Articulation mechanism

• US 20040034343A1
• Filed: 08/16/2002
• Published: 02/19/2004
• Est. Priority Date: 08/16/2002
• Status: Active Grant

• Current Assignee: Edwards Lifesciences Corporation
• Original Assignee: Edwards Lifesciences Corporation
• Inventors: Matsuura, David G., Gillespie, Walter D., Simpson, Philip J., Smith, Gregory M.
• Granted Patent: US 6,863,668 B2
• Time in Patent Office: Days
• US Class Current: 606/15
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61M 25/0133 Tip steering devices
• CPC Class Codes: A61M 25/0138 having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils

Abstract

An improved articulating device for use with a medical insertion instrument comprising in part a first tube having a plurality of ribs defining a plurality of bending segments, a second tube axially disposed within the first tube, and means for transmitting an axial deflecting pull load. Such device has improved controlled for positioning an end of the device at a selected position within the body. The articulating device has a generally constant moment of inertia and a polar moment of inertia that generally decreases from its proximal to distal end.

Claims

1. A flexible articulation device having a generally even bend radius, wherein the device is adapted for attachment to a medical insertion instrument, the device comprising:

a first elongated tubular member having a first end and a second end;

a second elongated tubular member axially disposed within the first tubular member and extending along the length thereof, the second tubular member defining a slot extending along an outer surface of the second elongated tubular member; and

a flexible member extending along the slot and joined to the articulation device such that the articulation device is selectively moveable into a plurality of stationary, predetermined positions within the human body.

2. The flexible articulation device as described in claim 1, wherein the first end of the first elongated tubular member includes means for joining the device to the medical insertion instrument.

3. The flexible articulation device as described in claim 1, wherein the second end of the first elongated tubular member is includes a flared nozzle configured to form an abutting relationship with a desired internal body member.

4. The flexible articulation device as described in claim 1, the wherein the first tubular member has a plurality of ribs extending radially outward therefrom.

5. The flexible articulation device as described in claim 1, the wherein the second tubular member has a plurality of ribs extending radially outward therefrom.

6. A flexible articulation device having a generally even bend radius, wherein the device is adapted for attachment to a medical insertion instrument, the device comprising:

a first elongated tubular member having a first and a second end and a middle portion located along its length, the first elongated tubular member defining a plurality of ribs extending outwardly therefrom;

a second elongated tubular member axially disposed within the first tubular member and extending along the length thereof, the second tubular member defining a slot extending along an outer surface of the second elongated tubular member; and

a flexible member extending along the slot and joined to the device such that the device is selectively moveable into a plurality of predetermined stationary positions within the human body.

7. The flexible articulation device as described in claim 6, wherein the first end of the first elongated tubular member includes means for joining the device to a medical insertion instrument.

8. The flexible articulation device as described in claim 6, wherein the second end of the first elongated tubular member includes a flared nozzle configured to form an abutting relationship with a desired internal body member.

9. The flexible articulation device as described in claim 6, wherein adjacent ribs define bending segments therebetween.

10. The flexible articulation device as described in claim 9, wherein the bending segments adjacent the first and second ends have a moment of inertia that is greater than moment of inertia of the bending segments adjacent the middle of the articulation device.

11. The flexible articulation device as described in claim 6, the wherein the second tubular member defines a plurality of ribs extending radially outward therefrom.

12. A flexible articulation device having a generally even bend radius, wherein the device is adapted for attachment to a medical insertion instrument, the device comprising:

an elongated tubular member defining a plurality of ribs extending radially outward along its length, wherein the ribs define bending segments each having a moment of inertia I, which results in a desired deflection Y according to the following formula;

$Y=\left(F\right)<br><br>\left(\frac{{\mathrm{length}}^3}{4<br><br>\mathrm{EI}}\right)+\left(M\right)<br><br>\left(\frac{{\mathrm{length}}^2}{2<br><br>\mathrm{EI}}\right)$

where Y is the downward deflection at the end of the rib 14,

F is the load imparted from the bending element,

length is the length of the rib,

E is the elastic modulus of the material the rib is made of, and

I is the section modulus of the bending segment; and

a flexible member extending axially disposed within the tubular member and extending along the length thereof, wherein the bendable member is adapted to selectively bend the flexible articulation device into a plurality of predetermined positions.

13. The flexible articulation device as described in claim 12, wherein the first end of the elongated tubular member is adapted for attachment to a medical device.

14. The flexible articulation device as described in claim 12, wherein the second end of the elongated tubular member is joined to a flared nozzle.