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Title:
A LAPAROSCOPIC SURGICAL INSTRUMENT WITH INTERCHANGEABLE MODULAR HEADS
Document Type and Number:
WIPO Patent Application WO/2019/130351
Kind Code:
A1
Abstract:
A kit with a laparoscopic surgical instrument having interchangeable modular heads, said kit comprising: a laparoscopic instrument configured to connect to at least an end effector at its operative distal end; a plurality of end effectors, each end effector configured to be connected at a distal end of said laparoscopic instrument; a joint (2) in said laparoscopic instrument for interchangeability, said joint comprising at least two resilient prongs (2c, 2d, 2e, 2f) that extend from a base and form a snap fit engagement with each of said end effectors; and a jig (3, 4) configured to house said plurality of end effectors, said jig configured with pushbuttons (3b), per end effector, in order to disengage said end effector upon its engagement with said joint (2) of said laparoscopic instrument.

Inventors:
TALELE, Sagar (Plot No. 29/7, Kali Mandir Enclave Gms Roa, Dehradun Uttarakhand 1, 248001, IN)
GHYAR, Rupesh (50 Nilkantheswar Nagar, Behind Anand Chhayya Building Ashok Nagar Road, Satpu, Nashik Maharashtra, IN)
DESHPANDE, Suresh (Swarup Laparoscopy Endourology And Orthopedic Institute, 154 Dudhal, Kolhapur 2 Maharashtra, 416012, IN)
RAVI, Bhallamudi (310A, 2nd Floor Mechanical Engineering Department Iit Bombay, Powa, Mumbai 6 Maharashtra, 400076, IN)
Application Number:
IN2018/050885
Publication Date:
July 04, 2019
Filing Date:
December 27, 2018
Export Citation:
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Assignee:
INDIAN INSTITUTE OF TECHNOLOGY BOMBAY (Betic, Powai Mumbai 6, Maharashtra, 400 076, IN)
International Classes:
A61B17/29; A61B1/313
Attorney, Agent or Firm:
TANNA, Chirag (Ink Idee, B-72, 62, 73 Pereira Nagar No. 7,Khopat, Thane 1, Maharashtra, 400601, IN)
Download PDF:
Claims:
CLAIMS,

1. A kit with a laparoscopic surgical instrument having interchangeable modular heads, said kit comprising:

- a laparoscopic instrument configured to connect to at least an end effector at its operative distal end;

- a plurality of end effectors, each end effector configured to be connected at a distal end of said laparoscopic instrument;

- a joint (2) in said laparoscopic instrument for interchangeability, said joint comprising at least two resilient prongs (2c, 2d, 2e, 2f) that extend from a base and form a snap fit engagement with each of said end effectors; and

- a jig (3, 4) configured to house said plurality of end effectors, said jig configured with pushbuttons (3b), per end effector, in order to disengage said end effector upon its engagement with said joint (2) of said laparoscopic instrument.

2. The kit as claimed in claim 1 wherein, said jig comprising pushbuttons (3b) connected to springs (3d) along with pushrods (3e) attached to an outer casing of said jig using plate (3f)

3. The kit as claimed in claim 1 wherein, said joint comprising at least a tapered cantilever (10) projecting operatively outwards in line with a main shaft of said laparoscopic instrument, said tapered cantilever (10) being flanked, on either side, by resilient prongs (2c, 2d), said resilient prongs (2c, 2e) and said tapered cantilever extending from a base (11) connected to internal working parts of said laparoscopic instrument.

4. The kit as claimed in claim 1 wherein, said joint comprising two tapered cantilevers (10) projecting operatively outwards in line with a main shaft of said laparoscopic instrument, each of said tapered cantilever (10) being flanked, on either side, by a pair resilient prongs (2c, 2d), in that, a first tapered cantilever being spaced apart from a second cantilever and both, as a set, being substantially collinear with a main shaft of said laparoscopic instrument.

5. The kit as claimed in claim 1 wherein, said joint comprising at least a tapered cantilever (10) projecting operatively outwards in line with a main shaft of said laparoscopic instrument, said tapered cantilever (10) being flanked, on either side, by resilient prongs (2c, 2d), said resilient prongs (2c, 2e), in that, operative outward surfaces (10a) of said resilient prongs are contact surfaces, said operative outward surface (10a) configured to be pushed by pushrods (3e) of said jig (3, 4).

