FLEXIBLE RIGIDIZING INSTRUMENTS
First Claim
Patent Images
1. A medical instrument, comprising:
- an elongate shaft including a first plurality of segments, each segment including a first end comprising a partially-spherical convex surface and a second end including a receptacle, the segments arranged such with the partially-spherical convex surfaces of a plurality of the segments disposed within the receptacles of adjacent segments;
an end effector coupled to the distalmost segment;
a least one cable extending through the end effector and the plurality of segments;
a handle having a first actuator for selectively applying and releasing tension on the cable, and a second actuator operatively coupled to the end effector for operation thereof, wherein the elongate shaft has a first, highly flexible state and a second, rigid, state upon actuation of the first actuator to tension to the cable.
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Abstract
Medical instruments suitable for use in minimally invasive medical procedures have a first, highly flexible, state which allows the instruments to be easily passed into a body cavity through a trocar, cannula, catheter, or other access device positioned to give access into the body cavity. The instruments can then be arranged into a chosen shape, and rigidized in the chosen shape, allowing the user to use the instruments in a shape most suitable for the surrounding anatomy.
1129 Citations
16 Claims
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1. A medical instrument, comprising:
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an elongate shaft including a first plurality of segments, each segment including a first end comprising a partially-spherical convex surface and a second end including a receptacle, the segments arranged such with the partially-spherical convex surfaces of a plurality of the segments disposed within the receptacles of adjacent segments; an end effector coupled to the distalmost segment; a least one cable extending through the end effector and the plurality of segments; a handle having a first actuator for selectively applying and releasing tension on the cable, and a second actuator operatively coupled to the end effector for operation thereof, wherein the elongate shaft has a first, highly flexible state and a second, rigid, state upon actuation of the first actuator to tension to the cable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of performing a procedure on body tissue, including the steps of:
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introducing a instrument into a body cavity, the instrument including plurality of segments arranged to form an elongate shaft, and an end effector on the distal end of the shaft; engaging an actuator to tension a cable in the shaft, drawing each segment into tight engagement with neighboring segments, thereby converting the shaft to a rigid state, causing the shaft retain the shape it possessed at the time the cable was tensioned; and, after tensioning the cable, performing a procedure on the tissue using the end effector. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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Specification