CN101048102B - Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools - Google Patents
Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools Download PDFInfo
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- CN101048102B CN101048102B CN2005800251545A CN200580025154A CN101048102B CN 101048102 B CN101048102 B CN 101048102B CN 2005800251545 A CN2005800251545 A CN 2005800251545A CN 200580025154 A CN200580025154 A CN 200580025154A CN 101048102 B CN101048102 B CN 101048102B
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Abstract
Articulating mechanisms, link systems, and components thereof, useful for a variety of purposes including, but not limited to, the remote manipulation of instruments such as surgical or diagnostic instruments or tools are provided. The link systems include links wherein at least two adjacent links are pivotable relative to one another around two distinct pivot points. Mechanisms for locking the links are also provided.
Description
The cross reference of related application
The application requires in the U.S. Provisional Application No.60/577 of submission on June 7th, 2004,757 rights and interests, and the content of this provisional application combines in this disclosure as a reference here.
Technical field
The present invention relates to chain link (link) system and application thereof, comprise the remote boot and the manipulation of operation or diagnostor and instrument.
Background technology
Easily the ability of remote control, guiding and/or operating apparatus and instrument is in many industry be significant in using, especially hope with apparatus or tool guide to be not easy to the hands guiding or can have risk or the work space of danger in situation under.These can comprise that application tool or apparatus are difficult to arrive the situation of target location, for example manually arrive some limited surgical procedures of target location, or the manufacturing of machine or repairing, and even commercial and family's use.Other situation for example can comprise that working environment is dangerous commercial Application for user, for example work space is exposed under the dangerous chemical substance.Other situation also can for example comprise adventurous law execution of user meeting or military applications, for example instrument or apparatus is deployed in dangerous or hostile position.
As illustrated examples, process for example splanchnoscopy and laparoscopy is used from the outside position of health in Target organ or tissue manipulation or usually towards the apparatus of this Target organ or tissue manipulation with surgical procedures.The example of endoscopic procedure comprises sigmoidoscopy, colonoscopy, Esophagogastroduodenoscopy and bronchoscopy.Traditionally, the insertion tube of endoscope can advance through promoting forward, regains through pulled backwards.The end that can come guide tube through distortion and general up/down and left/right movements.This limited range of movement often makes and is difficult to through the acute angle place (for example in proctosigmoid), can make the danger that patient is uncomfortable and the increase surrounding tissue sustains damage.Laparoscopy comprises according to anatomic landmark placement of trocar ports (port).The quantity of working hole is usually according to intended procedure and will obtain gratifying tissue loosening (mobilization) and quantity that field of operation exposes required apparatus changes.Although there are many benefits in laparoscopic surgery; For example postoperative pain is less; The out-of-bed activity morning and the company of sticking form and reduce, but it often is difficult to through the retraction of organs (retraction) of peritoneoscope working hole realization optimum and the best operability that obtains traditional instruments.In some cases, these defectives can cause operating time increase or inaccuracy ground placing modules for example stiching instrument and stitching thread.Steerable conduit also is known for diagnosis and treatment application.Be similar to endoscope, this conduit comprises that the end that can in general limited range of movement, be guided is to guide patient's vascular system.
Endoscope and conduit that many trial designs have improved navigability have been carried out.For example, the U.S.3 of Sato, 557; 780, the U.S.5 of Ailinger etc., 271,381, the U.S.5 of Alotta etc.; 916,146 and the U.S.6 of Sakai, 270; 453 have explained the endoscopic instrument with one or more flexible portions, can make said flexible portion crooked through activating a cocainine line.Through rotary pinion (Sato), operation knob (Ailinger etc.) but control arm (Alotta etc.) or activate said silk thread from the near-end of apparatus through pulley mechanism (Sato).The U.S.5 of Boury etc., 916,147 disclose a kind of steerable conduit, and this conduit has four silk threads that in the wall of conduit, extend.Every silk thread ends at the different piece of conduit.Thereby the near-end of silk thread can spur them from the conduit loosely doctor that extends out.Thereby the doctor can make conduit become definite shape and control lead through optionally straining silk thread.
Although above-mentioned every kind of device all can be by remote control, their range of movement generally is restricted.The use of operating mechanism is also cumbersome, and for example in the conduit of Boury etc., every silk thread of pulling is so that conduit becomes definite shape separately.In addition, under the situation of endoscope that for example uses knob and pulley mechanism and steerable catheter, need train in a large number so that can expertly operate the health of these devices through patient.
Therefore, has the enhanced remote maneuverability of raising so that controllably the device of navigate complex geometries may can make apparatus and instrument more effectively and accurately advance and arrange.This device also is favourable for more directly perceived and easy-to-use user interface (interface) is provided for the navigability that realizes this raising.This device also is favourable for limiting the tensioning of not expected in the cable components or relaxing.In addition, to have the locking mechanism that can prevent the motion of this device be favourable to this device.This device can be widely used aspect guiding, manipulation and/or operating apparatus and the instrument in many industrial circles.Itself also has amusement, pastime and educational value this device.
Summary of the invention
The invention provides and be used for various uses and include but not limited to apparatus for example remote-operated linkwork, link systems and their parts of surgery or diagnostor or instrument.These apparatuses and instrument can comprise surgery or diagnostor or instrument, include but not limited to endoscope, conduit, Doppler flowmeter, mike, probe, retractor, dissector, stiching instrument, anchor clamps, grasper, shears or sickle, melt (ablation) or burn element etc.Other apparatus in the non-surgical applications or instrument include but not limited to grasper, driver, power tool, welding apparatus, magnet, optical lens and viewer, electric tool, audio/video instrument, laser instrument, monitor etc.According to application, can expect that linkwork of the present invention, link systems and other parts can easily adjust with combination that adapts to a plurality of apparatuses and instrument or the modification that adapts to them.Link systems and linkwork can be used for these apparatuses or instrument are manipulated to desired target location, and can be used for activating or help to activate this type apparatus and instrument.
In one aspect of the invention, a kind of link systems that comprises a plurality of chain links is provided, wherein at least two adjacent chain links can be capable of pivoting relative to each other around two different pivotal points.In some modification, adjacent chain link has facing surfaces, and each surface has the lobe or the recess of alignment vertically.In these modification, link systems also comprises the sleeve pipe that is arranged between at least two adjacent link, and the lobe or the recess of each in this sleeve pipe and said at least two adjacent link contact.This sleeve pipe can comprise and is configured to admit the relative lobe of adjacent link and/or the recess or the lobe of recess.In some cases, the lobe of adjacent link or recess are hemisphericals.This link systems can be incorporated into or otherwise form the parts according to linkwork of the present invention.
In another aspect of the present invention, a kind of linkwork that is used for remote manipulation of surgical for example or diagnostic tool is provided.This linkwork can comprise that one or more permission remote controls are positioned at the instrument of far-end or the link systems of apparatus.In a modification, a kind of linkwork that comprises many to chain link is provided, each chain link all keeps spaced apart with respect to another chain link of this centering.At least two adjacent chain links can be capable of pivoting relative to each other around two different pivotal points.In some modification, adjacent chain link has facing surfaces, and each surface has the lobe or the recess of alignment vertically, and the sleeve pipe that said adjacent link is placed between them is separated.This linkwork also comprises many group cables, and every group of cable interconnects isolating a pair of chain link, makes the motion of a chain link of a centering can cause the motion-related (relative movement) of correspondence of another chain link of this centering.In some modification, link design becomes to reduce or eliminates over-drastic cable slack or the tensioning between the adjacent link.
In another aspect of the present invention, a kind of locking mechanism of incorporating linkwork into is provided.This mechanism is configured to admit one or more to be connected to the cable (or other actuation element) of one or more chain links at far-end, and when activateding, stop cable (or other actuation element) thus motion stops the motion of corresponding chain link itself.In an embodiment of locking mechanism, this mechanism is configured such that every cable can pass through between active locking component and fixed contact member.The motion of active locking component can make one or more cable contact said fixed contact member, thereby frictionally stops the motion of one or more cable.