6. The kit as claimed in claim 1 wherein, said jig (3, 4) comprising a detachment mechanism in order to allow end effectors that are held in said jig to be detached, said detachment mechanism for releasing end effectors including at least two pushrods (3e) constrained by holes (3g, 4g) in said jig, said pushrods (3e) pushing said prongs (2c 2d) of said joint towards each other to detach said end effectors from its attachment of said laparoscopic instrument.

7. The kit as claimed in claim 1 wherein, said jig (3, 4) comprising a detachment mechanism in order to allow end effectors that are held in said jig to be detached, said detachment mechanism for releasing end effectors including two pushrods (3e), extending from a pushbutton (3b), located on said jig, which bends said prongs (2c, 2d, 2e, 2f) to disengage said end effectors (la, lb) after pushbutton (3b) is pressed, in that, a spring or a resilient mechanism (3d), circumferentially enveloping said pushrods, retracting said pushbuttons (3b) to its original position and being co-axially connected to said pushbuttons.

8. The kit as claimed in claim 1 wherein, each of said end effectors comprising an entry pocket (lc), at its operative proximal end, configured to receive prongs (2c, 2d, 2e, 2f) and lock inside said pocket.

9. The kit as claimed in claim 1 wherein, a male part of said joint (2g, 2h) being connected to a central rod (21) of said laparoscopic instrument.

10. The kit at claimed in claim 1 wherein, said end effector is selected from a group off end effectors consisting of a Maryland grasper which is a bipolar end effector, a needle holder is a bipolar end effector, a blunt grasper which is a bipolar end effector, a bowel grasper which is a bipolar end effector, a dual cup grasper which is a bipolar end effector, a toothed grasper which is a bipolar end effector, a hook which is a monopolar end effector, and a spatula which is a monopolar end effector.

11. The kit at claimed in claim 1 wherein, said jig comprising an array of pockets for holding end effectors which are not is use, said jig further comprising a mechanism to attach and detach said end effectors after their use.

12.The kit at claimed in claim 1 wherein, bipolar jaws of a corresponding end effector are attached to said laparoscopic instrument using a snap fit joint (2a, 2b), said jaws being attached when said two prongs of a male part of said joint (2g, 2h) are kept close to each other and inserted into their respective pocket and pressed.

13. The kit at claimed in claim 1 wherein, monopolar jaws of a corresponding end effector are attached to said laparoscopic instrument using a snap fit joint (2a, 2b) , said jaws being attached when said two prongs of a male part of said joint (2g, 2h) are kept close to each other and inserted into their respective pocket and pressed.

Description:
A LAPAROSCOPIC SURGICAL INSTRUMENT WITH INTERCHANGEABLE MODULAR HEADS

FIELD OF THE INVENTION:

This invention relates to the field of biomedical engineering.

Particularly, this invention relates to a laparoscopic surgical instrument with interchangeable modular heads.

BACKGROUND OF THE INVENTION:

Laparoscopic surgery is a minimally invasive surgery technique in which operations are performed far from their location through small incisions (usually 0.5- 1.5 cm). A long instrument is inserted into the abdomen through the trocar to safely manipulate the soft abdominal tissues during laparoscopic procedures. The laparoscopic instruments consist of an elongated shaft, a handle at the proximal end of the shaft and different types of end effectors such as needle holder, Maryland, bowel grasper, hook, spatula, dual cup grasper, blunt grasper at the distal end of shaft. The end effectors are actuated using different mechanisms at the distal end of shaft through pushrod connecting the handle portion with end effector portion.

Surgeons used to carry a separate laparoscopic instrument for each type of end effectors while performing the surgery, which are arrayed on operating table. Laparoscopic instruments needed to have interchangeable end effectors to save the cost incurred in purchasing a separate instrument for each type of end effector. The available devices providing interchangeable end effectors uses assembly of number of small components at the location of joint. Also, in available devices there is a need of providing an actuation mechanism separately on each of the end effector. Assembly of number of components at the distal end of instrument causes imperfect transfer of motion from handle to the end effector. Also there is a risk of disassembly of small components inside the abdomen. The end effectors available need to be handled with bare hands, which increases the risk of injury to surgeon’s or assistant’s hands.

Previous designs have incorporated number of small mechanical components assembled together to provide locking of end effectors at distal end of shaft. This increases the complexity of instrument. The previous designs have provided the joint for interchangeability of end effectors on the shaft and pushrod. This increases the task of providing assembly of actuation mechanism on each type of detachable end effector. Also, previous designs needed the end effectors be interchanged with the surgeon’s or assistant’s hands. This increases the risk of injury to the hands of surgeon or assistant.

