be electrically insulated by an insulating element 71.

[0411] Figure 30 Each exemplary tool 40 may exhibit a connection independent of the three cables included in the minimally invasive surgical device 1. Typically, when a tool 40 is mounted to the distal end 47 of the tube assembly 10, electrical connections between regions of the tool 40 (e.g., regions T2, T3) and between regions of the distal end 47 (e.g., regions D2, D3) may also be achieved via spring contact rings 68. It is understood that when a tool 40 is mounted to the distal end 47 of the tube assembly 10, an electrical connection is generally present between the tool end 52 and region D1 unless an insulating element is used to prevent this connection. For the bipolar gripper 40''', an insulating element may be present so that no electrical connection exists between the tool end 52 and region D1. Furthermore, an insulating element 71 may be included in the independent electrical connections.

[0412] In other words, the tip of the tool may have an insulating element that electrically insulates the working portion of the tool tip (i.e., the moving part) from one (bipolar), two (monopolar), or all three (non-electrosurgical) cables that may be included in the minimally invasive surgical device 1. According to embodiments of the invention, the cables may be referred to as polar wires. According to embodiments of the invention, the working portion of the instrument tip (i.e., the moving part) may be referred to as an electrode. Various electrode configurations are possible, resulting in different insulation geometries at the tool tip. This can be illustrated by examples of bipolar grippers and / or monopolar hooks and / or monopolar grippers.

[0413] Furthermore, if tool 40 is a hook, the tool may include an internal electrical connection between the end of the hook and the end 52 of the tool.

[0414] It should be understood that, such as Figure 30 The individual electrical connections shown in the example, but not described in detail for simplicity, are adaptable to various tools 40. Those skilled in the art, based on, for example... Figure 30 This allows for understanding how to implement such independent electrical connections. The bipolar gripper 40''' under the first configuration has been described in detail above. Bipolar gripper 406' This can be achieved in the second configuration, bipolar gripper 40 9' This can be achieved under the third construction. Furthermore, single-pole hooks 40'' and 40... 5' 40 8' This can be achieved under the first, second, and third configurations, respectively. Additionally, the single-pole gripper 40... 11' 40 12' and 40 13' This can be implemented under the first, second, and third constructions, respectively.

[0415] Although preferred embodiments have been described above with reference to the accompanying drawings, those skilled in the art will understand that these embodiments are for illustrative purposes only and should not be construed as limiting the scope of the invention as defined by the claims.

[0416] Whenever relative terms such as “about,” “substantially,” or “approximately” are used in this specification, the term shall also be interpreted to include the corresponding exact term. That is, for example, “substantially straight” shall be interpreted to also include “(exactly) straight.”

[0417] Whether steps are described in the foregoing or in the dependent claims, it should be noted that the order of steps described herein may be arbitrary. That is, unless otherwise stated or clearly known to a person skilled in the art, the order of steps may be arbitrary. Specifically, when this document describes, for example, a method comprising steps (A) and (B), this does not necessarily mean that step (A) precedes step (B), and it is possible that step (A) and step (B) (at least partially) are performed simultaneously, or that step (B) precedes step (A). Furthermore, when step (X) precedes another step (Z), this does not mean that there are no other steps between step (X) and step (Z). That is, step (X) preceding step (Z) covers the case where step (X) is performed directly before step (Z), and also includes the case where step (X) is performed before one or more steps (Y1)... and then step (Z) is performed. When using terms such as "after" or "before," appropriate considerations apply.

[0418] Figure reference numerals

[0419] 1. Minimally invasive surgical device

[0420] 2. Control lever

[0421] 3. Rack housing

[0422] 4. Directional Configuration

[0423] 10-tube assembly

[0424] 12 racks

[0425] 13 Proximal rack end

[0426] 14 Main Components

[0427] 16 Connecting elements

[0428] 20 strokes

[0429] 22 Rod end fittings

[0430] 30 Actuating rod

[0431] 32 Actuator rod end piece

[0432] 40 tools

[0433] 42 Tool Warehouse

[0434] 44 rack and pinion actuator

[0435] 46. ​​Tool rotation structure.

Claims

1. A minimally invasive surgical device, comprising: - Main components; - Multiple tools; - A tube assembly having a proximal end and a distal end, wherein the proximal end of the tube assembly is connected to the body element; - Tool bay, the tool bay being configured to receive a plurality of tools; - A tool launching mechanism, wherein the tool launching mechanism is configured to mount one of the plurality of tools to the distal end of the tube assembly; and - Operating elements; The tool compartment is located at the main body component, and specifically, the tool compartment communicates with the proximal end of the tube assembly. The tool actuation mechanism is configured to replace the tool mounted on the distal end of the tube assembly, specifically, to replace the tool while the distal end is in a surgical configuration. Wherein, the operating element is an operating lever, and wherein, the minimally invasive surgical device is a handheld device.

