| abstract |
This invention provides devices and method for performing extremely small-scale, minimally-invasive microsurgery. The instruments of the invention utilize a symmetrical, forceps-like actuator (28) which provides extremely precise actuation and control of the instrument and which mimics the feel of the instruments used in conventional open surgical procedures. The instruments generally include a pair of coaxially arranged shafts (22, 46), an end effector (40) at the distal ends of the shafts (22, 46), and an actuator (28) at the proximal end of the shafts (22, 46). The actuator (28) includes a pair of arms (36) pivotally coupled to one of either the outer or inner shaft, and a pair of links (52) pivotally coupled at one end to the arms (36), and at a second end to the other of the shafts. The actuator (28) may be easily adapted for either pull-type or push-type actuation, and for either outer shaft (22) or inner shaft (46) translation. The end effectors (40) may have a variety of configurations, including needle drivers, forceps, scissors and clip appliers. <IMAGE> |