Reusable surgical instrument for minimally invasive procedures
Disclosed is a reusable surgical instrument ( 1 ) with an articulated end-effector ( 3 ), such as a dissector, scissor or grasper, to enhance a surgeon's performance during various surgical procedures. The longitudinal axis of the instrument is defined by a shaft ( 2 ), comprising an internal structural element ( 2 ″) covered by an external tube ( 2 ′), which may be inserted through a surgical incision into the body of a patient, optionally through a trocar. The articulated end-effector ( 3 ) is mounted on the distal extremity of the shall's internal structural element and comprises a plurality of links interconnected by a plurality of joints, whose movements are remotely actuated by the surgeon's hands. This remote actuation is accomplished via mechanical transmission ( 5, 6, 7 ), mainly composed of flexible elements, which are able to deliver motion from a set of actuation elements, placed at a proximal extremity of the shaft ( 2 ), to the instrument's articulated end-effector ( 3 ). The external tube ( 2 ) can be easily and individually detached from the shalt ( 2 ) after each procedure, so that the instrument ( 1 ) can be more effectively cleaned and sterilized.
1. A method for using a reusable surgical instrument, the method comprising:
introducing an articulated end-effector of the reusable surgical instrument into a patient to perform surgery;
actuating the articulated end-effector via mechanical transmission elements to transmit motion to the articulated end-effector, the mechanical transmission elements incorporated with one or more internal structural elements of a shaft;
detaching an external tube of the shaft from over the one or more internal structural elements via threaded surfaces to expose the mechanical transmission elements from the threaded surfaces to a distal end of the shaft;
sterilizing the reusable surgical instrument while the external tube is detached;
re-attaching the external tube to over the one or more internal structural elements via the threaded surfaces for performing an additional surgery with the reusable surgical instrument, thereby avoiding passage of air through the reusable surgical instrument to maintain insufflation of a body cavity when the external tube is re-attached; and
wherein the one or more internal structural elements remain coupled to a proximal hub when the external tube is detached from over the one or more internal structural elements.
2. The method of claim 1 , wherein actuating the articulated end-effector via the mechanical transmission elements to transmit motion to the articulated end-effector comprises actuating the articulated end-effector via at least one of wires, chains, ropes, or belts.
3. The method of claim 1 , wherein actuating the articulated end-effector via the mechanical transmission elements to transmit motion to the articulated end-effector comprises actuating one or more rotating elements of an articulated handle.
4. The method of claim 1 , wherein detaching the external tube of the shaft from over the one or more internal structural elements via the threaded surfaces comprises detaching the external tube of the shaft from over the one or more internal structural elements via a threaded surface of the external tube and a corresponding threaded surface.
5. The method of claim 1 , wherein detaching the external tube of the shaft from over the one or more internal structural elements via the threaded surfaces comprises detaching the external tube of the shaft from over the one or more internal structural elements without the need to disassemble any other components of the reusable surgical instrument.
6. The method of claim 1 , wherein the reusable surgical instrument comprises the proximal hub and wherein actuating the articulated end-effector transmits motion from the proximal hub to the articulated end-effector via the mechanical transmission elements.
7. The method of claim 1 , wherein the external tube is detached from over the one or more internal structural elements and re-attached to over the one or more internal structural elements via the threaded surfaces for multiple use cycles of the reusable surgical instrument.
8. The method of claim 1 , wherein re-attaching the external tube of the shaft to over the one or more internal structural elements via the threaded surfaces comprises contacting the external tube with at least one sealing element which fills a gap between an internal surface of the external tube and the one or more internal structural elements.
9. The method of claim 1 , further comprising improving air-tightness of the reusable surgical instrument via at least one transversal element mounted on the one or more internal structural elements when the external tube is re-attached to over the one or more internal structural elements.
10. The method of claim 9 , further comprising passing the mechanical transmission elements through one or more channels of the at least one transversal element.
11. The method of claim 10 , wherein re-attaching the external tube of the shaft to over the one or more internal structural elements via the threaded surfaces comprises contacting the external tube with at least one sealing element which fills a gap between an internal surface of the external tube and the at least one transversal element.
12. The method of claim 1 , further comprising releasing tension on the mechanical transmission elements after use to facilitate effective cleaning and sterilization procedures.
13. The method of claim 1 , further comprising actuating the articulated end-effector via mechanical transmission elements to transmit motion to the articulated end-effector after the external tube is re-attached to over the one or more internal structural elements.
14. The method of claim 1 , further comprising performing the additional surgery with the reusable surgical instrument.
15. The method of claim 1 , wherein the articulated end-effector comprises a grasper.
16. The method of claim 1 , wherein the articulated end-effector comprises a plurality of links interconnected by a plurality of joints.