In another embodiment, locking mechanism can comprise the locking channel that one or more central axis perpendicular to this locking mechanism are provided with.All be provided with active push button element in the intravital one or more locking channels of mechanism's shell each.Said housing can comprise admits the one or more through passage of one or more cable (or other actuation element), and each locking channel is associated through passage with each.The press push button part makes cable (or other actuation element) and the cylindrical shell generation CONTACT WITH FRICTION in the passage of pass through be associated in locking channel, thereby frictionally stops the motion of cable.
In another embodiment, locking mechanism comprises having the union thimble mechanism of the fixed and movable collar of alignment vertically.One or more cable group (or other actuation element) also center on the circumference of another collar through a collar.Movable loop makes cable and two cover loop contacts towards the axially-movable of retaining collar, thereby frictionally stops the motion of cable.
In another aspect of the present invention, a kind of surgical device of a plurality of chain links that comprises surgery or diagnostic tool and be positioned at the near-end of this surgery or diagnostic tool is provided.One slender axles are positioned at the near-end of said a plurality of chain links, and one or more cable is connected to one or more chain links and is admitted through these slender axles at near-end at far-end.The motion of one or more cable causes the motion of one or more chain links.In addition, at least two adjacent chain links can be capable of pivoting relative to each other around two different pivotal points.In some modification, at least two adjacent link have facing surfaces, and these surfaces have the lobe and/or the recess of alignment vertically, and the sleeve pipe that said adjacent link is set between them is separated.The lobe or the recess of each in said sleeve pipe and the adjacent link contact.
In others of the present invention, instrument or apparatus can be attached to link systems and/or linkwork and extend from link systems and/or linkwork, and perhaps link systems and/or linkwork can be combined in this apparatus or the instrument.Under the situation of orthopaedic surgical operations surgical application, the example of surgery or diagnostic tool includes but not limited to endoscope, conduit, Doppler flowmeter, mike, probe, retractor, dissector, stiching instrument, anchor clamps, grasper, shears or sickle and melts or burn element.For other application, can expect many instruments or apparatus equally, include but not limited to grasper, driver, power tool, welding apparatus, magnet, optical lens and viewer, light source, electric tool, audio/video instrument, laser instrument, monitor etc.The type of instrument or apparatus, attach dress method and position and application and use and include but not limited at unsettled and total U. S. application No.10/444, the corresponding contents described in 769, this application is hereby expressly incorporated by reference in full.
Description of drawings
Figure 1A illustrates the perspective view of acus drive assembly according to an embodiment of the invention, and it has the articulated links system of near-end and far-end;
Figure 1B illustrates the vertical view of the embodiment of Figure 1A, and wherein this device is hinged to a diverse location;
Fig. 2 A illustrates the enlarged perspective with the similar link systems of the distal link systems of the embodiment shown in Figure 1A, separates comprising the sleeve pipe that the adjacent link of the relative lobe of alignment vertically is set between the said lobe;
Fig. 2 B illustrates the side view of the link systems of Fig. 2 A;
Fig. 2 C illustrates the link systems shown in Fig. 2 A along the planar cutaway view of being represented by line K-K;
Fig. 2 D illustrates the side view of the link systems of Fig. 2 A that is in curved configuration;
Fig. 2 E and 2F illustrate straight and (configuration) bending the cutaway view with the similar link systems of link systems of Fig. 2 A respectively;
Fig. 3 A illustrates the enlarged side view of part elliptical device shown in Figure 1;
Fig. 3 B illustrates the amplification view of part elliptical device shown in Figure 1;
Fig. 4 illustrate Fig. 3 B shown device by the far-end instrument of regional A indication and the detailed section view of chain link assembly;
Fig. 5 illustrates the detailed section view by the proximal link-Handleset of area B indication of Fig. 3 B illustrated embodiment;
Fig. 6 A and 6B illustrate straight and (configuration) bending the cutaway view of link systems in accordance with another embodiment of the present invention respectively, separate comprising the sleeve pipe that the adjacent link of relative recess of alignment vertically is set between the said recess;
Fig. 7 A and 7B illustrate straight and (configuration) bending the cutaway view of the link systems of another embodiment according to the present invention respectively;
Fig. 8 illustrates the perspective view of acus driving element in accordance with another embodiment of the present invention, and wherein the position of distal links changes to some extent;
Fig. 9 A and 9B illustrate the side view that chain link locking mechanism in accordance with another embodiment of the present invention is in latched position (9A) and unlocked position (9B) respectively;
Figure 10 A illustrates the vertical view of the locking mechanism of Fig. 9 A;
Figure 11 A and 11B illustrate the cutaway view of the locking mechanism of Fig. 9 A;
Figure 12 A and 12B illustrate respectively the amplification view with the locking mechanism of Fig. 9 A of zone C and D indication and 9B;
Figure 13 illustrates the perspective view of locking mechanism in accordance with another embodiment of the present invention;
Figure 14 illustrates the side view of the locking mechanism of Figure 13;
Figure 15 illustrates the vertical view of the locking mechanism of Figure 13;
Figure 16 illustrates the end-view of the locking mechanism of Figure 13;
Figure 17 A-17C illustrates the vertical view of the locking mechanism of the Figure 13 that is in the unlocked position (Figure 17 A), part latched position (Figure 17 B) and latched position (Figure 17 C);
Figure 18 A-18C illustrates the locking mechanism shown in Figure 17 A-C respectively respectively along the planar cutaway view of being represented by line 18A-18A, 18B-18B and 18C-18C;
Figure 19 illustrates the perspective view of chain link locking mechanism in accordance with another embodiment of the present invention;
Figure 20 A and 20B illustrate the viewgraph of cross-section that the mechanism of the Figure 19 that is in locked configuration (20B) and release configuration (20A) is respectively dissectd perpendicular to its longitudinal axis;
Fig. 2 IA and 21B illustrate straight and (configuration) bending the cutaway view of the link systems in accordance with another embodiment of the present invention that is configured to neutral cable bias (neutral cable bias) respectively;
Figure 22 A and 22B illustrate straight and (configuration) bending the cutaway view of the link systems of another embodiment according to the present invention that is configured to minus cable bias respectively;
Figure 23 A and 23B illustrate straight and (configuration) bending the cutaway view of the link systems of another embodiment according to the present invention that is configured to positive cable bias respectively.
The specific embodiment
More detailed description as indicated provides the articulated links system and the mechanism that can form or incorporate into or constitute multiple device.Link systems can being combined to form by each chain link.Linkwork according to the present invention generally includes and many chain link is connected the cable of the chain link of pair of separated at least with at least one group.The term that uses in the literary composition " chain link " is meant the separating part of link systems or linkwork, and this separating part can be with respect to another separating part motion of this system or mechanism.In certain embodiments, chain link can be corresponding to another separating part or the localized area of the opposite end that is positioned at mechanism.Chain link is generally tubular, but and nonessential like this.Chain link aligns along the longitudinal axis of mechanism usually.In certain embodiments, link systems can comprise a plurality of chain links, and at least two links are crossed sleeve pipe and separated.
Link systems can form or incorporate into multiple linkwork.In many examples, linkwork according to the present invention generally comprises many to chain link and many group cables.In a further embodiment, linkwork comprises a plurality of chain links or portion's section, and they all are isolating gemels.Chain link forms near-end and far-end, and a chain link of every centering is located in the link systems of near-end, and another chain link of this chain link centering is located in the link systems of far-end.
In this linkwork, each cable group makes that isolating a pair of chain link interconnects in the linkwork, makes the motion of a chain link in a pair of chain link cause the corresponding sports of another chain link of this centering.Used as indicated, term " initiatively (active) chain link " or " active link to " are meant the chain link that directly links to each other through cable group.Term " (spacer) chain link at interval " or " spacer link to " are meant the chain link that does not directly link to each other through cable group.But spacer link can be arranged between the active link, and is that the cable group that connects active link provides path.Right ability makes mechanism can easily form complicated 3-d modelling and geometry can to operate active link, hereinafter will elaborate to this.For depending on the cable group of passing not the chain link that connects by different way or the conventional hinge device of silk thread; Be difficult to realize the geometry of this complicacy, this is because this device is usually designed to the chain link place that makes actuation cable or silk thread pass each chain link and end at distal-most end.Therefore, the motion that is generally bending or arcuate fashion of all section cooperative response silk threads or cable group and crooked together.
