Surgical tool

Abstract

A surgical tool for minimally invasive surgery. The surgical tool in one embodiment includes a manipulator as a user interface, a proximal universal joint mounted to the manipulator, a hollow elongated member such as a tube mounted to the proximal universal joint, and a distal universal joint mounted to the other end of the elongated member. An end effector is mounted to the distal universal joint second end. Pivoting of the first end of the proximal universal joint causes the second end of the distal universal joint to move in a corresponding motion, and cabling operatively couples the proximal and distal universal joints. The proximal and distal universal joints may each include two yokes and a center block. Cabling may include four cables that each engage two round elements at the proximal and distal universal joints mounting locations to the center block.

What is claimed is: 
     
         1 . A surgical tool for use by an operator, comprising:
 a manipulator adapted to receive at least a portion of the operator's hand;   a proximal universal joint having a first end and a second end, the proximal universal joint first end being mounted to the manipulator;   a hollow elongated member having a first end, a second end, and a longitudinal axis, the elongated member first end being mounted to the proximal universal joint second end;   a distal universal joint having a first end and a second end, the distal universal joint first end being mounted to the elongated member second end; and   an end effector mounted to the distal universal joint second end.   
     
     
         2 . The surgical tool of  claim 1 , wherein pivoting of the first end of the proximal universal joint causes the second end of the distal universal joint to move in a corresponding motion. 
     
     
         3 . The surgical tool of  claim 1 , further comprising cabling operatively coupling the proximal and distal universal joints, wherein the proximal and distal universal joints each include a proximal yoke at the first end, a distal yoke at the second end, a center block, and means for pivoting the center member about two perpendicular, coplanar axes through the center block,
 wherein the proximal yoke is mounted to the center block at first and second mounting locations, the distal yoke is mounted to the center block at third and fourth mounting locations, and between the center block and each yoke at each mounting location are round elements, which may be independent parts or integral to either of the center block or yokes,   wherein the cabling comprises four cables that each engage two of the round elements at each of the proximal and distal universal joints, and   wherein pivoting the proximal yoke on the proximal universal joint causes a corresponding motion of the distal yoke of the distal universal joint.   
     
     
         4 . The surgical tool of  claim 1 , wherein the end effector comprises a base member and two opposed digits, each digit with a proximal phalange having a first end and a second end, the proximal phalange first end pivotally mounted to the base member, and a distal phalange having a first end and a second, free end, the first end pivotally mounted to the proximal phalange second end. 
     
     
         5 . The surgical tool of  claim 4 , wherein the manipulator comprises a first actuator operable to concurrently control the proximal phalanxes and a second actuator operable to concurrently control the distal phalanxes. 
     
     
         6 . The surgical tool of  claim 5 , wherein the second actuator is mounted to the end of at least a part of the first actuator. 
     
     
         7 . The surgical tool of  claim 6 , wherein the first actuator comprises a first lever assembly adapted to be operable with the operator's thumb, wherein actuating the first lever assembly causes the proximal phalanges to move relative to each other. 
     
     
         8 . The surgical tool of  claim 7 , wherein the first actuator further comprises a second lever assembly adapted to be operable with a finger of the same hand of the operator as the thumb, and wherein advancing the first and second lever assemblies toward each other causes the proximal phalanges to move toward each other. 
     
     
         9 . The surgical tool of  claim 8 , wherein the second actuator comprises a third lever assembly pivotally mounted to the second lever assembly. 
     
     
         10 . The surgical tool of  claim 9 , wherein each lever assembly has a longitudinal axis, and when the longitudinal axis of the third lever assembly is pivoted away from the longitudinal axis of the second lever assembly, the distal phalanges move toward each other. 
     
     
         11 . The surgical tool of  claim 10 , wherein the end effector is control by four end effector control cables, and wherein two cables control the proximal phalanxes and two cables control the distal phalanges. 
     
     
         12 . The surgical tool of  claim 11 , wherein the two cables that control the proximal phalanxes are operatively connected to the first lever assembly. 
     
     
         13 . The surgical tool of  claim 11 , wherein the two cables that control the distal phalanxes are operatively connected to the third lever assembly. 
     
     
         14 . The surgical tool of  claim 11 , wherein the end effector control cables are tensioned with resiliently biased pulleys included in the manipulator. 
     
     
         15 . The surgical tool of  claim 11 , wherein the proximal and distal universal joints each comprise a proximal and distal end member, with each end member including a base portion and opposing arms extending from the base portion, the proximal end member and the distal end member mounted to a center block for each joint, the center block pivotable around two substantially coplanar, perpendicular axes, wherein the base portions and center block define openings for receiving the end effector control cables. 
     
     
         16 . The surgical tool of  claim 1 , wherein the proximal and distal universal joints are controlled by universal joint control cables, and the end effector is controlled by end effector control cables, and the universal joint control cables and the end effector control cables are anchored in the manipulator and may be adjusted with means for tensioning the universal joint control cables and the end effector control. 
     
     
         17 . An articulation system for a surgical tool, comprising:
 a proximal universal joint including a proximal end member and a distal end member;   a hollow elongated member having a first end, a second end, and a longitudinal axis, the elongated member first end being mounted to the proximal universal joint distal end member;   a distal universal joint comprising a proximal end member and a distal end member, the distal universal joint proximal end member being mounted to the elongated member second end; and   universal joint control cables operatively connecting the proximal and distal universal joints;   
       wherein pivoting motion of the proximal end member of the proximal universal joint relative to the longitudinal axis of the elongated member exerts force on cables to cause a corresponding pivoting motion of the distal end member of the distal universal joint. 
     
     
         18 . The surgical tool of  claim 17 , wherein each end member of the proximal universal joint and the distal universal joint includes a base portion and opposing arms extending from the base portion, wherein each respective proximal end member and distal end member are mounted to a center member at the arms of the proximal end member and the distal end member, and wherein the center members permit pivoting of the proximal and distal end members around two substantially coplanar, perpendicular axes through the center member. 
     
     
         19 . The surgical tool of  claim 18 , wherein the proximal universal joint and the distal universal joint each include round elements interposed between the center member and the arms at the mounting locations of the end members to the center member, and which may be independent parts or integral to the center member or arms, and wherein the round elements are engaged by the universal joint control cables. 
     
     
         20 . A surgical tool for use by an operator, comprising:
 a manipulator adapted to receive at least a portion of the operator's hand, the manipulator including a mounting end, a first actuator, and a second actuator;   a hollow elongated member having a first end, a second end, and a longitudinal axis, the elongated member first end operatively connected to the mounting end of the manipulator; and   an end effector including a mounting end, the mounting end operatively connected to the elongated member second end, wherein the end effector includes a base member and two opposed digits, each digit with a proximal phalange and a distal phalange, the proximal phalange having a first end and a second end, the proximal phalange first end pivotally mounted to the base member, and the distal phalange having a first end and a second, free end, the first end pivotally mounted to the proximal phalange second end,   
       wherein the first actuator is operable to concurrently control the proximal phalanxes and the second actuator is operable to concurrently control the distal phalanxes.