Laparoscopic surgery is known for its complexity. During laparoscopic procedure, there is a need of different types of instruments and there is a frequent interchange of instrument from one to the other. The instruments differ in geometry only at the distal end. It is required to change the end effectors of laparoscopic device during the surgery to reduce the requirement of number of laparoscopic instruments.

The problems associated with today’s laparoscopic devices are -A separate handle and shaft assembly is needed for each type of end effector, complex assembly is required at the location of joint, risk of detachment of end effector parts inside the body of patient, requirement of providing actuation mechanism on each of detachable end effector, risk of injury due to handling of end effectors with bare hands.

There is certainly a need of innovation that overcomes the disadvantages of existing solutions and provides ease to the surgeon or assistant in interchanging the instrument end effectors.

OBJECTS OF THE INVENTION:

An object of the invention is to provide interchangeability of end effectors of a laparoscopic instrument during the surgery.

Another object of the invention is to provide a kit which reduces inventory, dramatically.

SUMMARY OF THE INVENTION:

According to this invention, there is provided a kit with a laparoscopic surgical instrument having interchangeable modular heads, said kit comprising:

a laparoscopic instrument configured to connect to at least an end effector at its operative distal end;

a plurality of end effectors, each end effector configured to be connected at a distal end of said laparoscopic instrument;

a joint in said laparoscopic instrument for interchangeability, said joint comprising at least two resilient prongs that extend from a base and form a snap fit engagement with each of said end effectors; and

a jig configured to house said plurality of end effectors, said jig configured with pushbuttons, per end effector, in order to disengage said end effector upon its engagement with said joint of said laparoscopic instrument. Typically, said jig comprises pushbuttons connected to springs along with pushrods attached to an outer casing of said jig using plate.

Typically, said joint comprises at least a tapered cantilever projecting operatively outwards in line with a main shaft of said laparoscopic instrument, said tapered cantilever being flanked, on either side, by resilient prongs, said resilient prongs and said tapered cantilever extending from a base connected to internal working parts of said laparoscopic instrument.

Typically, said joint comprises two tapered cantilevers projecting operatively outwards in line with a main shaft of said laparoscopic instrument, each of said tapered cantilever being flanked, on either side, by a pair resilient prongs, in that, a first tapered cantilever being spaced apart from a second cantilever and both, as a set, being substantially collinear with a main shaft of said laparoscopic instrument.

Typically, said joint comprises at least a tapered cantilever projecting operatively outwards in line with a main shaft of said laparoscopic instrument, said tapered cantilever being flanked, on either side, by resilient prongs, said resilient prongs, in that, operative outward surfaces of said resilient prongs are contact surfaces, said operative outward surface configured to be pushed by pushrods of said jig.

Typically, said jig comprises a detachment mechanism in order to allow end effectors that are held in said jig to be detached, said detachment mechanism for releasing end effectors including at least two pushrods constrained by holes in said jig, said pushrods pushing said prongs of said joint towards each other to detach said end effectors from its attachment of said laparoscopic instrument. Typically, said jig comprises a detachment mechanism in order to allow end effectors that are held in said jig to be detached, said detachment mechanism for releasing end effectors including two pushrods, extending from a pushbutton, located on said jig, which bends said prongs to disengage said end effectors after pushbutton is pressed, in that, a spring or a resilient mechanism, circumferentially enveloping said pushrods, retracting said pushbuttons to its original position and being co-axially connected to said pushbuttons.

Typically, each of said end effectors comprises an entry pocket, at its operative proximal end, configured to receive prongs and lock inside said pocket.

Typically, a male part of said joint is connected to a central rod of said laparoscopic instrument.

Typically, said end effector is selected from a group off end effectors consisting of a Maryland grasper which is a bipolar end effector, a needle holder is a bipolar end effector, a blunt grasper which is a bipolar end effector, a bowel grasper which is a bipolar end effector, a dual cup grasper which is a bipolar end effector, a toothed grasper which is a bipolar end effector, a hook which is a monopolar end effector, and a spatula which is a monopolar end effector.

Typically, said jig comprises an array of pockets for holding end effectors which are not is use, said jig further comprising a mechanism to attach and detach said end effectors after their use. Typically, bipolar jaws of a corresponding end effector are attached to said laparoscopic instrument using a snap fit joint, said jaws being attached when said two prongs of a male part of said joint are kept close to each other and inserted into their respective pocket and pressed.