Link systems of the present invention or linkwork can for example be combined in and be used for operation or diagnostor and tool guides and the device that is manipulated to the target location in the patient body zone.This device can perhaps be introduced into after its near-end carries out various operations in the position outside patient with its nature, straight configuration.In many examples, link systems forms a part or several parts of linkwork.The motion of mechanism's near-end causes the motion of far-end.In addition, the directed movement of caused far-end can according to near-end with respect to the rotation degree of far-end be reversed, mirror image or produce other result.In addition, near-end provides and has been used to control the user interface to the manipulation and the operation of far-end, and this is more convenient to use and easy.This user interface makes that for example user can be positioned at the for example shape and the directed movement of the intravital mechanism of patient far-end based on being arranged on easily being seen by the shape after the operation of outside near-end user interface.Selectively, the control of distal links or actuating can for example realize through using knob and pulley system wait through the method for more traditional manipulation chain link actuation cables.
Except forming complex configuration, the present invention also allows to increase through the motion that limits operated active link and allow such chain link opposing to be caused by the power that laterally applies the rigidity of mechanism.If to when obtaining intended shape and will this right chain link being fixed into this intended shape, this another right chain link can be resisted load and keep its desired zero load shape simultaneously, can think that then this chain link is to limited fully at the given chain link of operation.For with the free-moving chain link of three degree of freedom, need three cables to come to limit fully this chain link at least.And traditional articulated mounting such was the case with.Spacer link can not be limited like this, and activated mechanism in hope and have under many situation of rigidity than weak part and comprise that this uncurbed chain link is favourable.
Term " apparatus " and " instrument " be in this interchangeable use, and be meant usually by the user operation to realize the device of specific purpose.Be merely illustrative purposes, will in by the scope of remote boot, operation and/or the actuating of the surgery in the remote access body region or diagnostic tool and apparatus, link systems of the present invention and linkwork have been described being used for.As previously mentioned, also can expect other application except surgery or Diagnosis Application of link systems and linkwork, and this is conspicuous for a person skilled in the art.Usually, any this application comprise hope with apparatus or tool guide to being not easy to any situation in hands guiding or the work space that can be dangerous.This includes, without being limited to commercial Application, for example is used for instrument, probe, pick off etc. are directed in the limited space, perhaps is used for the long-range accurate manipulation of instrument, for example the assembling of machine or maintenance.This also can comprise commerce or household situations that the application target position of instrument or apparatus is difficult to arrive.Other situation can comprise that for example working environment is dangerous commercial Application for user, for example work space is exposed in the dangerous chemicals.Other situation can comprise that also for example user can be carried out or military applications by adventurous law, for example instrument or apparatus is deployed in dangerous or hostile position.Other is used and also comprises the application of only hoping complex geometric shapes is carried out remote control.These application comprise such as the pastime of toy or recreation or the use in the amusement, the for example remote control of puppet, doll, figurine etc.
With reference to Figure 1A, an embodiment who is combined with according to linkwork of the present invention and link systems of the present invention is shown.Shown in Figure 1A; Needle drivers 100 comprises the linkwork 102 with the proximal link set that separated by slender axles 112 104 and corresponding distal link set 106; Said slender axles keep near-end and distal link set to be in separated relation, and are formed for making the progressive working shaft of needle drivers.Have the pin driven tool 107 of firmly grasping jaw 108,109 and be attached to the far-end of distal link set 106, and be operably connected to ratchet handle 110, this handle is attached to the near-end of proximal link set 104.Although this embodiment is combined with the pin driven tool; But understand easily; Multiple surgical technique and tools and apparatus can operationally be attached to far-end; Include but not limited to Doppler flowmeter, mike, endoscope, light source, probe, retractor, dissector, stiching instrument, anchor clamps, grasper, shears or sickle, perhaps melt or burn element, and foregoing other instrument or the apparatus that is used for non-surgical applications.
As illustrating in greater detail among Fig. 3 A-5, near-end and distal link set 104 and 106 comprise corresponding paired chain link, and promptly each independent chain link in the proximal link set 104 and the independent chain link in the distal link set 106 are a series of isolating right to form in pairs.Distal link set 106 comprises chain link 122A, 124A and 126A, and proximal link set 104 comprises chain link 122B, 124B and 126B.It is right that chain link 122A and 122B, 124A and 124B and 126A and 126B are isolating chain link.Proximal link (122B, 124B and 125B) is connected to distal links (122A, 124A and 126A) through cable group 134,135, makes the motion of the proximal link in the proximal link set 104 cause the motion-related of the correspondence of distal link set 106.Particularly, chain link 122A is connected through cable 134 with 122B, and chain link 124A is connected through cable 135 with 124B, and chain link 126A and 126B are fixed on the slender axles 112.Therefore, chain link 122A and 122B and chain link 124A and 124B formation active link is right.Generally speaking, it is right to use one or more groups cable to connect according to the active link of the linkwork of alternate embodiment of the present invention.As previously mentioned, be connected to the chain link corresponding in each active link of an end of linkwork through forming two of cable group or many cables with it at the other end.As said, the right motion of active link is by its corresponding cable group control, and it is right to be independent of arbitrarily other active link.
Fig. 2 A-D illustrates in greater detail the link set that is similar to and installs 100 separated link set 106.As scheme visiblely, adjacent chain link 122 and 124 is separated by sleeve pipe 130, and adjacent chain link 124 and 126 is separated by sleeve pipe 132.From Fig. 2 C, be more clearly visible, each chain link is along the longitudinal axis X1 of link set alignment, adjacent chain link 122 and 124 and adjacent chain link 124 and 126 respectively have relative lobe (123,125,127,129) along this axial alignment.Each sleeve pipe 130 and 132 has the relative recess (131,133,137,139) of the lobe that is used to admit chain link 122,124 and 126.Chain link also comprises the passage 138 that allows cable group 134 and 135 to pass through.Cable group 134 and 135 is connected respectively to chain link 122 and 124.Cable channel departs from the central axis of chain link; Make when when one or more cable applies tension force; Chain link 122,124 and 126 lobe can be at the corresponding recess internal rotation of each sleeve pipe (130 and 132); Thereby each chain link is pivoted around pivotal point, and allow link set as an integrally bending, as can more being clearly shown that among Fig. 2 D.Each chain link and sleeve pipe also comprise central passage 140 and 141 respectively, and these central passages are alignd with each chain link or telescopic central axis.When assembled, these passages form central chamber, and actuation cables (148) is passed through so that control and/or actuating pin driven tool (107) from this central chamber.Central passage also provides passage for cable, silk thread, optical fiber or other like that is associated with any desired tool of using with link systems of the present invention or linkwork or apparatus usually.As shown in the figure, sleeve pipe 130 and 132 central passage stop with the shape of frustum of a cone 142.This makes that chain link and sleeve pipe can be capable of pivoting relative to each other and can not influence actuation cables and pass through.The overall size of frusto-conical portion usually and the desired degree of being pivoted relative to each other between chain link and the sleeve pipe match.Although central passage is set for above-mentioned reasons is favourable; But can understand; Chain link and sleeve pipe also can not have such passage, and also can be through making actuation cables and other like along the periphery of radial position arbitrarily-comprise link systems or linkwork-pass and realize to the control of the instrument that is associated with link systems of the present invention or linkwork or apparatus.
Forward Fig. 3 A-5 to, said apparatus 100 comprises the slender axles 112 that are arranged between proximal link set 104 and the distal link set 106.This is normally hollow and comprise that cavity 114, this cavity hold the right cable group of connecting link 134 and 135 and actuation cables 148.The cavity of axle is generally the cable, silk thread, optical fiber or other like that are associated with any desired tool of using with link systems of the present invention or linkwork or apparatus provides passage.
The handle 110 of driver 100 is traditional ratchet type handles, and this handle operationally is linked to actuation cables 148.Particularly, shown in Fig. 3 A, 3B and 5, handle 110 comprises fixed arm 151 and pivotal arm 152, and arm 151 is fixed on the proximal link 122B through the collar 153, and the collar 153 engages with the complementary hub portion (reciprocal hub) of chain link 122B.Pivotal arm 152 is pivotably connected to fixed arm 151 at pivot 150 places, and comprises that pin 147, this pin are received within the guide groove 149 of arm 151 and can translation in this guide groove.Actuation cables 148 ends at the far-end of cable connector 146 at its near-end, and cable connector 146 is also admitted pin 147 at its near-end.When handle 110 activated, arm 152 pivoted around pivotal point 150, thereby caused cable connector 146 and the near-end translation (i.e. withdrawal) of actuation cables 148 towards device.
