Articulated surgical probe and method for use

Abstract

A surgical probe includes an articulated digit located at a distal end of a positioning shaft having a longitudinal axis. An actuator is located at a proximal end of the positioning shaft that is operatively connected to the articulated digit so as to move it between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon's finger engaging the actuator and the articulated digit. Preferably, the surgeons finger position and shape directly correspond to the position and shape of the articulated digit. A method is provided for probing, dissecting, and retracting anatomical structures.

1 . A surgical probe comprising:
 an articulated digit located at a distal end of a positioning shaft having a longitudinal axis; and   an actuator located at a proximal end of said positioning shaft and operatively connected to said articulated digit so as to move said articulated digit between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon's finger engaging said actuator and said articulated digit.   
     
     
         2 . A surgical probe according to  claim 1  wherein said articulated digit includes an elongate proximal phalanx having a curved distal end and a proximal end, a middle phalanx having a flat distal end and a curved proximal end, and a distal phalanx having a distal end and a curved proximal end. 
     
     
         3 . A surgical probe according to  claim 1  wherein said articulated digit includes a plurality of phalanges. 
     
     
         4 . A surgical probe according to  claim 3  wherein said phalanges comprise end features that provide for a limited pivoting relative to adjacent phalanges. 
     
     
         5 . A surgical probe according to  claim 2  wherein said proximal phalanx includes a pair of radially spaced-apart, longitudinally oriented throughbores, said middle phalanx includes a pair of radially spaced-apart, longitudinally oriented through-bores, and said distal phalanx includes a pair of radially spaced apart, longitudinally oriented through-bores. 
     
     
         6 . A surgical probe according to  claim 2  wherein said curved proximal end of said distal phalanx is pivotally connected to said flat distal end of said middle phalanx and said curved distal end of said elongate proximal phalanx is pivotally connected to said curved proximal end of said middle phalanx so as to comprise a range of motion that is continuous between a first fully extended position that is aligned with said longitudinal axis and at least one of a substantially crook and curved position. 
     
     
         7 . A surgical probe according to  claim 6  wherein a range of motion of said digit is limited by an interactive, rolling engagement of (i) said curved proximal end of said distal phalanx with said flat distal end of said middle phalanx and, (ii) said curved distal end of said elongate proximal phalanx with said curved proximal end of said middle phalanx. 
     
     
         8 . A surgical probe according to  claim 6  wherein said first fully extended position locates a dorsal portion of said curved proximal end of said distal phalanx in blocking relation with said dorsal portion of said flat distal end of said middle phalanx so as to prevent further pivotal rotation, and a dorsal portion of said curved distal end of said elongate proximal phalanx is blocked from further rolling engagement by a dorsal portion of said curved proximal end of said middle phalanx. 
     
     
         9 . A surgical probe according to  claim 6  wherein said substantially crook position locates (i) an anterior portion of said curved proximal end of said distal phalanx in blocking relation with an anterior portion of said flat distal end of said middle phalanx and, (ii) an anterior portion of said curved distal end of said elongate proximal phalanx  10  in blocking relation with an anterior portion of said curved proximal end of said middle phalanx. 
     
     
         10 . A surgical probe according to  claim 1  wherein said articulated digit includes a rounded probe-tip. 
     
     
         11 . A surgical probe according to  claim 1  wherein said articulated digit is operated so as to mimic a range of movements of a surgeon's finger, while at the same time, maintaining a kinesthetic relationship between said surgeon's finger and said digit. 
     
     
         12 . A surgical probe according to  claim 1  wherein said surgeon's perception of a motion, weight, and position of said articulated digit, relative to a tissue being probed, is maintained as the muscles, tendons, and joints of the surgeon's finger move said actuator causing said articulated digit to move between said continuous range of positions. 
     
     
         13 . A surgical probe according to  claim 1  wherein a spring and damper sensation is transferred to a surgeon when actuating said articulated digit so as to engage tissue structure. 
     
     
         14 . A surgical probe according to  claim 10  wherein said bulbous probe-tip projects outwardly from a distal end of articulated digit so as to provide a tactile pad for use in manipulating or dissecting tissue during surgery. 
     
     
         15 . A surgical probe according to  claim 1  wherein said actuator includes a plurality of links arranged in a linkage mechanism operatively connected to said digit. 
     
     
         16 . A surgical probe according to  claim 1  wherein said articulated digit comprises a tip having a gauze wad releasably fixed to a dorsal surface for dissection. 
     
     
         17 . A surgical probe according to  claim 1  wherein said articulated digit is sheathed with a polymeric material so as to better approximate the diameter, contour, and shape of a human finger. 
     
     
         18 . A surgical probe according to  claim 1  wherein said articulated digit comprises a releasable tip. 
     
     
         19 . A surgical probe according to  claim 10  wherein said bulbous tip includes at least one of a light source and a cautery. 
     
     
         20 . A surgical probe according to  claim 10  wherein said bulbous tip includes an abrasive surface for blunt dissection of tissue. 
     
     
         21 .- 64 . (canceled)