Grasper with magnetically-controlled positioning
Inventors
Rodriguez-Navarro, Alberto • Loomas, Bryan
Assignees
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-11751965-B2
Publication Date
2023-09-12
Expiration Date
Abstract
Devices, systems, and methods for providing remote traction to tissue may include a grasper and a control element. The grasper may have a first jaw, a second jaw, a main body, and a first magnetic element. The control element may include a second magnetic element. The first and second magnetic elements may attract the grasper to the control element such that the grasper is oriented parallel, perpendicularly, or at an angle between parallel and perpendicular with respect to the control element and/or a body. In some instances, the grasper may include first and second magnetic elements and the control element may include third and fourth magnetic elements.
Core Innovation
The disclosed invention relates to remote tissue traction and manipulation for minimally-invasive surgery using a magnetically positionable grasper and an external control element. A grasper includes jaw structures and magnetic elements that are attracted to the control element across an abdominal wall, enabling the grasper to be oriented for traction and manipulation without using a shaft in the port. The grasper is configured to rotate with three degrees of freedom in response to manipulation by the magnetic element of the control element.
The invention provides repositioning of grasped tissue by manipulating a magnetic element of the control element. Manipulating the magnetic element includes rotating the magnetic element relative to the control element, which causes the grasped tissue to be repositioned through rotation of the grasper. The disclosure further addresses different grasper configurations, including perpendicular configuration, parallel configuration, and angled configuration, including variants with multi-magnet configurations and multiple magnetic elements.
The disclosure also covers integration with visualization devices, such as a camera and a light source, that are magnetically repositioned in a similar manner. In addition, the invention includes concepts of releasably coupling a grasper and optionally a visualization device to a delivery device and decoupling the grasper after placement in the body.
Claims Coverage
Independent claim clm-00001 covers performing a surgical procedure with a magnetically controlled grasper across an abdominal wall, where repositioning is achieved by rotating a magnetic element of a control element and the grasper rotates with three degrees of freedom. Dependent claims further refine the magnetic structure, structural housing, rotational constraint relative to a longitudinal axis, force reduction based on distance, and optional delivery and visualization integration.
Magnetic attraction across an abdominal wall for tissue repositioning
A method for performing a surgical procedure by grasping tissue in a grasper; magnetically attracting the grasper to a control element across an abdominal wall; and repositioning the grasped tissue by manipulating a magnetic element of the control element.
Rotating a magnetic element to rotate the grasper with three degrees of freedom
Manipulating the magnetic element of the control element comprises rotating the magnetic element relative to the control element, and the grasper is configured to rotate with three degrees of freedom in response to manipulation by the magnetic element.
Multi-part magnetic coupling between grasper portions and control-element magnetic elements
The grasper includes first and second magnetic portions that magnetically couple, respectively, to first and second magnetic elements of a control element.
Control element housing enclosing a magnetic element housing
The control element includes a control element housing enclosing a magnetic element housing that contains a magnetic element.
Rotational constraint relative to the control element longitudinal axis
Configuring the grasper to rotate through a desired angle while staying substantially transverse to the longitudinal axis of the control element.
Reducing attractive force by increasing distance between control element and abdominal wall
Increasing the distance between a control element and the abdominal wall to reduce the attractive force between a grasper and a magnetic element.
Advancing the grasper with a delivery device and disconnecting the delivery device
Advancing a grasper into a body cavity with a delivery device and then disconnecting the delivery device from the grasper.
Across the independent claim and its refinements, the core claim coverage is directed to magnetically attracting a grasper across an abdominal wall to a control element and repositioning grasped tissue by rotating a magnetic element. Refinements specify multi-part magnetic coupling, housing structures for the control element, rotational alignment constraints relative to a longitudinal axis, distance-based attractive-force reduction, and optional delivery and decoupling.
Stated Advantages
Enables remote traction and manipulation of grasped tissue during minimally-invasive surgery using magnetic attraction across an abdominal wall without using a shaft in the port.
Allows repositioning by manipulating the magnetic element, including rotating the magnetic element relative to the control element.
Provides grasper rotation with three degrees of freedom in response to manipulation by the magnetic element.
Documented Applications
Minimally-invasive surgery for remote tissue traction and manipulation using a magnetically positionable grasper and external control element(s).
Interested in licensing this patent?