As being clearly shown that among Fig. 4, needle drivers 107 is fixed on the distal links 122A through the collar 153 similarly, and this collar engages with the complementary hub portion 121A of chain link 122A.Jaw 108 and 109 is to remote extension, and jaw 108 is fixing, and jaw 109 is connected to jaw 108 pivotly at pivot 105 places.Cable connector 154 is connected to jaw 108 at its far-end at pin 106 places, and the far-end of actuation cables 148 is fixed on the near-end of cable connector 154.As shown in the figure, spring 156 is provided with and is arranged between cable connector 154 and the distal links 122A around cable 148, makes cable maintenance tensioning and jaw 109 is shown in an open position.Needle drivers activated through the withdrawal of central cable 148, and this withdrawal makes adapter 154 withdrawals and compression spring 156, makes jaw 109 be pivoted to the make position near jaw 108 around pivot 105.
In different embodiments of the invention, link set or link systems are designed to have " neutral cable bias " according to each chain link and telescopic structure.Because the actuation force that cable applies along a side of chain link and when crooked, the relative rate of tension of passing the cable of chain link can be affected with positive, minus or neutral mode when link systems.This influence or biasing also can be described as " cable pull bias (pull bias) ".When chain link produces when being hinged or the link systems that increases cable tension is known as and has " positive bias ".Perhaps, cause cable tension to reduce when being hinged or lax link systems is known as and has " negative bias " when chain link.The minimum link systems of cable tension and cable slack is known as has " neutral bias ".In conjunction with have a link systems of neutral cable bias mechanism can on certain range of movement, keep its shape usually, and can resist the counteracting force of the meeting infringement form accuracy that applies to this mechanism, in most of the cases be preferred usually therefore.But according to application, minus or positive biasing or influence can be favourable.For example, in some applications, it is desired can making the minus cable bias of cable slack, because this can reduce the rigidity of articulated links, and limits their resistances for the counteracting force that applies along chain link.The example that expectation obtains this effect comprises that the guiding chain link passes through or center on the situation of responsive or fragile anatomical structure.In other was used, the positive cable bias that cable tension is increased was desired, because this can increase the rigidity of articulated links and increase their resistances to the counteracting force that applied.This tensioning also can improve the further bending of obstruction chain link or hinged resistance.The example that expectation obtains this effect comprises macrobending or " overbending " the important application excessively that prevents link systems.
With reference to Fig. 2 A-2D, chain link and telescopic particular configuration in the link set 106 have realized neutral cable bias.For realizing neutral cable bias, it is important the setting and the position of the pivotal point between each link-bushing-link assembly in this embodiment.Chain link 122,124 and 126 lobe (123,125,127,129) are hemisphericals, and the recess of sleeve pipe 130 and 132 (131,133,137,139) is a truncated hemispherical.The semi-spherical shape of lobe and recess forms pivot points P between adjacent link.Central axis X that pivotal point is positioned at link set and planar intersection point place flat, that not outstanding axial vane surface 120 limits each chain link 122,124 and 126, and center on its axis point (axis point) that is defined (circumscribe) with convex hemispherical protrusion and be associated.This can be more clearly visible with reference to Fig. 2 E and 2F, shown in the figure with Fig. 2 A-2D in shown in the similar link-bushing-link assembly of structure.Here, chain link 122c and 124c are separated by sleeve pipe 130c equally. Chain link 122c and 124c comprise convex hemispherical protrusion 123c and 125c respectively, and these lobe are admitted by the truncated hemispherical recess 131c of sleeve pipe 130c and 133c.This structure also forms pivot points P between two chain links
1, P
2, these pivotal points are positioned at axis X and the planar intersection point place that is limited the axial vane surface 120c of each chain link.In addition, chain link has identical overall diameter, corresponding cable channel have identical radius or with the distance of link center, and distance between the identical adjacent link or gap, said distance or gap are by placing the sleeve pipe between the chain link to keep.
When chain link being maneuvered to desired locations or configuration, each chain link of link-bushing-link assembly pivoted around its corresponding pivotal point, make any two adjacent chain links around two pivotal points each other near or remotely pivot.In addition; Because this pair of pivot behavior of any given chain link, the distance of the with it corresponding cable channel exit point motion of given cable channel exit point on the adjacent link equals relative cable channel exit point motion on the opposite side of this chain link away from the distance of corresponding cable channel exit point with it on the adjacent link.But no matter whether chain link pivots, it is constant that the combined distance between two groups of corresponding cable channel exit points keeps, and this is important for keeping neutral cable bias.When this combined distance was unequal, cable slack or tensioning meeting increased.Particularly, the combined distance when chain link pivots or is hinged between relative cable exit point in groups is straight greater than being in, not under the situation of the combined distance during articulated position, and cable can tensioning.Perhaps, the combined distance when pivoting or being hinged between relative channel outlet point in groups is with respect under the situation straight, that do not reduce during articulated position, and cable can relax.
This phenomenon can more clearly describe with reference to Figure 21 A-23B, has the chain link assembly (610,640,670) of neutrality (Figure 21 A-21B), minus (Figure 22 A-22B) and positive (Figure 23 A-23B) cable bias shown in the figure.Each chain link assembly (610,640,670) comprises two adjacent chain links (622 and 624,652 and 654 and 682 and 684), and between these two chain links, is inserted with sleeve pipe (630,660,690).Similar to the above embodiments, chain link comprises lobe (623,625,653,655,683 and 685), and these lobe and telescopic recess (631,633,661,663,691,693) engage.Component class shown in the structure of the chain link assembly 610 of Figure 21 A and 21B and Fig. 2 E and the 2F seemingly and can be realized neutral cable bias.Lobe 623 and 625 is hemispherical and is received in the recess 631 and 633 of truncated hemispherical.The same with the assembly of Fig. 2 A-2F, this structure also forms pivot points P
3And P
4, these pivotal points are positioned at axis X
1With the planar intersection point place that limits by the axial vane surface (620,621) of two chain links (622,624), and with the cable channel exit point (627,629,637,639) consistent (coincidewith) of cable channel (626,628,636,638).As shown in the figure, the exit point 627 and 629 of chain link 622 is positioned on the opposite side of chain link 622, and assembly be in straight, not during bending position (Figure 21 A) with adjacent link 624 on exit point 637 and 639 align.In this position, the distance between the exit point 627 and 637 is identical with distance between exit point 629 and 639, and in Figure 21 A, representes with G1.When assembly bending (Figure 21 B), the relative distance between the corresponding exit point changes, shown in distance H in Figure 21 B 1 and K1.But, for localized pivot position P as described above
3And P
4, when chain link be in straight, the combined distance between the relative cable channel exit point does not keep identical during bending position.That is, G1+G1 equals H1+K1, and this available equality G1+G1=H1+K1 representes.
Chain link assembly 640 shown in Figure 22 A-22B is designed to realize minus cable bias, so that when hinged, increase cable slack.Except chain link 652 and 654 has from the axial vane surface 650,651 of chain link 652 and 654 further the convex hemispherical protrusion 653 and 655 of extended spot, identical in the chain link of this assembly and sleeve pipe and Figure 21 A-21B.As a result, form pivot points P
5And P
6, these pivotal points are consistent with the cable channel exit point 657,659,667 and 669 of cable channel 656,658,666 and 668 no longer respectively.But pivotal point departs from a distance y along direction and axial vane surface near sleeve pipe 660
2In this configuration, the combined distance when pivoting between the relative cable channel exit point is not equal to when chain link and is in straight, the combined distance between respective cable channel exit point during bending position not.That is, H2+K2 is not equal to G2+G2, but equals a littler value, and this can introduce cable slack in system.These can be by 2 expressions of equality G1+G1=H2+K2+ Δ, and wherein the degree of the cable slack in the drawing-in system is relevant with value Δ 2.
