CA2622731A1 - Medical device with articulating shaft - Google Patents

Medical device with articulating shaft Download PDF

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Publication number
CA2622731A1
CA2622731A1 CA002622731A CA2622731A CA2622731A1 CA 2622731 A1 CA2622731 A1 CA 2622731A1 CA 002622731 A CA002622731 A CA 002622731A CA 2622731 A CA2622731 A CA 2622731A CA 2622731 A1 CA2622731 A1 CA 2622731A1
Authority
CA
Canada
Prior art keywords
pivot members
slat
links
bendable portion
slat assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002622731A
Other languages
French (fr)
Other versions
CA2622731C (en
Inventor
Martin Padget
David Skinlo
Thomas Weisel
Longo Chu
Roger Pisarnwongs
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of CA2622731A1 publication Critical patent/CA2622731A1/en
Application granted granted Critical
Publication of CA2622731C publication Critical patent/CA2622731C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft

Abstract

A medical device includes an articulating shaft with a pair of slat assemblies. By moving an articulator, the slat assemblies are configured to concurrently push while the other pulls in order to bend the articulating shaft. The articulating shaft includes a series of pivot members. The pivot members may include inner links and outer links. A method for articulating a shaft of a medical device is also provided.

Claims (29)

1. A medical device, comprising:

a bendable portion comprising a plurality of pivot members that are arranged in succession and a related plurality of pivot assemblies that pivotally connect adjacent ones of the plurality of pivot members, wherein the pivot members comprise an alternating succession of inner links and outer links and wherein adjacent ones of the inner and outer links are overlapped relative to one another, each pivot member defining an opening;

a first slat assembly extending along the bendable portion; and a second slat assembly extending along the bendable portion;

wherein each of the first slat assembly and the second slat assembly is configured to push when the other of the first slat assembly and the second slat assembly pulls so as to cause the bendable portion to bend.
2. The device of Claim 1 wherein the inner and outer links are formed from top and bottom plates that carry pin holes at each end thereof, the pin holes of adjacent ones of the inner and outer links being being aligned when the pivot members are overlapped relative to one another.
3. The device of Claim 2 further comprising pins located within the aligned pin holes.
4. The device of Claim 1 wherein each of the inner and outer links comprises a male tab at one end and a female slot and an opposite end and wherein adjacent ones of the inner links are connected to one another by the male tab of one inner link and the female tab of the adjacent inner link and wherein adjacent ones of the outer links are connected to one another by the male tab of one outer link and the female tab of the adjacent outer link.
5. The device of Claim 4 wherein the inner links and outer links are oriented such that their respective male tabs are extending in opposite directions.
6. The device of Claim 4 wherein at least one of the male tabs of the inner links and the male tabs of the outer links comprises a tab neck having a predetermined shape and size and a slot opening having a predetermined shape and size adapted to restrict a relative movement between two adjacent links.
7. The device of Claim 4 wherein the openings of the outer links and the openings of the inner links form a common passageway.
8. The device of Claim 1, further comprising an actuator extending through the bendable portion.
9. The device of Claim 8, further comprising an operating mechanism coupled to the bendable portion, wherein the actuator is configured to actuate the operating mechanism.
10. The device of Claim 1, further comprising a flexible tube extending through the bendable portion.
11. The device of Claim 10, wherein the flexible tube comprises a passage for delivery of fluids.
12. The device of Claim 1, further comprising an articulator coupled to the first slat assembly and the second slat assembly, wherein movement of the articulator causes one of the first and second slat assemblies to push and the other of the first and second slat assemblies to pull simultaneously.
13. The device of Claim 12, wherein movement of the articulator in a first direction causes the bendable portion to bend in a second direction away from the first direction.
14. The device of Claim 12, wherein movement of the articulator in a first direction causes the bendable portion to bend in a second direction toward the first direction.
15. The device of Claim 1, wherein each pivot member defines a vertical axis, the device further comprising means for preventing each pin from moving vertically with respect to an adjacent pivot member.
16. The device of Claim 1, wherein each pivot member has a laterally tapered thickness.
17. The device of Claim 1, wherein:

the first slat assembly comprises a first plurality of layered slats; and the second slat assembly comprises a second plurality of layered slats.
18. The device of Claim 1, wherein:

the bendable portion is bendable in a first direction and an opposite second direction, the first and second directions collectively defining a range of motion.

the bendable portion comprises a preconfigured curve generally perpendicular to the range of motion.
19. The device of Claim 18, wherein the first slat assembly and second slat assembly are curved in conformity with the preconfigured curve.
20. The device of Claim 18, further comprising an actuator curved in conformity with the preconfigured curve.
21. The device of Claim 18, wherein each pivot member has a tapered top portion.
22. The device of Claim 18, wherein each pin has a tapered top portion.
23. The device of Claim 1, further comprising an electrical wire extending through the pin apertures.
24. The device of Claim 1, further comprising an optical fiber extending through the pin apertures.
25. A method for articulating a shaft of a medical device, comprising:
providing an alternating plurality of inner link pivot members and outer link pivot members, each pivot member having an opening to collectively form a passageway;

connecting adjacent ones of the pivot members to one another with a pin;
extending a first slat assembly through the passageway formed by the pivot members;

extending a second slat assembly through the passageway formed by the pivot members; and pushing one of the first and second slat assemblies while concurrently pulling the other of the first and second slat assemblies to cause the pivot members to collectively form a bend.
26. The method of Claim 25 further comprising:

providing each pivot member with a male tab at one end and a female tab at an opposite end;

connecting the male tabs of successive inner link pivot members to a female slot of adjacent inner link pivot members; and connecting the male tabs of successive outer link pivot members to a female slot of adjacent outer inner link pivot members.
27. The method of Claim 25, wherein pushing one of the first and second slat assemblies while concurrently pulling the other of the first and second slat assemblies comprises moving an articulator.
28. The method of Claim 27, wherein moving the articulator comprises:
moving the articulator to a left direction to cause the pivot members to collectively form a bend in a first direction; and moving the articulator to the right direction to cause the pivot members to collectively form a bend in a second direction.
29. The method of Claim 25, further comprising actuating an end operating assembly coupled distally to the articulating shaft.
CA2622731A 2006-06-08 2007-06-08 Medical device with articulating shaft Expired - Fee Related CA2622731C (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US80418406P 2006-06-08 2006-06-08
US60/804,184 2006-06-08
US11/760,475 US7670284B2 (en) 2004-08-31 2007-06-08 Medical device with articulating shaft
PCT/US2007/070810 WO2007146842A2 (en) 2006-06-08 2007-06-08 Medical device with articulating shaft
US11/760,475 2007-06-08

Publications (2)

Publication Number Publication Date
CA2622731A1 true CA2622731A1 (en) 2007-12-21
CA2622731C CA2622731C (en) 2011-06-07

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CA2622731A Expired - Fee Related CA2622731C (en) 2006-06-08 2007-06-08 Medical device with articulating shaft

Country Status (6)

Country Link
US (2) US7670284B2 (en)
EP (1) EP2024259B1 (en)
JP (1) JP4731606B2 (en)
AU (2) AU2007257754A1 (en)
CA (1) CA2622731C (en)
WO (1) WO2007146842A2 (en)

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EP2024259B1 (en) 2019-08-21
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US20080221393A1 (en) 2008-09-11
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AU2007257754A1 (en) 2007-12-21
US9339286B2 (en) 2016-05-17

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