Abstract: An endoscopic instrument is provided with a hollow tube, first and second end effectors coupled to the hollow tube and having arms biased away from each other, a cylindrical member slidably disposed over the hollow tube, a push/pull wire extending through the tube, a handle assembly coupled to the push/pull wire and the hollow tube, and a disk segment connected to the push/pull wire and connected to the cylindrical member by a crimp in the cylindrical member. When the handle assembly is actuated, the push/pull wire moves the disk segment and hence the cylindrical member relative to the end effectors and causes the cylindrical member to ride over the arms of the end effectors, thereby forcing the end effectors closed or permitting them to open. Preferably, the disk segment has two curved sides which are coupled to the cylindrical member by crimping, and two substantially parallel sides which provide room for the arms of the end effectors so that the disk segment can move relative to the end effectors.

Abstract: The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing.

Abstract: An endoscopic forceps jaw assembly for an endoscopic instrument includes a pair of articulating opposed jaws each having a jaw cup. The jaw cups are provided with teeth which increase in height from the proximal end of the jaw cup to the distal end. The jaws are rotatable relative to each other about a common axis and define an open position and a closed position. When the jaws are rotated toward the closed position, the teeth interleave substantially simultaneously. An endoscopic instrument utilizing the jaws of the invention is also provided and further includes an actuation handle, a tubular member, and a control member. The jaw assembly is coupled to the distal end of the control member and rotatably coupled to the distal end of the tubular member, such that the pair of articulable opposed jaws open and close by rotating in response to movement of the control member relative to the tubular member. The jaws may also be electrically conductive and coupled to an electrocautery voltage supply.

Abstract: An endoscopic multiple sample bioptome includes a hollow outer member and an axially displaceable inner member extending therethrough. The proximal ends of the outer and inner members are coupled to an actuator for axially displacing one relative to the other. The distal end of the outer member is coupled to one of a cylinder having a sharp distal edge and a jaw assembly, while the distal end of the inner member is coupled to the other. The jaw assembly includes a pair of opposed, preferably toothed jaw cups each of which is coupled by a resilient arm to a base member. The arms are bent to lie in planes which intersect the axis of the base member and to locate the jaws apart from each other. The base member is mounted inside the cylinder and axial movement of the jaw assembly and cylinder relative to each other draws the arms into the cylinder and brings the jaw cups together in a biting action.

Abstract: An actuator for an endoscopic instrument includes a handle having a through bore with a distal keyway and a lever which is pivotally coupled to the handle. A proximal tube sleeve is insert molded or press fit to the proximal end of the instrument tube. The tube sleeve has a pair of ramped thread-like projections and a pair of distally facing wedge-like projections all of which pass through the keyway in the handle. A proximal stop ring on the tube sleeve prevents the tube sleeve from passing completely through the handle. A ferrule having a pair of interior threadlike projections threadably engages the tube sleeve and is frictionally engaged by the wedge-like projections. A ferrule locking cap having a proximal inner groove and a distal flange fits in the annular space between the tube sleeve and the ferrule. The proximal groove engages a locking ring on the tube sleeve and splines on the tube sleeve and the ferrule frictionally engage the cap.

Abstract: An endoscopic bipolar multiple sample bioptome includes a relatively long conductive flexible member having a lumen with an axially displaceable conductive wire extending therethrough and covered with an electrically insulating sheath. The proximal ends of the flexible member and wire are coupled to a manual actuation device for axially displacing one of the flexible member and wire relative to the other and the manual actuation device is provided with bipolar electrical couplings for electrically coupling one pole of a current source to the flexible member and the other pole of the current source to the wire. The distal end of the flexible member is mechanically and electrically coupled to a partially conductive cylinder having a distal edge and the distal end of the wire is mechanically and electrically coupled to the jaw assembly. The jaw assembly includes a pair of opposed toothed jaw cups each of which is coupled by a narrow resilient arm to a base member.

Abstract: A biological forceps device for the taking of tissue samples from a body, comprising a flexible main coil attached at its distal end to a pair of homologous cast jaws. The jaws have radially arranged teeth on their distalmost end. The jaws are opened and closed by attachment to a pair of pull wires which extend through the main coil, into a handle at its proximal end. The handle has a spool which slides about a central shaft attached to the main coil. The spool is attached to the pull wires, so that movement of the spool with respect to the central shaft, effectuates a force on the proximal ends of the levered jaws, to open and close them, appropriately.