On the contrary, chain link assembly 670 (Figure 23 A-23B) is designed to be implemented in the positive cable bias that can increase cable tension when hinged.Equally, identical in the chain link of this assembly and sleeve pipe and Figure 21 A-21B, but chain link 682 and 684 has by the convex hemispherical protrusion 683 and 685 of truncate.This makes and forms pivot points P
7And P
8, these pivotal points depart from a distance y from the plane that the axial vane surface 680,681 chain link limits
3, but be along deviation in driction specifically away from sleeve pipe 690.Therefore, pivotal point is not consistent with the cable channel exit point 687,689,697 and 699 of corresponding cable channel 686,688,696 and 698 equally.And the combined distance when pivoting between the relative cable channel exit point is not equal in straight, the combined distance between respective cable channel exit point during bending position not.But H3+K3 is greater than G3+G3, and this can introduce cable tension in system.These can be by 3 expressions of equality G3+G3=H3+K3-Δ, and wherein the degree of the cable tension in the drawing-in system is relevant with value Δ 3 equally.
Neutral, minus and positive cable bias also can be realized by multiple other link system conformations.As an example and unrestricted; Modification shown in Fig. 6 A and the 6B illustrates a kind of link-bushing-link assembly of optional configuration; It can realize pivoting and equidistance motion with the two of the similar cable channel exit point of the chain link of Fig. 2 A-2D, 2E-2F and 21A-21B, and also can cause neutral cable bias.Link systems 200 comprises by sleeve pipe 210 separated relative adjacent link 202 and 204. Adjacent chain link 202 and 204 all has the opposed hemispherical shape recess (201,203,205,207) of alignment vertically.Sleeve pipe 210 has and is used for admitting respectively the recess 203 of each chain link 202 and 204 and 205 truncated hemispherical lobe 211,213.Link systems has two pivot points P
9And P
10, these pivotal points are positioned at the central axis X of link systems
2With the planar intersection point place that limits the axial vane surface 220 and 222 of chain link 202 and 204 respectively, and join around its limited axis spot correlation with the truncated hemispherical lobe.As can seeing particularly with reference to Fig. 6 B, the diameter of the central passage 214 of sleeve pipe 210 is respectively greater than the diameter of the central passage 216,218 of chain link 202 and 204, allows actuation cables etc. unhinderedly to pass through when pivoting with convenient chain link.Through revising assembly, can realize positive or minus biasing to introduce departing from of pivot point locations.
The another kind of link-bushing-link assembly that can realize neutral cable bias equally is shown in Fig. 7 A and the 7B.The chain link of this system has recess and the lobe that engages with the sleeve pipe that is arranged between the chain link.Sleeve pipe has corresponding lobe and recess equally.This link-bushing-link assembly can be realized pivoting and equidistance motion with the chain link of Fig. 2 A-2D and the two of the similar cable channel exit point of chain link of Fig. 6 A and 6B equally.Link systems 250 comprises by sleeve pipe 260 separated relative adjacent link 252 and 254.Chain link 252 has convex hemispherical protrusion 256, and chain link 254 has the opposed hemispherical shape recess 258 that aligns vertically with this lobe 256.Sleeve pipe 260 has the truncated hemispherical recess 262 of the lobe 256 of admitting chain link 252, and the truncated hemispherical lobe 264 of being admitted by recess 258.Link systems 250 has two pivot points P
11And P
12, these pivotal points are positioned at the central axis X of link systems
3With flat, recessed also not flat, the recessed also not protrusion and the planar intersection point place that limits with axial vane surfaces 272 that sleeve pipe 260 intersects of the axial vane surface 270 of protrusion or chain link 254 chain link 252.These pivotal points also join around its limited axis spot correlation with the convex hemispherical protrusion of chain link or telescopic truncated hemispherical lobe.As can seeing particularly with reference to Fig. 7 B, the diameter of the central passage 280 of sleeve pipe 260 is respectively greater than the diameter of the central passage 282,284 of chain link 252 and 254, allows actuation cables etc. unhinderedly to pass through when pivoting with convenient chain link.Equally, through revising this assembly, can realize positive or minus biasing to introduce departing from of pivot point locations.
Have lobe and/or the recess that engages with the recess and/or the lobe of respective link although telescopic specific embodiment has been illustrated as, can use equally to be merely tubular and sleeve pipe hollow and that have the end that is generally blunt.Suppose that telescopic internal diameter is slightly smaller than the diameter of corresponding lobe; Or telescopic alternatively external diameter is slightly smaller than corresponding concave part; Then this sleeve pipe can be worked when engaging with the lobe of respective link and/or recess too well, so that chain link can be made pivoting action with respect to sleeve pipe.
Consistent with above-mentioned structure and parameter, can have virtually any size and shape according to purposes according to chain link in link systems of the present invention and the linkwork and sleeve pipe.For surgical applications, their form depends on these factors for example application of patient age, anatomy, the anatomic region of being paid close attention to, expection and doctor's hobby usually.As said; Chain link and sleeve pipe are generally tubular, and can comprise that confession is connected to the cable of other chain link or device feature and the passage that the other cable that is associated with desired tool of using with link systems or apparatus, silk thread, optical fiber or other like pass through with chain link.Channel diameter is a bit larger tham cable diameter usually and forms and is slidingly matched.In addition, chain link also comprises one or more surgical instruments or the element of diagnostic tool or passages that supply their cable of actuating to pass through that can attach dress that are used to admit.As said, these passages can be along the peripheral or any radial position of chain link or telescopic center location.According to application, chain link typically have a diameter from about 0.5mm to about 15mm or bigger.Sleeve pipe is compared with chain link and is trended towards having roughly suitable size, and usually has less diameter.For endoscopic applications, for the small endoscopes apparatus, representative diameter can be about 2mm to about 3mm; For middle-sized endoscopic instrument; Representative diameter is extremely approximately 7mm of about 5mm, and for large-scale endoscopic instrument, representative diameter is that about 10mm is to about 15mm.Use for conduit, diameter can be about 1mm to about 5mm.Chain link and telescopic total length change according to the expectation bending radius between the chain link usually.
For surgical applications, mechanism or other parts of device that chain link or sleeve pipe or this chain link or sleeve pipe are incorporated into wherein can be processed by any biocompatible material, include but not limited to: rustless steel, titanium, tantalum; With their any alloy; And polymer for example polyethylene or its copolymer, PETG or its copolymer, nylon, silicones, polyurethane, fluoropolymer, gather (vinyl chloride); And their combination.If desired, can on chain link or sleeve pipe or other parts, be provided with lubricious so that help advancing of link systems.The lubricious for example polyvinylpyrrolidone of hydrophilic polymer that comprises, fluoropolymer is tetrafluoroethene for example, or silicones.Also can comprise radio opaque markers on one or more chain links or the sleeve pipe in case at radial imaging the position of time indication linkwork or device.Usually, will come certification mark through fluoroscopy.
Although the many link systems that illustrated in the accompanying drawing have the chain link and the sleeve pipe of some, this only is to be used to explain the mutual relation between single mechanism or chain link and the thimble assembly.According to these factors for example expection use and the desired length and the range of movement of linkwork, can adopt the chain link and the sleeve pipe of any amount.
As said, cable can be used for activating link systems of the present invention.In these embodiment, one or more links are crossed two or many cables and are connected to corresponding with it chain link or the portion's section that is positioned at far-end.Each cable group can be made up of at least two cables.As said, the motion of chain link is by the control of its corresponding cable group, and is independent of any other chain link.In some modification, for example, cable group will comprise three cables.Through using three cables of one group to be connected to chain link, can handle or mobile this chain link with three degree of freedom (promptly go up/descend motion, a left side/right motion, and rotation or " rollings " motion), and be independent of any other chain link.Through making up a plurality of chain links, can realize a plurality of degree of freedom, make link systems can be configured as the configuration of multiple complicacy.For example, the distal link set 106 shown in Fig. 2 A is interior has three chain links (122,124,126) altogether, and wherein two chain links (122,124) connect through cable group (134,135) independently, thereby can be with 6 degree of freedom motions.Only using one group of cable to handle in the typical traditional mechanism of chain link, can not obtain this a plurality of degree of freedom.