Typically, monopolar jaws of a corresponding end effector are attached to said laparoscopic instrument using a snap fit joint, said jaws being attached when said two prongs of a male part of said joint are kept close to each other and inserted into their respective pocket and pressed.

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS:

The invention will now be described in relation to the accompanying drawings, in which:

FIGURE 1(a) is an isometric view of end effector of a laparoscopic surgery instrument;

FIGURE 1(b) is an isometric enlarged view of jigs showing essential parts of the device;

FIGURE 2(a) is an exploded view of end effector of a laparoscopic instrument; FIGURE 2(b) is an exploded view of a jig;

FIGURE 3(a) is an enlarged view of end effector portion of laparoscopic instrument with electrical connections for electro-cautery purpose;

FIGURE 3(b) is an enlarged and exploded view of end effector of laparoscopic instrument showing all essential parts of the device;

FIGURE 4(a) is an enlarged isometric view of Maryland grasper;

FIGURE 4(b) is an enlarged isometric view of needle holder;

FIGURE 4(c) is an enlarged isometric view of blunt grasper;

FIGURE 4(d) is an enlarged isometric view of bowel grasper; FIGURE 4(e) is an enlarged isometric view of dual cup grasper;

FIGURE 4(f) is an enlarged isometric view of toothed grasper;

FIGURE 4(g) is an enlarged isometric view of hook;

FIGURE 4(h) is an enlarged isometric view of spatula;

FIGURE 5(a) is an isometric view of jig for bipolar end effectors showing all essential components;

FIGURE 5(b) is an exploded view of jig for bipolar end effectors showing all components of jig;

FIGURE 6(a) is an isometric view of jig for monopolar as well as bipolar end effectors showing all essential components;

FIGURE 6(b) is an exploded view of jig for monopolar as well as bipolar end effectors showing all components of jig;

FIGURE 7 illustrates a view showing the snap fit joint of this invention; and

FIGURES 8(a) and 8(b) illustrate an enlarged view of a mechanism for attaching and detaching the end effectors to instrument.

DETAIUED DESCRIPTION OF THE ACCOMPANYING DRAWINGS: According to this invention, there is provided a kit with a laparoscopic surgical instrument having interchangeable modular heads.

This invention relates to the interchangeability of end effectors of a laparoscopic instrument during the surgery.

The current invention allows mechanical as well as electrical connection between the jaws and the instrument necessary for cauterization (monopolar and bipolar) The major components of this kit are: a laparoscopic instrument, distal tool heads or end effectors, a joint in the laparoscopic instrument developed for interchangeability, and jigs for interchanging the end effectors of a laparoscopic instrument.

The end effectors include, among other end effectors, at least a Maryland for electro-cautery including necessary electrical connections, at least a needle holder, at least a blunt grasper, at least a bowel grasper, at least a toothed grasper, at least a dual cup grasper, at least a hook and spatula which can be interchanged and are controlled by proximal handle.

The joint provided for interchangeability include two resilient prongs that fits inside a rectangular pocket provided on the end effector jaws that form a snap fit joint.

The jigs include an array of square pockets for keeping the end effectors which are not in use. It includes a mechanism to attach and detach the end effectors after their use.

The end effectors can be locked at the distal end of instrument using the resilient prongs provided on the joint developed. These prongs form a snap fit by regaining their original position after pressing them into the rectangular pocket provided on detachable heads.

Figure 1(a) illustrates an isometric view of instrument end effector which shows the major parts of device. It consists of end effector jaws (1) which are attached to the instrument using snap fit joint (2) which are connected to the instrument through a series of links. The jaws (1) are connected to the prongs (2c, 2d, 2e, 2f) which form a snap fit (2a, 2b). The actuation of jaws (1) is done by means of a central rod (21).

Figure 1(b) illustrates an isometric view of jigs developed for interchanging the end effectors (1) showing all major parts of jig. A first jig (3) is developed for interchanging bipolar type of end effectors and a second jig (4) is developed for interchanging monopolar as well as bipolar jaws.

Figure 2(a) illustrates an exploded view of the distal portion of instrument showing the components of total assembly and their use.

Figure 2(b) illustrates an exploded view of the jig showing components of assembly and their use.

Figure 3(a) illustrates an enlarged isometric view of the distal portion of instrument showing the attachment of end effector heads (1) to the instrument by means of a joint (2).

