Robotic endoscopic retractor for use in minimally invasive surgery
Minimally invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.
1. A minimally invasive surgical instrument, comprising:
an elongate shaft; and
a retractor assembly coupled to a distal end of the elongate shaft and adapted to be deployed inside a body organ of a patient, the retractor assembly including:
first and second blades connected at proximal ends by a pivot assembly such that the blades are angularly displaceable about a pivotal connection of the pivot assembly, and
an expansion structure supported by the blades,
wherein the retractor assembly is movable between a closed configuration in which the blades have a first angular displacement and the expansion structure is collapsed and an open configuration in which the blades have a second angular displacement bounding an angular displacement region and the expansion structure is expanded to bound an expansion region, wherein the expansion region bounded by the expanded expansion structure is greater than the angular displacement region bounded by the blades.
2. The minimally invasive surgical instrument of claim 1 wherein the expansion structure includes a plurality of linkages pivotally coupled to the first and second blades.
3. The minimally invasive surgical instrument of claim 1 wherein the first blade has a distal end coupled to a first linkage and to a second linkage.
4. The minimally invasive surgical instrument of claim 3 wherein the second blade has a distal end coupled to a third linkage, wherein the third linkage is pivotally coupled to the first linkage.
5. The minimally invasive surgical instrument of claim 4 wherein the second linkage is pivotally coupled to a fourth linkage, wherein the fourth linkage extends through the first blade.
6. The minimally invasive surgical instrument of claim 5 wherein a fifth linkage extends between the first and second blades such that the fifth linkage moves proximally toward the pivot assembly as the retractor assembly moves from the closed configuration to the open configuration.
7. The minimally invasive surgical instrument of claim 6 wherein the fifth linkage is coupled between the first and fourth linkages.
8. The minimally invasive surgical instrument of claim 1 wherein the first and second blades each have a curved tip, wherein the curved tip of the first blade and the curved tip of the second blade have different radii of curvature.
9. The minimally invasive surgical instrument of claim 1 wherein the retractor assembly includes webbing extending between the first and second blades.
10. The minimally invasive surgical instrument of claim 9 wherein the webbing includes a non-rigid mesh.
11. A minimally invasive surgical instrument, comprising:
an elongate shaft; and
a retractor assembly coupled to a distal end of the elongate shaft and adapted to be deployed inside a body organ of a patient, the retractor assembly including:
first and second blades connected at proximal ends by a pivot assembly such that the blades are angularly displaceable about a pivotal connection of the pivot assembly, and
a first linkage coupled to a distal end of the first blade;
a second linkage coupled to distal end of the second blade, wherein the second linkage is pivotally coupled to the first linkage;
an expansion structure supported by the blades, and
wherein the retractor assembly is movable between a closed configuration in which the blades have a first angular displacement and the expansion structure is collapsed and an open configuration in which the blades have a second angular displacement bounding an angular displacement region and the expansion structure is expanded to bound an expansion region, wherein the expansion region bounded by the expanded expansion structure is greater than the angular displacement region bounded by the blades.