2. The minimally invasive surgical device according to the preceding claims, characterized in that, The tool actuation mechanism includes a coupling element configured to releasably couple one of the plurality of tools to the tool actuation mechanism, wherein the tool actuation mechanism includes a rack and / or lever, and The tool actuation mechanism is configured to move the tool from the tool magazine to the distal end of the tube assembly by using the rack to move the tool along the interior of the tube assembly. Specifically, the rack mentioned therein is a gear rack.

3. The minimally invasive surgical device according to the preceding claims, characterized in that, The tool actuation mechanism includes the rack, wherein the rack is flexible when resisting bending and substantially rigid when compressed. The rack includes a metal segment encased in a polymer segment, or The rack comprises a plurality of interconnected rack elements, and in particular, the rack is hinged.

4. The minimally invasive surgical device according to the preceding claims, characterized in that, The rack includes - A bending stiffness of up to 600 N / mm², particularly up to 500 N / mm², for example up to 470 N / mm², and / or - A compressive stiffness of at least 300 N / mm, particularly at least 600 N / mm, for example at least 1000 N / mm.

5. The minimally invasive surgical device according to any of the preceding claims, characterized in that, The tube assembly includes a tool rotation structure configured to prevent rotational movement of the mounted tool relative to the tube assembly. The minimally invasive surgical device includes a directional configuration configured to allow the tube assembly to rotate relative to the main body element.

6. The minimally invasive surgical device according to any one of the preceding four claims, characterized in that, At least one of the plurality of tools is a multi-part tool, wherein the multi-part tool includes at least one movable tool part configured to move relative to another part of the tool. The at least one movable tool component of the multi-part tool is movable by the tensile force provided by the rod, and particularly by each of the tensile and compressive forces.

7. The minimally invasive surgical device according to any one of the preceding six claims, characterized in that, The rod includes a distal rod end and a proximal rod end. During tool installation, the actuating element is configured to apply a force to the proximal end of the rod, thereby causing at least one of a tensile force on the rod and movement of the rod toward its proximal end. The operating element is connected to an actuating rod, and the proximal end of the rod includes a rod end piece, wherein the actuating rod includes an actuating rod end piece, and During tool installation, the actuating rod end member is configured to engage with the rod end member, thereby causing at least one of the following: the rod is subjected to a tensile force, and the rod moves towards its proximal end. Specifically, the actuating rod end member and the rod end member are configured to engage with each other.

8. The minimally invasive surgical device according to the preceding claims, characterized in that, The rod end member is configured to lock with the actuating rod end member.

9. The minimally invasive surgical device according to any one of the preceding seven claims, characterized in that, The distal end of the rack is connected to the connecting element, and the actuation mechanism is configured to move the connecting element from the tool magazine configuration to the installed configuration by means of the rack. The tool actuation mechanism is configured to disengage the rod end member from the actuating rod end member when the tool is not installed. The rack includes a distal rack end and a proximal rack end, wherein the connecting element is located at the distal rack end, and The tool actuation mechanism is configured to disengage the lever end member from the actuating lever end member by moving the proximal end of the rack along the proximal direction of the rack. In particular, the proximal rack end is configured to move the actuating rod end member to disengage the rod end member, for example by rotating the actuating rod end member to disengage the rod end member.

10. The minimally invasive surgical device according to the preceding claims, characterized in that, When the tool is not installed, and particularly when the rod end is disengaged from the actuating rod end, the operating element does not move the rod.

11. The minimally invasive surgical device according to any one of the preceding nine claims, characterized in that, The minimally invasive surgical device includes a rack receiving portion configured to receive a proximal section of the rack and a proximal section of the rod. The rack receiving portion is configured to receive the proximal section of the rack in a wound state, wherein the bending axis is substantially orthogonal to the longitudinal axis of the tube assembly.

12. The minimally invasive surgical device according to any one of the preceding claims, characterized in that, At least one of the tools is a tool for electrocautery.

13. The minimally invasive surgical device according to the preceding claims, characterized in that, - The tubular assembly is configured to transmit power to at least one tool, particularly to the electrocautery tool. - Wherein, the tube assembly and / or the tool actuation mechanism includes at least one cable for transmitting power to at least one of the tools, particularly to the electrocautery tool.

14. The minimally invasive surgical device according to any one of the preceding claims, characterized in that, The tubular assembly and / or the tool actuation mechanism includes three insulated cables for transmitting power to at least one of the tools, particularly to the electrocautery tool, wherein the three cables form a first pole, a second pole, and a third pole for transmitting power to the electrocautery tool, and at least one of the tools is configured to have an independent electrical connection with any cable included in the minimally invasive surgical device.

15. A method comprising using a minimally invasive surgical device according to any one of the preceding claims, the method comprising using the minimally invasive surgical device for minimally invasive surgery.

16. A method comprising connecting a minimally invasive surgical device according to any one of claims 1 to 14 to a generator, the generator being configured to provide power for electrocautery.

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