Figure 3(b) illustrates an enlarged and exploded view of the distal portion of instrument. The heads (la, lb) are connected to the instrument, in general, by means of a joint (2) with the help of prongs (2c, 2d, 2e, 2f) which fit into an entry pocket (lc) and get locked by a lateral slit (Id) or a notch. The male part of the joint (2g, 2h) are connected to central rod (21) through connecting links (2i, 2j), outer pipe (2k) and outer shaft (2m) is concentric to the central rod (21). Figure 4(a) illustrates an isometric view of Maryland grasper which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a bipolar end effector.

Figure 4(b) illustrates an isometric view of a needle holder which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a bipolar end effector.

Figure 4(c) illustrates an isometric view of a blunt grasper which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a bipolar end effector.

Figure 4(d) illustrates an isometric view of a bowel grasper which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a bipolar end effector.

Figure 4(e) illustrates an isometric view of a dual cup grasper which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a bipolar end effector.

Figure 4(f) illustrates an isometric view of a toothed grasper which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a bipolar end effector.

Figure 4(g) illustrates an isometric view of a hook which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a monopolar end effector.

Figure 4(h) illustrates an isometric view of a spatula which can be attached to instrument using prongs (2c, 2d, 2e, 2f). This is a monopolar end effector.

Figure 5(a) illustrates features of the first jig assembly (3) which has been designed to interchange the heads (la, lb). It also shows the assembly of outer casing 3(c) having pockets (3a) with pushbuttons (3b) which are constrained using plate (3f).

Figure 5(b) illustrates a detailed view of the first jig (3). It has an outer casing (3c) having an array of pockets (3a) for keeping the end effectors which are not in use. The springs (3d) are inserted into the holes and then pushbuttons (3b) are connected to the springs (3d) along with pushrod (3e) and attached to outer casing using plate (3f).

Figure 6(a) illustrates features of the second jig assembly (4) which has been designed to interchange the heads. It also shows the assembly of outer casing 4(c) having pockets (4a) with pushbuttons (4b) constrained with plate 4(f).

Figure 6(b) illustrates a detailed view of the second jig (4). It has an outer casing (4c) having an array of pockets (4a) for keeping the heads which are not in use. The springs (4d) are inserted into the holes and then pushbuttons (4b) are connected to the springs (4d) along with pushrod (4e). The pushbuttons (4b) are constrained to move using plate 4(f).

Figure 7 illustrates a view showing the snap fit joint of this invention.

In at least an embodiment, a distal end of the laparoscopic instrument is a joint (2) provided with at least a tapered cantilever (10) projecting operatively outwards in line with a main shaft of the laparoscopic instrument. This tapered cantilever (10) is flanked, on either side, by resilient prongs (2c, 2d). The resilient prongs (2c, 2e) as well as the tapered cantilever extend from a base (11) connected to internal working parts of the laparoscopic instrument. The tapered cantilever between two resilient prongs, on either side, provide extra strength to the joint between instrument and end effector.

In at least another embodiment, the number of tapered cantilevers (10) are two in number; a first tapered cantilever being spaced apart from a second cantilever and both, as a set, being substantially collinear with the main shaft of the laparoscopic instrument. In one variation, both the tapered cantilevers may be flanked, on either side, by respective resilient prongs (2c, 2e, 2d, ef). The resilient prongs are configured to be angularly displaced, with respect to the base, towards and away from the tapered cantilever (10). Operative outward surfaces (10a) of the resilient prongs, in one embodiment, are contact surfaces. It is this operative outward surface (10a) that is pushed by pushrods (3e) of the jig (which holds end effectors).

In at least an embodiment of the jig, a detachment mechanism is provided in order to allow end effectors that are held in the jig to be detached. This detachment mechanism for releasing end effectors includes at least two pushrods (3e) which are constrained by holes (3g, 4g) in the jig. These pushrods (3e) push the prongs (2c 2d) of the joint towards each other to detach the end effectors from its attachment of the laparoscopic instrument.

Figures 8(a) and 8(b) illustrate detailed views of a mechanism of attaching and detaching the end effector to the instrument. It has two pushrods (3e), extending from a pushbutton (3b), located on the jig(s), which bends the prongs (2c, 2d, 2e, 2f) to disengage the end effectors (la, lb) after pushbutton (3b) is pressed. A spring or a resilient mechanism (3d), circumferentially enveloping the push rods, retracts the pushbuttons (3b) to its original position and are co-axially connected to the pushbuttons.

