Articulating mechanism with flex-hinged links

• US 20050273085A1
• Filed: 09/24/2004
• Published: 12/08/2005
• Est. Priority Date: 06/07/2004
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Novare Surgical Systems, Inc. (Péters Surgical SAS)
• Inventors: Danitz, David J., Hinman, Cameron Dale
• Granted Patent: US 7,678,117 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• 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

The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. The mechanisms, members or segments include links connected by flexible hinges. The proximal and distal ends of the mechanisms are connected by at least one set of cables in such a fashion that a proximal active flexible segment forms a discrete pair with a distal active flexible segment. Movement of active flexible segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. This configuration allows each flexible segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.

Claims

1. An articulating mechanism comprising:

multiple pairs of flexible segments, each flexible segment of each pair being maintained in a spaced apart relationship relative to the other flexible segment of the pair, wherein each flexible segment includes at least one link and at least one flexible hinge, and wherein adjacent links of each flexible segment are joined by flexible hinges; and

at least one set of cables connecting the flexible segments of at least one discrete pair to one another, such that movement of one flexible segment of the pair causes corresponding relative movement of the other flexible segment of the pair.

2. The articulating mechanism of claim 1 wherein at least one flexible hinge is oriented perpendicular to the axis of the mechanism.

3. The articulating mechanism of claim 1 wherein at least one of the flexible hinges is oriented at an acute angle relative to at least one other flexible hinge.

4. The articulating mechanism of claim 1 wherein at least one of the flexible hinges is oriented orthogonal to at least one other flexible hinge.

5. The articulating mechanism of claim 1 wherein the flexible hinges are oriented parallel to one another.

6. The articulating mechanism of claim 1 further comprising one or more additional sets of cables connecting flexible segments of one or more additional discrete pairs to one another, such that movement of one flexible segment of an additional pair causes corresponding relative movement of the other flexible segment of the additional pair.

7. The articulating mechanism of claim 1 wherein the flexible segments form proximal and distal ends with flexible segments of corresponding pairs being located on the proximal and distal ends respectively and where movement of the proximal end results in corresponding relative movement of the distal end.

8. The articulating mechanism of claim 7 wherein said corresponding relative movement of the distal end is reciprocal to the movement of the proximal end.

9. The articulating mechanism of claim 7 wherein said corresponding relative movement of the distal end mirrors the movement of the proximal end.

10. The articulating mechanism of claim 7 further comprising a surgical or diagnostic tool located at the distal end.

11. The articulating mechanism of claim 1 further comprising a spacer element disposed between the pairs of flexible segments.

12. The articulating mechanism of claim 1, wherein pairs of flexible segments include channels for receipt and passage of sets of cables associated with adjacent pairs of flexible segments.

13. The articulating mechanism of claim 1 wherein one or more flexible segments further include a channel for receiving elements of the surgical or diagnostic tool.

14. The articulating mechanism of claim 1 wherein at least one pair of flexible segments is not connected by discrete sets of cables.

15. The articulating mechanism of claim 12 wherein the cable channels of each flexible segment are arranged in a cylindrical pattern and wherein the pattern diameter differs between the flexible segments of each pair.

16. The articulating mechanism of claim 1 wherein each flexible hinge flexes at a predetermined position relative to the respective links joined by the flexible hinge.

17. The articulating mechanism of claim 16 wherein the predetermined flex position provides for neutral cable pull bias.

18. The articulating mechanism of claim 16 wherein the predetermined flex position provides for a negative cable pull bias.

19. The articulating mechanism of claim 16 wherein the predetermined flex position provides for a positive cable pull bias.

20. The articulating mechanism of claim 1 further comprising flexible segments that are integrally formed.

21. A flexible member for use in an articulating mechanism comprising adjacent links joined by flexible hinges.

22. The flexible member of claim 21 wherein at least one flexible hinge is oriented perpendicular to the axis of the member.