Cable diameter changes according to application, and can be about 0.15mm to about 3mm.Use for conduit, representative diameter can be about 0.15mm to about 0.75mm.For endoscopic applications, representative diameter can be about 0.5mm to about 3mm.
Cable flexibility can be for example because of the type of cable materials with arranged mode changes or change because of physics or chemical treatment.Usually, will change cable stiffness or flexibility according to the needs of the intended use of linkwork.Cable can be sub-thread or the multi cord of being processed by such material; Said material includes but not limited to biocompatible material for example Nitinol, rustless steel or its any alloy, superelastic alloy, carbon fiber; Polymer for example gathers (vinyl chloride), polyoxyethylene, PETG and other polyester; Polyolefin, polypropylene, and their copolymer; Nylon; Silk (silk); And their combination, or other suitable material known in the art.
Cable can be fixed on according to mode known in the art on the chain link; For example through the use binding agent or through solder brazing, solder, welding etc.; It is included in unsettled and total U. S. application No.10/444, the method described in 769, and this application is hereby expressly incorporated by reference in full.Among the embodiment shown in Fig. 5, cable 134 is fixed on the chain link 122B through set screw 143.
Link systems of the present invention also can comprise the chain link that spacer link promptly is not connected through isolating cable group with linkwork.In each embodiment, for example, each spacer link can comprise vertically lobe or the recess of alignment and can separate through the sleeve pipe and the said adjacent link that are arranged between this spacer link and the adjacent link.In each other embodiment, the lobe of said spacer link or recess can be hemispheric.These chain links are as passive chain link, and they can not be activated independently, but allow cable group to pass through wherein to arrive contiguous active link.Spacer link is in link systems or linkwork, to provide extra length needed.In addition, comprise that at an end of mechanism spacer link makes moving or motion convergent-divergent pro rata at the other end of correspondence.The near-end of the linkwork that for example, is connected at the paired chain link of far-end and near-end comprises that spacer link needs user to implement bigger motion so that realize desired motion at far-end at near-end.This is favourable under the situation of accurate, the meticulous controlled motion of needs, if for example far-end move or motion can not be carried out this proportional convergent-divergent then exists user can not skillfully carry out necessarily under the situation of danger of desired process.Perhaps, can spacer link be set at far-end, the movement degree of far-end can be pro rata greater than the movement degree of near-end in this case, and this also is that application-specific is needed.Except mentioned above, move or the proportional convergent-divergent of motion also can be through increasing or reduce the radius of cable channel location place and central axis or apart from realizing that hereinafter will be described further this.
Forward the embodiment of Figure 1A and 1B to, being configured to of near-end and distal links makes the motion of proximal link set 104 cause the amplification campaign at distal link set 106 places.Especially with reference to Figure 4 and 5, visible proximal link 122B, 124B and 126B are usually greater than their far-end pairing chain link 122A, 124A and 126A.The more important thing is that for proximal link 122B, 124B and 126B, place, the location of cable channel (138B) is bigger than their distal links counter pair (138A) from the radius or the distance of the central axis of respective link.Because this is poor, given chain link is to producing by operation the time and this difference proportional mutual (reciprocal) motion.Right for any two chain links, this difference available when chain link is operated with respect to their not pivot state resulting pivoting angle represent.Therefore, has different cable channel location radii R respectively for arbitrarily given
1And R
2Chain link to L
1And L
2, and R wherein
2＞R
1, work as L
1Pivoting angle A
1The time, corresponding chain link L
2To produce angle of pivot A
2=A
1* sin
-1(R
1/ R
2).Therefore, the increase of cable channel location radii or reduce to increase pro rata or to reduce the corresponding near-end and the angle of bend of distal link systems.This can have important ergonomic applications, thereby comprises that less flex angle by the near-end of user operation can cause motion that bigger angle of bend or the flex angle of far-end make that far-end can amplify or increase to arrange and/or the surgical applications of actuating surgical technique and tools or apparatus.This is specifically visible with reference to Figure 1B, and this illustrates the link set 104 and 106 of the device 100 that is in curved configuration.The needle drivers 107 that is positioned at the end of distal link set 106 is approximately 90 degree with respect to the movement angle of slender axles 112, and pro rata greater than the handle 110 of the near-end that is positioned at proximal link set 104 angle with respect to this, this angle is depicted as about 45 degree.
In the embodiment shown in Fig. 1 and the 3-6, handle 110 is fixed on the near-end of proximal link set 104.In this configuration, handle itself can be used for handling proximal link, thus steer distal end chain link accordingly.Therefore, handle itself can be used for manual control and operation distal end needle driver.In optional embodiment shown in Figure 8, needle drivers 700 comprises handle 710, and this handle directly is fixed on the near-end of slender axles 712.Proximal link set 704 is operably connected to distal link set 706 as previously mentioned, expose from handle itself but the route of the link cables that is associated is arranged so that link set 704, and the chain link of the distal-most end of this link set is fixed on the handle.In this configuration, slender axles can handled or guide to handle.Then, proximal link set can be by operation be so that the pin driven tool 707 of steer distal end independently, and this is similar to stick.Should can increase the control of user in some direction or use by " stick " configuration.
Link systems, linkwork and the device that is combined with this system or mechanism also can comprise locking mechanism.Locking mechanism can prevent one or more chain links or paired link motion when activateding.In one aspect; Locking mechanism is configured to admit the cable (or other similar actuation element) that is connected to and handles chain link; And when activateding, it is right with the chain link that links to each other that locks correspondence that restriction cable (or other similar actuation element) motion also limits thus.In some modification; Locking mechanism comprises active locking component and fixed contact member; Thereby the motion of active locking component makes cable, and (or other similar actuation element) contacts with fixed contact member; Thereby stop further motion of cable (or other similar actuation element), and then also stop the motion of chain link.Unsettled and the total U. S. application No.10/444 of disclosed chain link and link systems and other link systems in described locking mechanism and the literary composition-be included in; Described system in 769, this application be hereby expressly incorporated by reference in full-and other known link systems is compatible.
Fig. 9-12 illustrates a kind of like this embodiment of locking mechanism.Specifically with reference to Figure 11 A-11B, locking mechanism 300 comprises the retaining collar 302 of alignment vertically and the Movable loop 304 that aligns vertically in housing 305.The outer surface of the inner surface of retaining collar 302 and Movable loop 304 is taper, thereby as shown in the figure, and Movable loop 304 can partly be received in the retaining collar 302.Pin 312 extends through the slit 314 in the housing 305 from Movable loop 304.Lever 310 is connected to housing 305 pivotally at pivot 316 places, and this moment, cam 318 contacted with pin 312.Cable 309 and 308 longitudinal axis alignment along mechanism.Cable is also admitted through retaining collar 302, centers on the perimeter of Movable loop 304 then.At unlocked position, shown in Fig. 9 B, 11B and 12B, lever 310 is in the erection position, is approximately perpendicular to the axis of mechanism.In this position, between two collars, exist enough gaps freely to move through mechanism to allow cable, the CONTACT WITH FRICTION between retaining collar 302 and Movable loop 304 is minimum simultaneously, and this more is clearly shown that in Figure 12 B.
In latched position, shown in Fig. 9 A-11A, lever 310 pivots up to the central axis that is roughly parallel to locking mechanism downwards.This motion causes cam 318 and pin 312 to engage and make the pin 312 and the collar 304 towards the collar 302 translations.When lever was in latched position, pin joint closed ratchet (detent) 319 and lever is remained on latched position.Because the collar 304 is like this towards the collar 302 motion, thus cable and collar CONTACT WITH FRICTION and be clamped at basically between two collars, thus frictionally stop the further motion of cable, also prevention is connected to the motion of the chain link of cable.
