INSTRUMENT WITH ARTICULATION LOCK

• US 20100041945A1
• Filed: 08/17/2009
• Published: 02/18/2010
• Est. Priority Date: 08/18/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Isbell, Lewis JR.
• Granted Patent: US 8,465,475 B2
• Time in Patent Office: Days
• US Class Current: 600/104
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2946 Locking means
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms

Abstract

An articulating tool is provided with an articulation lock. The tool includes proximal, central and distal portions, an articulation mechanism, and first and second articulation locks. The central portion of the tool is pivotably coupled to the proximal portion and the distal portion is pivotably coupled to the central portion. The articulation mechanism is configured to manipulate an angular orientation of the distal portion relative to the central portion. The articulation mechanism includes a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool. The articulation mechanism is adapted such that movement of the proximal link causes corresponding relative movement of the distal link. The first articulation lock has an engaged position and a disengaged position. When in the engaged position, the first articulation lock impedes movement of the proximal link relative to the central portion about a yaw axis, and corresponding relative movement of the distal link. The second articulation lock also has an engaged position and a disengaged position. When in the engaged position, the second articulation lock impedes movement of the proximal link relative to the central portion about a pitch axis, and corresponding relative movement of the distal link. Methods of operating the articulating tool are also disclosed.

Claims

1. A tool comprising:

a proximal portion;

a central portion pivotably coupled to the proximal portion;

a distal portion pivotably coupled to the central portion;

an articulation mechanism configured to manipulate an angular orientation of the distal portion relative to the central portion, the articulation mechanism comprising a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool, the mechanism adapted such that movement of the proximal link causes corresponding relative movement of the distal link;

a first articulation lock having an engaged position and a disengaged position, wherein in the engaged position the first articulation lock impedes movement of the proximal link relative to the central portion about a yaw axis and corresponding relative movement of the distal link; and

a second articulation lock having an engaged position and a disengaged position, wherein in the engaged position the second articulation lock impedes movement of the proximal link relative to the central portion about a pitch axis and corresponding relative movement of the distal link.

2. The tool of claim 1, further comprising an actuator configured to move both the first and the second articulation locks into their engaged positions at substantially the same time.

3. The tool of claim 2, wherein the actuator comprises a lever located atop the proximal portion.

4. The tool of claim 2, wherein the proximal portion comprises a handle, wherein the handle and the actuator are adapted to be operated by a single hand.

5. The tool of claim 1, further comprising a rotation mechanism on the proximal portion configured to drive rotation of the central portion relative to the proximal portion when at least one of the articulation locks is in the engaged position.

6. The tool of claim 1, wherein the first articulation lock comprises a section pivotably coupled to the proximal portion and the second articulation lock comprises a section pivotably coupled to the first articulation lock.

7. The tool of claim 1, wherein the second articulation lock comprises a member that slidably receives a part of the central portion.

8. The tool of claim 1, wherein the tool further comprises a grasper located on the distal portion and a handle located on the proximal portion, the handle being configured to operate the grasper.

9. The tool of claim 1, wherein the tool further comprises a member located on the distal portion selected from a group consisting of scissors, a cautery element, an ultrasound element, laser optics, illumination optics, a light source, and a microphone.

10. A method of using a tool, the method comprising:

providing a tool comprising;

a proximal portion;

a central portion pivotably coupled to the proximal portion;

a distal portion pivotably coupled to the central portion;

an articulation mechanism configured to manipulate an angular orientation of the distal portion relative to the central portion, the articulation mechanism comprising a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool, the mechanism adapted such that movement of the proximal link causes corresponding relative movement of the distal link;

a first articulation lock having an engaged position and a disengaged position, wherein in the engaged position the first articulation lock impedes movement of the proximal link relative to the central portion about a yaw axis and corresponding relative movement of the distal link; and

a second articulation lock having an engaged position and a disengaged position, wherein in the engaged position the second articulation lock impedes movement of the proximal link relative to the central portion about a pitch axis and corresponding relative movement of the distal link; and

moving the first and the second articulation locks of the tool into their engaged positions.

11. The method of claim 10, further comprising the step of articulating the distal portion of the tool into an off-axis position by moving the proximal portion before moving the articulation locks into their engaged positions.

12. The method of claim 10, further comprising the step of rotating the central portion of the tool about a longitudinal axis after moving the articulation locks into their engaged positions.

13. The method of claim 10, wherein the moving step comprises moving both the first and the second articulation locks into their engaged positions at substantially the same time.

14. The method of claim 10, further comprising the step of manipulating a handle located on the proximal portion to operate a grasper located on the distal portion of the tool.

15. The method of claim 14, further comprising the step of rotating the central portion of the tool about a longitudinal axis after moving the grasper to a closed position and moving the articulation locks into their engaged positions.