Abstract: A jaw assembly of an endoscopic biotome is formed by cutting a hemispherical end of a spring metal cylinder with electrical discharge or laser machining equipment to provide opposed jaw cups. Metal is cut from the middle portion of the cylinder to form two tapered arms which terminate at a cylindrical portion of the open end of the cylinder. At least one of the two tapered arms is bent away from the other to form the jaw assembly.

Abstract: An end effector assembly for an endoscopic instrument includes first and second end effectors, a screw, and optionally a washer. The end effectors have arms which are biased away from each other. The screw has a threaded portion dimensioned to engage the distal end of the endoscopic instrument and a head portion with a pair of arm receiving grooves. In a presently preferred embodiment, the washer extends over the arms of the end effectors which pass through grooves in the head of the screw. In this manner, the arms of the end effectors are captured between the screw and the washer. The grooves are preferably provided with upstanding pins which engage mounting holes in the arms of the end effectors.

Abstract: A jaw assembly for an endoscopic bioptome includes a pair of opposed end effectors having resilient arms formed from a super-elastic metal. The distal ends of the resilient arms terminate in end effector jaw cups which are also preferably formed from super-elastic metal, while the proximal portions of the resilient arms include angled portions which urge the jaw cups away from each other. The jaw cups are brought together into a biting action by a cylinder having a sharp distal edge which moves relative to over the arms of the end effectors. As the resilient arms are formed from a superelastic metal, they exhibit very high resiliency and durability even after numerous uses. Several embodiments of jaws and different ways of coupling the jaws to the distal end of the bioptome are disclosed.

Abstract: An endoscopic multiple sample bioptome includes a hollow outer member and an axially displaceable inner member extending therethrough. The proximal ends of the outer and inner members are coupled to an actuator for axially displacing one relative to the other. The distal end of the outer member is coupled to one of a cylinder having a sharp distal edge and a jaw assembly, while the distal end of the inner member is coupled to the other. The jaw assembly includes a pair of opposed, preferably toothed jaw cups each of which is coupled by a resilient arm to a base member. The arms are bent to lie in planes which intersect the axis of the base member and to locate the jaws apart from each other. The base member is mounted inside the cylinder and axial movement of the jaw assembly and cylinder relative to each other draws the arms into the cylinder and brings the jaw cups together in a biting action.

Abstract: The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing.

Abstract: A low friction sheath for endoscopic instruments is made from an extrusion grade of high density polyethylene (HDPE). The sheath is formed as an extruded polyethylene tube having an inner diameter slightly smaller than the outer diameter of the instrument it will cover. In order to place the sheath over the instrument, a containment sleeve is placed over the sheath and a source of pressurized gas is coupled to one end of the sheath. The endoscopic instrument tube is sealed and inserted into the other end of the sheath. The polyethylene sheath is filled with gas so that it expands against the containment sleeve and the endoscopic instrument tube is pushed into the expanded polyethylene sheath. The gas is released from the polyethylene sheath and it contracts against the outer surface of the endoscopic instrument tube. The sheath is preferably made from a HDPE having a microfractured surface with 10-20 micron fractures.

Abstract: A double acting bipolar endoscopic scissors includes a hollow tube with an integral clevis and a bipolar push rod extending therethrough. The tube is rotatably mounted in a handle member which is provided with a manual actuation lever. The bipolar push rod includes a pair of spaced apart rods which are insulated along substantially their entire lengths by polypropylene sheaths, and which are insert molded in a distal insulating collar near their distal ends, in a proximal insulating collar near their proximal ends, and in a plurality of non-conductive cylinders therebetween. The distal collar includes a flattened distal portion and the distal ends of the rods are bent approximately 90 degrees and exit the flattened portion. A pair of scissor blades are mounted in the clevis with an axle screw and a nut and are insulated from the clevis and the axle screw. One of the scissor blades has a ceramic coating on its face to insulate it from the other scissor blade.