In the laparoscopic instrument, the linear movement of a central rod (21) controls the opening and closing action of jaws (la, lb) about a pivot point. For the angular displacement of jaws, the outer shaft (2m) is angularly displaced from a knob provided on a handle. In at least an embodiment, an actuation mechanism for the opening and closing of jaws is a 4- bar linkage mechanism formed by assembling male part of jaws (2g, 2h) with connecting links (2i, 2j). This assembly is connected to the central rod (21) and an outer pipe (2k). The linear motion of the central rod (21) causes the connecting links (2i, 2j) to be angularly displaced about a pivot point. The angular displacement of the connecting links (2i, 2j) causes angular displacement of the male part of joint (2g, 2h) causing the opening and closing of jaws (la, lb).

The bipolar jaws as shown in Figures 4(a-h) are attached to the laparoscopic instrument using a snap fit joint (2a, 2b). The jaws are attached when the two prongs of male part of joint (2g, 2h) are kept close to each other and inserted into their respective pocket and pressed. The two prongs (2c, 2d) and (2e, 2f) from the respective male part of joint (2g, 2h) gets bent while pressing the instrument into the pocket (lc) and once the prongs (2c, 2d) and (2e, 2f) enters completely into the pocket (lc) and electrical connections are done between end effectors (la, lb) and instrument (21). The jaws (la, lb) gets locked due to the pocket (Id) provided on the jaws. The jaws as shown in Figures 4(a-f) are jaws which can be similarly attached to the instrument. The jaws are interchanged using the jigs (3, 4). For detaching the jaws (la, lb) they are inserted into the respective pocket (3a). After inserting the heads (la, lb) into pocket (3a), pushbuttons (3b) which are constrained using plate (3f) are pressed. This causes compression of springs (3d). The pushrods (3e) are pushed forward against the two prongs (2c, 2d) and (2e, 2f) through the pocket (Id), causing the bending (instrument-axis aligned angular displacement) of prongs. This unlocks the jaws (la, lb) and the instrument is pulled out from the pocket (3a) of the jig body (3c). To attach monopolar type of jaws, as shown in fig. 4(g, h), the male part of joint (2a, 2b) are kept in closed position and inserted into the pocket (lc). The prongs get locked in the pocket (Id). The monopolar jaws, as shown in fig. 4(g, h) are detached by inserting them into the respective pocket (4a) provided on the jig body (4c). After inserting, the pushbuttons (4b) which are constrained using plate (4f) are pressed. This causes the compression of spring (4d), and the pushrods (4e) are pushed forward against two prongs (2c, 2d) and (2e, 2f) through pocket (Id) causing the bending of prongs. This unlocks the monopolar heads shown in fig. 4(g, h). The instrument is then pulled out from the pocket (4a).The pushbuttons (4b) are then released. This causes the pushrods (4e) to be pulled back to their original position due to spring action of spring (4d).

The advantages and improvements over the existing methods, devices or materials;

• Existing devices uses assembly of different parts at the location of joint developed for interchanging the end effectors which increases the cost of assembly.

• In some of available devices, end effector heads cannot be interchanged during the surgery. In proposed design, the heads can be interchanged during the surgery. • There is no need of providing an actuation mechanism on each of the end effector head, because the joint is developed at the distal end of actuation mechanism.

• The proposed design eliminates the requirement of assembly of mechanical components at the location of joint.

• The current design allows mechanical as well as electrical connection between the jaws and the instrument.

• The proposed design reduces the number of instruments required during the laparoscopic surgery as well as the overall sterilization cost of instruments.

• The proposed device uses Titanium alloy for manufacturing, which is having higher elastic strength compared to stainless steel alloys.

• The need of touching the end effectors with bare hands is eliminated; hence the risk of injury has been reduced.

• A jig developed can be used as housing for end effectors which are not in use during the surgery.

The laparoscopic instrument with interchangeable end effector heads has been developed. This instrument can be used as Maryland grasper, needle holder, blunt grasper, bowel grasper, dual cup grasper, toothed grasper, hook, spatula, monopolar, bipolar etc. The current design allows mechanical as well as electrical connection between the jaws and the instrument.

The TECHNICAL ADVANCEMENT of the invention lies in providing an instrument using cantilevered snap fit joint provided on the end effector portion of laparoscopic instrument as well as a jig developed for interchanging different end effectors needs to be protected. The current design allows mechanical as well as electrical connection between the jaws and the instrument.

While this detailed description has disclosed certain specific embodiments for illustrative purposes, various modifications will be apparent to those skilled in the art which do not constitute departures from the spirit and scope of the invention as defined in the following claims, and it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the invention and not as a limitation.