Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body
Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.
1. A distal dexterity apparatus, comprising:
a plurality of distal dexterity devices, each of the plurality of distal dexterity devices having a flexible manipulation device and an associated tool operably coupled to the flexible manipulation device, each flexible manipulation device being configured and arranged so as to maneuver the associated tool in one or more directions;
a rotating base member configured and arranged to rotate about a first axis of rotation, wherein each of the plurality of dexterity devices is operably coupled to the rotating base member so that a long axis of each of the plurality of distal dexterity devices is essentially parallel to the first axis of rotation, rotation of the rotating base member about the first axis causing an operable end of each of the plurality of distal dexterity devices to rotate about the first axis of rotation; and
an actuation device that is operably coupled to each flexible manipulation device, wherein the actuation device is configured and arranged so as to cause each flexible manipulation device to maneuver the associated tool in one or more directions responsive to outputs of the actuation device;
wherein each flexible manipulation device includes:
a base member;
an end member proximal of the tool;
one or more intermediate spacer members;
a first axially extending member that is secured to each of the base member, the end member, and the or each of the intermediate spacer members; and
one or more second axially extending members, the or each second axially extending members being a flexible tubular member having an internal actuator wire operably coupled to maneuver the associated tool, the flexible tubular member being secured to the end member and slidably disposed through an aperture in the or each of the intermediate spacer members and an aperture in the base member.
2. The distal dexterity apparatus of claim 1 , wherein each flexible manipulation device is configured and arranged so as to be capable of two degrees of freedom when acted upon by the actuation device.
3. The distal dexterity apparatus of claim 1 , wherein the actuating device is operably coupled to the or each of the second axially extending members and is configured and arranged so as to impose one of a pushing or pulling force on each of the second axially extending members so as to correspondingly push or pull against the end member causing at least one of the flexible manipulation devices to be manipulated.
4. The distal dexterity apparatus of claim 1 , further comprising a device manipulation unit operably coupled to at least one of the plurality of distal dexterity devices so as to cause at least one of axial movement of the or each distal dexterity device along a long axis or rotation of the or each distal dexterity device about the long axis.
5. The distal dexterity apparatus of claim 1 , wherein there are three second axially extending members that are disposed about and parallel to the first axially extending member, and wherein the first axially extending member is centrally located within the three second axially extending members.
6. The distal dexterity device of claim 1 , further comprising:
a moveable unit configured to operably couple to the tool; and
a coupling device that operably couples the moveable unit to the actuation device;
wherein the actuation device is configured and arranged to move the moveable unit with respect to the end member.
7. The distal dexterity device of claim 6 , wherein the coupling device comprises one or more actuating members, the or each actuating member being operably coupled to the actuation device and to the moveable unit.
8. The distal dexterity device of claim 7 , wherein the one or more actuating members and the moveable unit are each configured and arranged so that the moveable unit is removably operably coupled to the or each actuating member.
9. The distal dexterity device of claim 6 , wherein the coupling device and the moveable unit are configured and arranged so that the moveable unit is removably operably coupled to the coupling device.
10. The distal dexterity apparatus of claim 1 , wherein each of the first and second axially extending members includes a lumen.
11. The distal dexterity device of claim 1 , further comprising:
a device manipulation unit operably coupled to at least one of the plurality of distal dexterity devices and to the rotating base member, the device manipulation unit being configured and arranged so as to cause at least one of axial movement of the or each distal dexterity device along a long axis or rotation of the or each distal dexterity device about a second axis of rotation different from the long axis.
12. The distal dexterity apparatus of claim 1 , wherein the plurality of distal dexterity devices are arranged in series.
13. The distal dexterity apparatus of claim 1 , wherein the actuation device is configured and arranged to apply a linear force on the or each of the second axially extending members.
14. The distal dexterity apparatus of claim 1 , wherein the actuation device is configured and arranged to apply at least one of a push or a pull force on the or each of the second axially extending members.
15. The distal dexterity apparatus of claim 1 , wherein for at least one of the plurality of distal dexterity devices, the associated tool is removably operably coupled to the end member so as to extend outwardly from an end of the flexible manipulation device.
16. The distal dexterity apparatus of claim 1 , wherein the or each flexible tubular member comprises a super-elastic material.
17. A method for performing minimally invasive diagnostic, surgical, or therapeutic techniques, the method comprising:
providing a distal dexterity apparatus having a plurality of distal dexterity devices, an actuation device, and a rotating base member configured and arranged to rotate about a first axis of rotation, wherein each of the plurality of distal dexterity devices is operably coupled to the rotating base member so that a long axis of each of the plurality of distal dexterity devices is essentially parallel to the first axis of rotation, rotation of the rotating base member about the first axis causing an operable end of each of the plurality of distal dexterity devices to rotate about the first axis of rotation,
each of the plurality of distal dexterity devices having a flexible manipulation device and an associated tool operably coupled to the flexible manipulation device, each flexible manipulation device being configured and arranged so as to maneuver the associated tool in one or more directions,
the actuation device operably coupled to each flexible manipulation device and configured and arranged to cause each flexible manipulation device to maneuver the associated tool in one or more directions responsive to one or more outputs of the actuation device,
the flexible manipulation device including a base member, an end member, one or more intermediate spacer members, a first axially extending member, and one or more second axially extending members,
the end member proximal of the tool,
the first axially extending member being secured to each of the base member, to the end member, and to the or each intermediate spacer member,
the or each second axially extending member being a flexible tubular member having an internal actuator wire operably coupled to maneuver the associated tool,
the or each flexible tubular member being secured to the end member and slidably disposed through an aperture in the or each of the intermediate spacer members and an aperture in the base member; and
causing the tool to move by actuation of the actuation device.
18. The method of claim 17 , wherein each distal dexterity apparatus further comprises a device manipulation unit operably coupled to the distal dexterity devices and to the rotating base member, the device manipulation unit being configured and arranged so as to cause one of axial movement of the distal dexterity device along a long axis of the distal dexterity device or rotation of the distal dexterity device about a second axis of rotation.
19. The method of claim 17 , wherein the plurality of distal dexterity devices are arranged in series.
20. The method of claim 17 , wherein the or each flexible tubular member comprises a super-elastic material.