Minimal-access percutaneous and self-retracting surgical system

Abstract

Disclosed herein are embodiments of a minimally-invasive surgical system and methods of use which can mimic a mosquito proboscis to efficiently penetrate tissue. The delivery system can utilize a plurality of modular strut instruments to create a working tissue canopy and apply any number of surgical actions to a target tissue.

What is claimed is: 
     
         1 . A multi-functional surgical system comprising:
 an outer sheath having a proximal end, a distal end, and a lumen extending between the proximal end and the distal end;   an inner module located within the lumen of the outer sheath, the inner module comprising a plurality of lumens extending from a proximal end to a distal end of the inner module;   at least one labrum extending through at least one of the plurality of lumens of the inner module and configured to extend out the distal end of the outer sheath, wherein the at least one labrum is configured to penetrate tissue and to move from a radially closed position to a radially open position, and wherein the at least one labrum is configured to withdraw into the inner module; and   a plurality of struts, each of the plurality of struts extending through one of the plurality of lumens of the inner module, wherein the plurality of struts are configured to radially expand as they are advanced distally from the distal end of the outer sheath to form a canopy working area and to circumferentially move tissue;   wherein at least some of the plurality of struts comprise a surgical end tip having a surgical function.   
     
     
         2 . The multi-functional surgical system of  claim 1 , wherein the outer sheath and the inner module are flexible. 
     
     
         3 . The multi-functional surgical system of  claim 1 , further comprising a camera or endoscope extending through one of the plurality of lumens of the inner module. 
     
     
         4 . The multi-functional surgical system of  claim 1 , further comprising a hub and relay connected to a processor with a human or robotic interface. 
     
     
         5 . The multi-functional surgical system of  claim 1 , further comprising a power source connected to at least one of the surgical end tips. 
     
     
         6 . The multi-functional surgical system of  claim 1 , wherein the plurality of struts are configured to form a grasping claw while being withdrawn into the outer sheath. 
     
     
         7 . The multi-functional surgical system of  claim 1 , wherein the at least one labrum comprises a pair of legs each having a cutting surface and a needle. 
     
     
         8 . The multi-functional surgical system of  claim 1 , wherein the surgical end tips comprise one or more of a micrograsping forcep, a microscissors, a navigation actuatuator, a microdissector, a cautery instrument, a suction device, a vessel clip, a ligation instrument, a drug delivery device, an ultrasonic or microdoppler flow probe, and a spectroscopy probe. 
     
     
         9 . The multi-functional surgical system of  claim 1 , wherein at least a portion of the at least one labrum is configured to vibrate. 
     
     
         10 . The multi-functional surgical system of  claim 1 , wherein the system is bendable and steerable. 
     
     
         11 . The multi-functional surgical system of  claim 1 , wherein each of the end tips is configured to longitudinally retract and extend within a lumen of one of the plurality of struts. 
     
     
         12 . The multi-functional surgical system of  claim 1 , wherein each of the plurality of struts comprises a bend, the bend directing the strut from extending radially outward to extending radially inwards. 
     
     
         13 . The multi-functional surgical system of  claim 12 , wherein the bend comprises a hinge configured to change angles. 
     
     
         14 . The multi-functional surgical system of  claim 1 , wherein some of the plurality of struts do not have a surgical end tip. 
     
     
         15 . A method of performing surgery comprising:
 advancing a multi-functional surgical system having an outer sheath to a target location with a target tissue, the advancing comprising cutting through tissue with at least one labrum of the surgical system to enter the target location, the at least one labrum extending through a lumen of the outer sheath and out a distal end of the outer sheath;   distally advancing a plurality of struts through the outer sheath and into the target location, wherein the plurality of struts radially expand as they are distally advanced out of the outer sheath to form a canopy working area around the target tissue, and wherein at least some of the plurality of struts includes an end effector; and   performing an action on the target tissue using at least one of the end effectors of the plurality of struts.   
     
     
         16 . The method of  claim 15 , wherein the performing the action comprises cutting, cauterizing, dissection, clipping, ligation, drug delivery, suction, removal, or grasping. 
     
     
         17 . The method of  claim 15 , wherein the surgical system is controlled robotically. 
     
     
         18 . The method of  claim 15 , further comprising retracting the at least one labrum into the outer sheath prior to or simultaneously while distally advancing the plurality of struts. 
     
     
         19 . The method of  claim 15 , further comprising withdrawing the plurality of struts after performing the action, wherein the withdrawing comprises radially compressing the plurality of struts to grasp the target tissue and translate the target tissue towards the outer sheath. 
     
     
         20 . An assembly for a surgical system, the assembly comprising:
 a first surgical device comprising at least one labrum at a distal end configured to penetrate tissue and to move from a radially closed position to a radially open position; and   a second surgical device comprising a plurality of struts, each of the plurality of struts being configured to radially expand as they are advanced distally to form a canopy working area, wherein at least some of the plurality of inner struts comprise an end tip having surgical functionality.