Articulating mechanism with flex-hinged links
First Claim
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.
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Accused Products
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.
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Citations
52 Claims
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1. An articulating mechanism comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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- 21. A flexible member for use in an articulating mechanism comprising adjacent links joined by flexible hinges.
- 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.
- 40. A flexible segment comprising at least two links joined by two flexible hinge that flex at predetermined positions relative to the two links.
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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. - View Dependent Claims (47, 48)
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49. A surgical device comprising:
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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.
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50. A catheter comprising:
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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. - View Dependent Claims (51, 52)
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Specification