23. The flexible member of claim 21 wherein at least one of the flexible hinges is oriented at an acute angle relative to at least one other flexible hinge.

24. The flexible member of claim 21 wherein at least one of the flexible hinges is oriented orthogonal to at least one other flexible hinge.

25. The flexible member of claim 21 wherein the flexible hinges are oriented parallel to one another.

26. The flexible member of claim 21 further comprising at least one flexible segment of at least two links joined by at least one flexible hinge that flexes at a predetermined position relative to the two links.

27. The flexible member of claim 26 wherein the flex position provides for a neutral cable pull bias.

28. The flexible member of claim 26 wherein the flex position provides for a negative cable pull bias.

29. The flexible member of claim 26 wherein the flex position provides for a positive cable pull bias.

30. The flexible member of claim 26 wherein the member ends include reciprocal means for engagement.

31. The flexible member of claim 30 wherein the member is capable of transmitting torque.

32. A flexible segment comprising at least two links joined by at least one flexible hinge that flexes at a predetermined position relative to the two links.

33. The flexible segment of claim 32 further comprising at least three links joined by two flexible hinges that flex at predetermined positions relative to the links.

34. The flexible segment of claim 32 wherein the flexible hinge is oriented perpendicular to the axis of the segment.

35. The flexible segment of claim 33 wherein the flexible hinges are oriented at an acute angle relative to one another.

36. The flexible segment of claim 33 wherein the flexible hinges are oriented orthogonal to one another.

37. The flexible segment of claim 32 wherein the flex position provides for a neutral cable pull bias.

38. The flexible member of claim 32 wherein the flex position provides for a negative cable pull bias.

39. The flexible member of claim 32 wherein the flex position provides for a positive cable pull bias.

40. A flexible segment comprising at least two links joined by two flexible hinge that flex at predetermined positions relative to the two links.

41. The flexible member of claim 40 wherein the flex positions provide for a neutral cable pull bias.

42. The flexible member of claim 40 wherein the flex positions provide for a negative cable pull bias.

43. The flexible member of claim 40 wherein the flex positions provide for a positive cable pull bias.

44. The flexible member of claim 40 further comprised of an inner core and outer cover.

45. The flexible member of claim 40 further comprising a wing section disposed between the two flexible hinges and that limit the range over which the hinges can flex.

46. A surgical clamp comprising:

a pair of opposing jaws moveable relative to each other between a closed position and first and second open positions, the jaws remaining substantially parallel to one another when moving between the closed position and the first open position and remaining non-parallel to one another when moving between the first open position and the second open position.

47. The surgical clamp of claim 46 wherein each jaw includes first and second slots that receive first and second pins that extend from the jaw housing, and wherein first and second slots are parallel to one another over a first length of each slot and are non-parallel to one another over a second length of each slot.

48. The surgical clamp of claim 46 wherein the opposing jaw surfaces include channels for receiving an energy source.

49. A surgical device comprising:

a flexible member having at least one flexible segment that includes at least one link and at least one flexible hinge, with adjacent links of the flexible segment joined by flexible hinges;

a surgical or diagnostic tool attached to the distal end of the flexible member;

an elongate shaft attached to the proximal end of the flexible member; and

one or more cables distally connected to one or more flexible segments of the flexible member and received proximally through the elongate shaft, such that movement of one or more cables causes movement of the one or more flexible segments.

50. A catheter comprising:

a distal portion having a plurality of flexible sections and a proximal portion including a plurality of links; and

at least one set of cables connecting a distal portion flexible section to a proximal portion link to form a pair, such that movement of one member of the pair causes corresponding relative movement of the member of the pair.

51. The catheter of claim 50 wherein said proximal portion further comprises a flexible member having at least one flexible segment that includes at least one link and at least one flexible hinge, with adjacent links of the flexible segment joined by flexible hinges.

52. The catheter of claim 50 wherein the proximal portion further comprises a handle, and where the plurality of links extends from the handle.