Detachable End Effectors

Abstract

Methods and devices are provided for performing various procedures using interchangeable end effectors. In general, the methods and devices allow a surgeon to remotely and selectively attach various interchangeable surgical end effectors to a shaft located within a patient's body, thus allowing the surgeon to perform various procedures without the need to remove the shaft from the patient's body. In an exemplary embodiment, multiple end effectors can be introduced into a body cavity. The end effectors can be disassociated or separate from one another such that they float within the body cavity. A distal end of a shaft can be positioned within the body cavity and it can be used to selectively engage one of the end effectors. In particular, the device can be configured to allow each end effector to be remotely attached and detached from the distal end of the shaft.

What is claimed is: 
     
         1 . A surgical device comprising:
 an elongate shaft including an outer tube and an inner rod positioned in the outer tube, the outer tube and inner rod each including a distal end and a proximal end;   an actuator operably connected to the proximal ends of the outer tube and the inner rod;   a grasper on the distal end of the inner rod, the grasper having a locked position and an unlocked position dependent on the axial position of the inner rod relative to the outer tube;   an end effector adapted for in vivo attachment to and detachment from the elongate shaft, the end effector including
 an outer housing, 
 an inner shaft axially moveable relative to the outer housing, the inner shaft including a proximal end having a ball sized and dimensioned to be received in and locked to the grasper, and 
 a pair of surgical jaws having an opened position and a closed position dependent on the relative axial position of the inner shaft and the outer housing. 
   
     
     
         2 . The device of  claim 1 , wherein, when a distal end of the outer tube is positioned proximal of the grasper, the grasper is in the unlocked position. 
     
     
         3 . The device of  claim 1 , wherein the grasper includes a plurality of arms. 
     
     
         4 . The device of  claim 3 , wherein the plurality of arms are biased to the open configuration. 
     
     
         5 . The device of  claim 3 , wherein the plurality of arms are configured to deflect radially outward when the grasper is positioned external of the outer tube. 
     
     
         6 . A surgical device comprising:
 an elongate shaft including an outer tube and an inner rod positioned in the outer tube, the outer tube and inner rod each including a distal end and a proximal end;   an actuator operably connected to the proximal ends of the outer tube and the inner rod;   a grasper on the distal end of the inner rod, the grasper having a locked position and an unlocked position dependent on the axial position of the inner rod relative to the outer tube;   an end effector adapted for in vivo attachment to and detachment from the elongate shaft, the end effector including
 an outer housing, 
 an inner shaft axially moveable relative to the outer housing, the inner shaft including a proximal end sized and dimensioned to be received in and locked to the grasper, and 
 a pair of surgical jaws having an opened position and a closed position dependent on the relative axial position of the inner shaft and the outer housing, 
   where the inner shaft and the grasper include materials configured to facilitate a magnetic engagement between the inner shaft and the grasper.   
     
     
         7 . The device of  claim 6 , wherein, when a distal end of the outer tube is positioned proximal of the grasper, the grasper is in the unlocked position. 
     
     
         8 . The device of  claim 6 , wherein the grasper includes a plurality of arms. 
     
     
         9 . The device of  claim 8 , wherein the plurality of arms are biased to the open configuration. 
     
     
         10 . The device of  claim 8 , wherein the plurality of arms are configured to deflect radially outward when the grasper is positioned external of the outer tube. 
     
     
         11 . A surgical device comprising:
 an elongate shaft including an outer tube and an inner rod positioned in the outer tube, the outer tube and inner rod each including a distal end and a proximal end;   an actuator operably connected to the proximal ends of the outer tube and the inner rod; and   an end effector adapted for in vivo attachment to and detachment from the elongate shaft, the end effector including
 an outer housing, 
 an inner shaft axially moveable relative to the outer housing, the inner shaft including a magnetic material providing provisional engagement to the distal end of the inner rod, and 
 a pair of surgical jaws having an opened position and a closed position dependent on the relative axial position of the outer housing and inner shaft. 
   
     
     
         12 . The device of  claim 11 , wherein a distal end of the inner rod and inner shaft each include a mating feature for mechanically mating the inner rod to the inner shaft. 
     
     
         13 . The device of  claim 12 , wherein the mating features comprise a ball and grasper. 
     
     
         14 . The device of  claim 11 , further comprising a grasper on the distal end of the inner rod, the grasper being adapted to lock onto the inner shaft. 
     
     
         15 . The device of  claim 15 , wherein, when a distal end of the outer tube is positioned proximal of the grasper, the grasper is in the unlocked position. 
     
     
         16 . The device of  claim 15 , wherein the grasper includes a plurality of arms. 
     
     
         17 . The device of  claim 16 , wherein the plurality of arms are biased to the open configuration. 
     
     
         18 . The device of  claim 16 , wherein the plurality of arms are configured to deflect radially outward when the grasper is positioned external of the outer tube.