Figure 13-18 illustrates another embodiment according to locking mechanism of the present invention.In this embodiment, locking mechanism 400 comprises the housing 402 with passage of admitting cable.Should be understood that housing also can be incorporated shaft portion into or along other place of linkwork.Perhaps, shaft portion itself can form housing.Sliding part 410 centers on housing 402, and can move vertically with respect to housing.Housing 420 also comprises the central passage 408 of extending along the central axis of cylindrical shell.As will further specify, sliding part moves with actuation lock along the direction of central axis decides mechanism.Figure 17 A and 18A illustrate the vertical view and the sectional view of the part mechanism that endwisely slips that is in the unlocked position respectively.With reference to Figure 18 A, housing comprises that the central axis with respect to housing 402 is arranged on two locking channels 414 and 416 of diverse location.Push button element 418 and 424 is separately positioned in locking channel 414 and 416.Each push button element comprises head (421,427), spring (420,426) and cable contact (422,428).With reference to push button element 418, cable contact 422 be positioned at perpendicular in the passage of central axis 414 and when cable 432 passes passage 436 near cable 432.Spring 426 has enough expansive forces and contacts slightly with cable to keep in touch part 422, and the interior side contacts of head 421 and sliding part 410 still allows cable 432 freely to pass passage 436 with the resistance of minimum simultaneously.Push button element 424 is placed in the passage 416 similarly, and directed similarly with respect to cable 436 when cable 436 passes passage 438.
Be clear that like Figure 18 A-18C; Sliding part 410 comprise the internal diameter of sliding part big so that between sliding part and housing 402 interstitial zone, and the internal diameter of sliding part is less so that only between sliding part and housing, have very closely spaced zone.These zones along aligned to overlap with locking channel (position).When the part mechanism 400 that endwisely slips was in complete unlocked position (Figure 17 A and 18A), sliding part 410 was located such that void area aligns with locking channel 414 and 416.At complete unlocked position, there is not push button element that corresponding associated cable is applied enough power frictionally to stop the motion of cable.Therefore cable (432,434) can move freely in the passage (436,438) they passing through separately, thereby causes the corresponding sports of any link systems (not shown) that is connected.
Move sliding part 410 through axis and activate locking mechanism 400 along locking mechanism 400.Figure 17 B and 18B illustrate mechanism 400 and are in the part latched position, and wherein cable 434 is locked and cable 432 also can move freely.With reference to Figure 18 B, can see that sliding part 410 has been positioned such that areas of minimal clearance overlaps with locking channel 416.The result; Sliding part applies the radial force of increase to the head 427 of push button element 424 along locking channel 416; This radial force can overcome the expansive force of spring 426, make cable contact 428 with the power that increases by being pressed on the cable 434 and the CONTACT WITH FRICTION with the inwall of passage 438 taking place.The further translation of cable 434 is prevented from, and any further motion that is connected to the chain link (not shown) of cable 434 is prevented from too.But in this same configuration, sliding part 410 still has the void area that overlaps with locking channel 414, thereby cable 432 still can be through free shift in the passage 436, and the chain link that is associated with cable 432 thus remains movable.Final result is, the translational motion of cable 434 frictionally stops, but the motion of cable 432 is stoped, thus the related link systems (not shown) of locking phase partly.
Figure 17 C and 18C illustrate the locking mechanism 400 that is in complete latched position.With reference to Figure 18 C; Sliding part 410 is positioned to areas of minimal clearance and all overlaps with locking channel 414 and 416, thus two cable contacts (422,428) and push button element (418; 424) be pressed against their corresponding cables (432; 434) on, make the inwall CONTACT WITH FRICTION of passing through passage (436,438) that cable is corresponding with them, thereby frictionally stop the translational motion of cable and any chain link that is associated.Can understand from this embodiment, different chain links that connect through isolating cable group or chain link are to having the locking channel that is associated with every group of cable, and these passages are radially directed around the assigned address along the housing axis.When sliding part moved with respect to housing vertically, these chain links or chain link were to can be locked or release successively.For example in hope with a part of locks in place of link systems and other part still keeps free so that can further handle, guide, lead or activate under the situation of far-end instrument or apparatus, can lock successively or chain link or the right ability of chain link that release links to each other are favourable.In addition, it is right that all cables that need not to limit link set to lock continuous chain link effectively.For example, for cable group, only need limit two cables so that effectively lock with three cables.
Another embodiment according to locking mechanism of the present invention is shown in Figure 19-20.Locking mechanism 500 comprises the tubular shell 502 that is centered on by coaxial locking ring 510 and 512. Locking ring 510 and 512 can rotate around housing 502, and the sliding part 410 among the embodiment of its effect and Figure 13-18 is similar.When locking ring 510 and 512 rotates to assigned address, admit the mobile of one or more cable to be prevented from through housing 502.In addition, housing itself can be integrated in the shaft portion of linkwork or along other place of this mechanism, perhaps shaft portion itself can form housing.
Figure 20 A and 20B illustrate the locking mechanism 500 that is in release (Figure 20 A) and locking (Figure 20 B) configuration with respect to cable 519,521,423.Housing 502 is centered on by co-axial locking ring 510.The periphery inboard and this cylindrical shell of locking ring 510 does not have uniform coupling diameter, but has convergent (tapered) gap, the minimum clearance that between two convergent gaps, interspersed part.Cylindrical shell 502 comprises that centering on cylindrical shell 502 is disposed radially three locking channels 518,520 and 522 at diverse location.Each locking channel (518,520,522) is associated with the cable that passes the passage of admitting the cable (519,521,523) that is associated.Should be understood that the cable shown in remaining will be associated with the locking ring and the locking channel that are positioned at different axial locations along this housing.Similar with those push button element among the embodiment of Figure 13-18; The push button element here has like configurations and is positioned at their corresponding passages, and wherein each push button element (526,534,540) has head (527,535,541), spring (528,532,538) and cable contact (529,533,539).Also with reference to Figure 20 A; When locking mechanism is in the release configuration; Locking ring 510 is positioned to make each push button element (526,534,540) all to align with void area; Thereby button all not by under enough big the defeating so that the cable that is associated (519,521,523) with their the corresponding inwall CONTACT WITH FRICTION through passage so that stop cable to move.Therefore, at this unlocked position, cable (519,521,523) translation freely is through cylindrical shell 502.
Figure 20 B illustrates through make this mechanism kinematic to locked configuration around cylindrical shell 502 spin locking rings 510.When locking ring 510 is rotated to locked configuration, each button (526,534,540) all with locking ring 510 and cylindrical shell 502 between areas of minimal clearance overlap.Similar with the embodiment in Figure 13-19; The spring part (528,532,538) that this also causes each button (526,534,540) to be overcome being associated similarly enough big defeated in the locking channel; And their the cable contact that is associated (529,533,539) radially promoted to be pressed against on their associated cable (519,521,523), make the cable that is associated and their the inwall CONTACT WITH FRICTION of passing through passage that is associated.Like this, frictionally stop cable (519,521,523) further translation through cylindrical shell 502, thereby with cable and any chain link locks in place of being connected with cable.Can understand from this embodiment, different links that connects through isolating cable group or chain link are to also having the locking channel that is associated with every group of cable, and the assigned address of the cylindrical shell that these passages are associated with single locking ring around the edge is radially directed.Therefore can lock independently or each of these chain links of release or chain link centering.Can lock independently or chain link or the right ability of chain link that release links to each other can have many advantages, comprise like the described hope of preamble with a part of locks in place of link systems and other part still keeps free so that can further handle, guide, lead or activate the situation of far-end instrument or apparatus.
According to purposes, locking mechanism can be virtually any size and shape, but their size and dimension is usually with any link systems that is associated, linkwork or to be combined with the device of this system or linkwork similar.Be similar to link systems itself; Locking mechanism is generally but need not tubular, and can comprise that confession is connected to locking mechanism in cable and the passage that the other cable that is associated with desired tool of using with this locking mechanism or apparatus, silk thread, optical fiber or other like pass through of other parts of device.In the embodiment of the locking mechanism that comprises cable, the cable channel diameter is a bit larger tham cable diameter usually and forms and is slidingly matched.In addition, locking mechanism also can comprise one or more surgical instruments or the element of diagnostic tool or passages that supply their cable of actuating to pass through that can attach dress that are used to admit.
In certain embodiments, locking mechanism can be arranged on an end of link systems or linkwork.In a further embodiment, locking mechanism can be arranged on any position of the near-end or the far-end of surgical instruments.Although the multiple locking mechanism that illustrates in the accompanying drawing has the certain configuration and the parts of some, this only is used to explain the mutual relation between the parts.According to the for example expection use of locking mechanism of these factors, can adopt any amount of parts.
