Ergonomic handle and articulating laparoscopic tool

Abstract

The present invention relates to a laparoscopic apparatus. The apparatus comprises a handle having a body portion, a top surface, opposite bottom surface, a proximal and distal end. The top surface of the base is contoured to compliment the natural curve of the palm. The apparatus further includes a shaft projecting from the distal end of the handle. The shaft has a proximal and distal end. A control sphere is located on the handle. The control sphere can be moved by one or more of a user's fingers to indicate direction. An end effector is located at the distal end of the shaft. The end effector is connected to the control sphere such that movements made to the control sphere control cause movement (articulation) of the end effector.

1 . A laparoscopic apparatus, the apparatus comprising: 
 a handle having a body portion, a top surface, opposite bottom surface, a proximal and distal end;    a shaft projecting from the distal end of the handle, the shaft having a proximal and distal end;    a control sphere located on the handle; and    an end effector located at the distal end of the shaft, wherein the end effector is connected to the control sphere such that movements made to the control sphere control move the end effector.    
     
     
         2 . The apparatus of  claim 1 , wherein the end effector is spherical and further comprises two wings holding graspers.  
     
     
         3 . The apparatus of  claim 2 , wherein the graspers are jawed end effectors, cutting forceps or are powered for cauterizing.  
     
     
         4 . The apparatus of  claim 1 , further comprising: 
 a collet mechanism located at the distal end of the handle, wherein the collet mechanism allows rotation of the shaft and end effector.    
     
     
         5 . The apparatus of  claim 1 , further comprising: 
 a tactile element at the top of the control sphere that aligns the control sphere with the shaft.    
     
     
         6 . The apparatus of  claim 5 , wherein if the tactile element on the control sphere is moved upward, the end effector is moved upward.  
     
     
         7 . The apparatus of  claim 5 , wherein if the tactile element on the control sphere is moved downward, the end effector is moved downward.  
     
     
         8 . The apparatus of  claim 5 , wherein if the tactile element on the control sphere is moved to the right, the end effector is moved to the right.  
     
     
         9 . The apparatus of  claim 5 , wherein if the tactile element on the control sphere is moved to the left, the end effector is moved to the left.  
     
     
         10 . The apparatus of  claim 4 , wherein the control sphere is located about 3 to 4 centimeters from the collet mechanism and is in line with the shaft.  
     
     
         11 . The apparatus of  claim 1 , wherein the control sphere is about three times larger than the end effector.  
     
     
         12 . The apparatus of  claim 2 , further comprising: 
 an actuator rod for opening and closing the graspers.    
     
     
         13 . The apparatus of  claim 12 , further comprising: 
 a pull cylinder connected to the actuator rod, wherein the pull cylinder moves the actuator rod back and forth.    
     
     
         14 . The apparatus of  claim 13 , wherein if the pull cylinder is moved toward the control sphere, the graspers are opened.  
     
     
         15 . The apparatus of  claim 13 , wherein if the pull cylinder is moved away from the control sphere, the graspers are opened.  
     
     
         16 . The apparatus of  claim 1 , further comprising: 
 one or more control cables within the shaft connecting the control sphere and end effector.    
     
     
         17 . The apparatus of  claim 1 , wherein the one or more control cables control the pitch and yaw of the end effector.  
     
     
         18 . The apparatus of  claim 17 , wherein the one or more control cables are fed through one or more wire guides to prevent the end effector and the control sphere from having shaft-independent rotation.  
     
     
         19 . The apparatus of  claim 18 , wherein the one or more control cables are rotated about 180 degrees between the control sphere and the end effector.  
     
     
         20 . The apparatus of  claim 2 , further comprising: a lever projecting from the bottom of the handle, wherein the lever can be actuated by the user.  
     
     
         21 . The apparatus of  claim 20 , wherein the lever is a squeeze grip.  
     
     
         22 . The apparatus of  claim 21 , wherein when the squeeze grip is actuated by the user, the graspers close.  
     
     
         23 . The apparatus of  claim 21 , wherein when the squeeze group is opened, the graspers open.  
     
     
         24 . The apparatus of  claim 22 , further comprising: 
 a slip lock to prevent the raspers from opening when the squeeze grip is actuated by the user.    
     
     
         25 . The apparatus of  claim 1 , wherein the control sphere is located near the distal end of the top surface of the handle.  
     
     
         26 . An ergonomic handle apparatus for use with a tool, the handle comprising: 
 a base having a body portion, a top surface, opposite bottom surface, a proximal and a distal end,    the top surface of the base being contoured to compliment the natural curve of the palm;    a control sphere located on the base, wherein the control sphere can be moved by one or more of a user's fingers to indicate direction; and    at least one lever projecting from the bottom surface, wherein the lever may be actuated by a user.    
     
     
         27 . The handle apparatus of  claim 26 , wherein the at least one lever has a pivot point located toward the distal end of the handle.  
     
     
         28 . The handle apparatus of  claim 26 , wherein the handle circumference is between about 4 cm and about 6.5 cm.  
     
     
         29 . The handle apparatus of  claim 28 , wherein the handle length is between about 150 and 165 mm.  
     
     
         30 . The handle apparatus of  claim 29 , wherein the handle with is between about 40 and 50 mm.  
     
     
         31 . The handle apparatus of  claim 26 , further comprising: 
 a tool shaft projecting from the distal end of the handle.    
     
     
         32 . The handle apparatus of  claim 31 , wherein the distal end of the base is curved such that the tool shaft is angled at about 135 degrees from the longitudinal axis of the base.  
     
     
         33 . The handle apparatus of  claim 26 , wherein the at least one projecting lever is a squeeze grip.  
     
     
         34 . The handle apparatus of  claim 33 , wherein the squeeze grip is open about 4 to 18 degrees from the bottom surface of the base when it is not actuated by a user.  
     
     
         35 . The handle apparatus of  claim 33 , wherein the squeeze grip is open 0 degrees from the bottom surface of the base when actuated by a user.  
     
     
         36 . The handle apparatus of  claim 26 , wherein the base is shaped such that a user's thumb controls the control sphere.  
     
     
         37 . The handle apparatus of  claim 36 , wherein a user's fingers wrap around the base of the handle and the at least one lever such that the fingers are able to actuate the lever.  
     
     
         38 . The handle apparatus of  claim 26 , wherein the base is shaped such that a user's fingers wrap across the top surface of the base such that a user's index finger controls the control sphere.  
     
     
         39 . The handle apparatus of  claim 38 , wherein the user's thumb is positioned to squeeze the at least one projecting lever.  
     
     
         40 . The handle apparatus of  claim 26 , wherein the control sphere is located near the distal end of the top surface of the base.  
     
     
         41 . A laparoscopic apparatus, the apparatus comprising: 
 a handle having a body portion, a top surface, opposite bottom surface, a proximal and distal end;    the top surface of the base being contoured to compliment the natural curve of the palm;    a shaft projecting from the distal end of the handle, the shaft having a proximal and distal end;    a control sphere located on the handle, wherein the control sphere can be moved by one or more of a user's fingers to indicate direction; and    an end effector located at the distal end of the shaft, wherein the end effector is connected to the control sphere such that movements made to the control sphere control cause movement of the end effector.