Laparoscopic graspers and systems therefor

Inventors

Rodriguez-Navarro, Alberto • Fabro, Mariel • Nair, Archana • DATTO, Olgy

Assignees

Levita Magnetics International Corp

Abstract

Described here are systems, devices, and methods for providing remote manipulation or traction to tissue using one or more graspers, delivery devices, and magnetic control assemblies. The graspers may be configured for insertion into the patient during a minimally-invasive procedure, such as a laparoscopic operation. The graspers may be configured to releasably connect to tissue. In some embodiments, the grasper may comprise a clip, a clamp, a suction device, a coil, or the like, and may be configured to connect to any suitable tissue. Delivery devices may be configured to releasably engage a grasper to deliver the grasper, remove it from the patient, or reposition it. The delivery devices may additionally be configured to actuate the grasper to attach it to tissue and/or detach it from tissue. The magnetic control elements may be configured to be positioned externally of the body to move, reposition, and/or hold the grasper.

Core Innovation

The invention relates to laparoscopic remote tissue manipulation systems that include an insertable grasper having two arms configured to be attached to tissue in a body of a patient. The two arms are connected via a linkage assembly with at least one pivot joint, and the linkage assembly is connected to a coupling element. The two arms are movable between a closed configuration and an open configuration, including by distally advancing an actuation rod and releasably engaging the actuation rod with the coupling element.

A central aspect of the invention is that the actuation rod is configured to releasably engage the coupling element via a magnetic attractive force. The externally positioned magnetic control assembly generates a magnetic field and/or magnetic force to move, reposition, and hold the grasper in vivo. The described coupling and actuation concept enables magnetic attractive engagement between delivery components and the grasper to support attachment and detachment behavior.

The invention further describes magnetic force modulation and sensing for controlling tissue traction and suspension. A force modulation device includes adjustable shielding and distance adjustment, and an optional electromagnet can be used. Feedback sensing can include a magnetometer and/or pressure sensor to control applied forces during tissue traction and suspension.

Claims Coverage

The provided claims include two independent claims. Across both independent claims, the inventive features are the two-arm grasper with pivot-jointed linkage and coupling element, the open actuation by distally advancing an actuation rod with releasable engagement to the coupling element, and the magnetic attractive-force engagement in one independent claim plus collapsed-to-expanded linkage closure in both independent claims.

Together, the independent claims define a tissue-manipulation system where a two-arm grasper articulates through a pivot-jointed linkage assembly coupled to an element that is releasably engaged by a distally advanced actuation rod, with one independent claim requiring magnetic attractive-force engagement, and both independent claims requiring closure via collapsed-to-expanded linkage movement.

Stated Advantages

Documented Applications