Abstract: An endoscopic irrigation instrument includes a fluid chamber, a cannula coupled to a distal end of the fluid chamber, a tapered irrigation tube which couples at its proximal end to a fluid source and which couples at its distal end to an irrigation port of the fluid chamber, and a pinch valve which controls the flow of fluid from the irrigation source to the fluid chamber and hence through the cannula to the surgical site. The tapered irrigation tube is arranged so that it has a first relatively larger constant inner diameter and relatively larger wall thickness on its proximal end until it tapers down in both inner diameter and wall thickness at a location slightly proximal the pinch valve. By the time the tapered irrigation tube passes the pinch valve in the endoscopic instrument, the tapered irrigation tube is at a second relatively smaller constant inner diameter and a relatively smaller wall thickness.

Abstract: An endoscopic bipolar electrocautery instrument includes a proximal actuator coupled by a tube and push rod to a pair of distal graspers. The tube is covered with an insulating shrink wrap from its distal end up to an uncovered proximal portion. A stationary jaw with an integral clevis is mounted inside the distal end of the tube and electrically contacts the inner surface thereof. The clevis holds a pair of ceramic insulators between which a movable jaw is mounted on an insulated bushing with an axle pin. The movable jaw is electrically and mechanically coupled to the push rod which is covered with an insulating shrink wrap from a point just proximal of its connection with the movable jaw to a point near its proximal end. The uninsulated proximal end of the tube is mounted in a conductive bushing which rotates within a nonconductive handle. The proximal end of the push rod extends beyond the conductive bushing and a rubber insulator is fitted between the bushing and the push rod.

Abstract: An endoscopic multiple sample bioptome includes a hollow outer member and an axially displaceable inner member extending therethrough. The proximal ends of the outer and inner members are coupled to an actuator for axially displacing one relative to the other. The distal end of the outer member is coupled to one of a cylinder having a sharp distal edge and a jaw assembly, while the distal end of the inner member is coupled to the other. The jaw assembly includes a pair of opposed, preferably toothed jaw cups each of which is coupled by a resilient arm to a base member. The arms are bent to urge the jaws away from each other. The base member is mounted inside the cylinder and axial movement of the jaw assembly and cylinder relative to each other draws the arms into the cylinder and brings the jaw cups together in a biting action.

Abstract: An endoscopic instrument has a distal assembly removable from a proximal handle. The distal assembly includes a tube carrying an end effector and a push rod coupled to the end effector and slidable through the tube. The proximal handle includes a tube sleeve for receiving the tube, an actuator and a latch for coupling the push rod to the actuator. The tube sleeve is provided with a tube lock for holding the tube securely in place and the tube is provided with a circumferential groove for engaging the lock. The latch is spring loaded, hinged, and has an inclined surface for quick coupling with the push rod. The latch also has a mechanism for uncoupling the latch from the push rod. The push rod is provided with a mating tip which engages the latch so that the actuator causes reciprocal movement of the push rod within the tube to operate the end effector. An axially movable collar on the tube sleeve is used in unlatching, and in one arrangement is also used for rotating the distal assembly.

Abstract: A biological forceps device for the taking of tissue samples from a body, comprising a flexible main coil attached at its distal end to a pair of homologous cast jaws. The jaws have radially arranged teeth on their distalmost end. The jaws are opened and closed by attachment to a pair of pull wires which extend through the main coil, into a handle at its proximal end. The handle has a spool which slides about a central shaft attached to the main coil. The spool is attached to the pull wires, so that movement of the spool with respect to the central shaft, effectuates a force on the proximal ends of the levered jaws, to open and close them, appropriately.

Abstract: An endoscopic bipolar cautery biopsy forceps device has a conduit, a pair of articulable opposed jaws, two conductive pull wires, and an actuator. The articulable opposed jaws are located at the distal end of the conduit. Each jaw is provided with a cutting surface at its distal end and a tang at its proximal end. At least a portion of the cutting surface is electrically conductive and a portion of the tang is electrically conductive and electrically coupled to the conductive cutting surface. The remainder of the jaw is preferably non-conductive or is coated with an insulator. The conductive pull wire is coupled to the conductive portion of the tang of each jaw and is insulated as it extends through the conduit to a handle portion which includes the actuator. The actuator is coupled to the proximal ends of the pull wires so that movement of the actuator pulls the pull wires and articulates the jaws.