The present invention also comprises the tool set of the adnexa that is used to that various link systems, linkwork, locking mechanism are provided and is associated.For example, can provide comprise have different length, the link systems and the linkwork of different portions section diameter, and/or the tool set of dissimilar instruments or apparatus.Tool set can randomly comprise dissimilar locking mechanisms.Tool set also can further customize to application-specific.For example, the tool set that is used for surgical applications for example can be configured for splanchnoscopy, retraction or catheter placement and/or be used for particular patient colony for example child or adult.
Claims (32)
1. linkwork that is used for remote manipulation of surgical or diagnostic tool comprises:
Many to chain link; Each is retained each chain link in the chain link and separates with another right chain link with it; Wherein have at least two adjacent link to be set at that sleeve pipe between these two adjacent link is separated and these two adjacent link can be pivoted relative to each other around two different pivotal points independently of one another; Said two adjacent link that have at least have facing surfaces; Each surface has vertically the lobe or the recess of alignment, and each lobe or recess of said sleeve pipe and said two adjacent link that have at least contacts; And
Many group cables, every group of cable interconnects the chain link in a pair of chain link, thus this motion to a chain link in the chain link causes the motion-related of correspondence of another chain link of this centering.
2. linkwork according to claim 1 is characterized in that, at least one lobe or the recess of adjacent link are hemispheric.
3. linkwork according to claim 1 is characterized in that, said sleeve pipe has each lobe or the recess or the lobe of recess of admitting in said two adjacent link that have at least.
4. linkwork according to claim 3 is characterized in that, said sleeve pipe has two recesses on opposite side.
5. linkwork according to claim 3 is characterized in that, said sleeve pipe has two lobe on opposite side.
6. linkwork according to claim 3 is characterized in that, said sleeve pipe has a recess and a lobe on opposite side.
7. linkwork according to claim 1 is characterized in that, said chain link forms near-end and far-end, and corresponding paired chain link lays respectively at near-end and far-end, and the motion of near-end causes the motion-related of the correspondence of far-end.
8. linkwork according to claim 7 is characterized in that, the motion-related of the said correspondence of far-end and the reverse movement of near-end.
9. linkwork according to claim 7 is characterized in that, the motion of the motion-related mirror image near-end of the said correspondence of far-end.
10. linkwork according to claim 7 is characterized in that surgery or diagnostic tool are attached on the said far-end.
11. linkwork according to claim 10 is characterized in that, said instrument is selected from stiching instrument, anchor clamps, grasper, shears, sickle, ablation and burns element.
12. linkwork according to claim 1 is characterized in that, this linkwork comprises that also the chain link in each paired chain link that makes that is arranged between the paired chain link keeps spaced slender axles.
13. linkwork according to claim 12 is characterized in that, said slender axles hold cable group.
14. linkwork according to claim 1 is characterized in that, paired chain link comprises and is used to admit cable group that is associated with adjacent paired chain link and the passage that supplies said cable group to pass through.
15. linkwork according to claim 1 is characterized in that, this linkwork also comprises one or more spacer link that do not connect through isolating cable group.
16. linkwork according to claim 1; It is characterized in that; This linkwork also comprises one or more spacer link that do not connect through isolating cable group, and wherein each spacer link comprises lobe or the recess of alignment vertically and separates through the sleeve pipe and the said adjacent link that are arranged between this spacer link and the adjacent link.
17. linkwork according to claim 16 is characterized in that, the lobe of said spacer link or recess are hemispheric.
18. linkwork according to claim 1 is characterized in that, the cable that connects a pair of chain link is different with the radial distance at the center of this second right chain link of distance apart from the radial distance at the center of this first right chain link.
19. a surgical instruments comprises:
Surgery or diagnostic tool;
Be positioned at a plurality of chain links of the near-end of this surgery or diagnostic tool; Wherein have at least two adjacent link to be set at that sleeve pipe between these two adjacent link is separated and these two adjacent link can be pivoted relative to each other around two different pivotal points independently of one another; Said two adjacent link that have at least have facing surfaces; Each surface has vertically the lobe or the recess of alignment, and each lobe or the recess complementation in said sleeve pipe and said two adjacent link that have at least;
Be positioned at the slender axles of the near-end of said a plurality of chain links;
One or more cable, said one or more cable is connected to one or more chain links and is admitted through said slender axles at near-end at far-end, thus the motion of one or more cable causes the motion of one or more chain links; And
Be positioned at a plurality of respective link of the near-end of said axle; Each respective link is connected to one of a plurality of chain links of the far-end that is positioned at said axle through at least one group of cable right to form chain link, thereby this motion to a chain link in the chain link causes the motion-related of the correspondence of another chain link that this is right.
20. surgical instruments according to claim 19 is characterized in that, the lobe or the recess of each in said two adjacent link that have at least are hemispherical.
21. surgical instruments according to claim 19 is characterized in that, said sleeve pipe has each lobe or the recess or the lobe of recess of admitting in the said adjacent link.
22. surgical instruments according to claim 19 is characterized in that, this surgical instruments also comprises the near-end that is positioned at said slender axles and is operably connected to surgery or the actuation handle of far-end instrument.
23. surgical instruments according to claim 22 is characterized in that, said actuation handle is positioned at the near-end of said a plurality of respective link.
24. surgical instruments according to claim 22 is characterized in that, said a plurality of respective link are extended from said actuation handle.
25. surgical instruments according to claim 22 is characterized in that, stops the cable locking mechanism of the motion of chain link thereby this surgical instruments also comprises the motion that is configured to stop one or more cable.
26. surgical instruments according to claim 22 is characterized in that, the cable that connects a pair of chain link is different with the radial distance at the center of this second right chain link of distance apart from the radial distance at the center of this first right chain link.
27. articulated links system that comprises a plurality of chain links; Wherein have at least two adjacent link to be set at that sleeve pipe between these two adjacent link is separated and these two adjacent link can be pivoted relative to each other around two different pivotal points independently of one another; Said two adjacent link that have at least have facing surfaces; Each surface has the lobe or the recess of alignment vertically; And the lobe or the recess of each in said sleeve pipe and said two adjacent link that have at least contact; And it is right wherein in said a plurality of chain links, to be limited with a plurality of chain links, and the links of each chain link centering interconnects after at least one group of cable that aligns with said chain link vertically, makes the motion of a chain link of each chain link centering cause this motion-related to the correspondence of another chain link of chain link.
28. link systems according to claim 27 is characterized in that, at least one lobe of adjacent link or recess are hemispherical.
29. link systems according to claim 27 is characterized in that, said sleeve pipe has each lobe or the recess or the lobe of recess of admitting in said two adjacent link that have at least.
30. link systems according to claim 29 is characterized in that, said sleeve pipe has two recesses on opposite side.
31. link systems according to claim 29 is characterized in that, said sleeve pipe has two lobe on opposite side.
32. link systems according to claim 29 is characterized in that, said sleeve pipe has a recess and a lobe on opposite side.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US57775704P | 2004-06-07 | 2004-06-07 | |
| US60/577,757 | 2004-06-07 | ||
| US10/928,479 US7828808B2 (en) | 2004-06-07 | 2004-08-26 | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
| US10/928,479 | 2004-08-26 | ||
| PCT/US2005/018146 WO2005120327A2 (en) | 2004-06-07 | 2005-05-23 | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210027026.6A Division CN102525659B (en) | 2004-06-07 | 2005-05-23 | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
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| CN101048102A CN101048102A (en) | 2007-10-03 |
| CN101048102B true CN101048102B (en) | 2012-04-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2005800251530A Active CN101048101B (en) | 2004-06-07 | 2005-05-23 | Articulating mechanism with flex-hinged links |
| CN2005800251545A Active CN101048102B (en) | 2004-06-07 | 2005-05-23 | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2005800251530A Active CN101048101B (en) | 2004-06-07 | 2005-05-23 | Articulating mechanism with flex-hinged links |
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| Country | Link |
|---|---|
| CN (2) | CN101048101B (en) |
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Also Published As
| Publication number | Publication date |
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| CN101048101A (en) | 2007-10-03 |
| CN101048102A (en) | 2007-10-03 |
| CN101048101B (en) | 2012-11-14 |
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