ARTICULATING MEDICAL INSTRUMENT

• US 20120271285A1
• Filed: 07/09/2012
• Published: 10/25/2012
• Est. Priority Date: 01/26/2010
• Status: Active Grant

• Current Assignee: ArTack Medical (2013) Ltd.
• Original Assignee: Novolap Medical Ltd.
• Inventors: Sholev, Mordehai, Eliachar, Eliahu, Lilach, Nir, Grossfeled, Ram, Lavi, Gilad, Heftman, Gilad
• Granted Patent: US 9,510,846 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 10/0045 Devices for taking samples of body liquids devices for taking blood samples A61B5/15
• 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00898 expandable upon contact with fluid
• CPC Class Codes: A61B 2017/0648 threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2903 transferring rotary motion
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2217/005 with suction drainage system
• CPC Class Codes: A61M 5/31581 performed by rotationally moving or pivoting actuator operated by user, e.g. an injection lever or handle

Abstract

An articulating medical instrument comprising of:

• • a substantially straight proximal segment;
  • a substantially straight distal segment;
  • an articulation mechanism having a straight configuration in which the proximal and distal segments form a substantially straight line and at least one articulated configuration in which the proximal and distal segments form an articulation angle of less than 180 degrees between the segments, the articulation mechanism being configured for increasing or decreasing the articulation angle; and
  • one or more drive mechanisms configured for transferring force from the proximal segment to the distal segment, wherein the drive mechanism does not follow substantially straight lines between the proximal and distal segments passing through the apex of the articulation angle.

Claims

1. An articulating medical instrument comprising of:

a substantially straight proximal segment;

a substantially straight distal segment connected to the proximal segment;

an articulation mechanism for changing an articulation angle between the proximal and distal segments and providing a straight configuration in which the proximal and distal segments form a substantially straight line and at least one articulated configuration in which the proximal and distal segments form an articulation angle of less than 180 degrees between the segments, the articulation mechanism being configured for increasing or decreasing the articulation angle; and

one or more drive mechanisms configured for transferring rotation from the proximal segment to the distal segment, at least one drive mechanism being contained within the segments in the straight configuration, wherein at least a portion of the at least one drive mechanism is external to at least a portion of at least one segment adjacent to the connection between the segments in the articulated configuration.

2. An instrument according to claim 1, wherein at least one drive mechanism does not pass through the apex of the articulation angle.

3. An instrument according to claim 1, wherein at least one drive mechanism is positioned interior of the articulation angle.

4. An instrument according to claim 1, wherein the articulation mechanism comprises a lever and wherein the at least one drive mechanism is positioned between the articulation angle and the lever.

5. An instrument according to claim 4, wherein the lever is positioned interior of the articulation angle.

6. An instrument according to claim 1, wherein at least one drive mechanism is configured to transfer linear movement from a proximal end of the instrument to a distal end of the instrument.

7. An instrument according to claim 1, wherein a medical tool is positioned in or at the distal segment and wherein the drive mechanism is configured to actuate the medical tool.

8. An instrument according to claim 1, further comprising a sheath covering the articulation mechanism and the drive mechanism.

9. An instrument according to claim 1, wherein the at least one drive mechanism for transferring rotation from the proximal segment to the distal segment comprises a gear mechanism.

10. An instrument according to claim 1, wherein the at least one drive mechanism for transferring rotation from the proximal segment to the distal segment comprises a flexible shaft.

11. An instrument according to claim 1, wherein the at least one drive mechanism for transferring rotation from the proximal segment to the distal segment comprises a spring.

12. An instrument according to claim 11, wherein a wire passes through said spring.

13. An instrument according to claim 1, wherein the proximal and distal segments are connected by a flexible joint.

14. An instrument according to claim 1, wherein the drive mechanism and articulation mechanism are not fixedly connected at the connection between the proximal and distal segments.

15. An instrument according to claim 1, wherein the drive mechanism is not substantially affected by external forces applied against maintaining the articulation angle.

16. An instrument according to claim 1, further comprising a distance compensation mechanism for compensating the distance at the point of attachment of the drive mechanism to the distal and proximal segments in the articulated configuration as the articulation angle changes.

17. An articulating medical instrument comprising of:

a substantially straight proximal segment;

a substantially straight distal segment;

an articulation mechanism having a straight configuration in which the proximal and distal segments form a substantially straight line and at least one articulated configuration in which the proximal and distal segments form an interior articulation angle of less than 180 degrees between the segments, the articulation mechanism being configured for increasing or decreasing the articulation angle; and

one or more drive mechanisms configured for transferring force from the proximal segment to the distal segment, wherein at least one drive mechanism is positioned exterior of the articulation angle.

18. An instrument according to claim 17, wherein the articulation mechanism comprises a lever extending out of the proximal segment and wherein the drive mechanism is positioned between the lever and the proximal segment.

19. An instrument according to claim 17, wherein at least one drive mechanism is configured to transfer rotary movement from a proximal end of the instrument to a distal end of the instrument.

20. An instrument according to claim 17, wherein the drive mechanism is positioned in the same plane as the segments.

21. An instrument according to claim 17, wherein at least one drive mechanism is configured to transfer linear movement from a proximal end of the instrument to a distal end of the instrument.

22. An instrument according to claim 17, wherein a medical tool is positioned in or at the distal segment and wherein the drive mechanism is configured to actuate the medical tool.

23. An instrument according to claim 17, further comprising a sheath covering the articulation mechanism and the drive mechanism.

24. An instrument according to claim 17, wherein the at least one drive mechanism for transferring rotation from the proximal segment to the distal segment comprises a gear mechanism.

25. An instrument according to claim 17, wherein the at least one drive mechanism for transferring rotation from the proximal segment to the distal segment comprises a flexible shaft.

26. An instrument according to claim 17, wherein the at least one drive mechanism for transferring rotation from the proximal segment to the distal segment comprises a spring.

27. An instrument according to claim 26, wherein a wire passes through said spring.

28. An instrument according to claim 17, wherein the proximal and distal segments are connected by a flexible joint.

29. An instrument according to claim 17, wherein the drive mechanism and articulation mechanism are not fixedly connected at the connection between the proximal and distal segments.

30. An instrument according to claim 17, wherein the drive mechanism is not substantially affected by external forces applied against maintaining the articulation angle.

31. An instrument according to claim 17, further comprising a distance compensation mechanism for compensating the distance at the point of attachment of the drive mechanism to the distal and proximal segments in the articulated configuration as the articulation angle changes.

32. An instrument according to claim 17, further comprising a handle attached to the proximal segment, wherein the drive and articulation mechanism are controllable from the handle.

33. An instrument according to claim 17, further comprising an adaptor for attaching the instrument to an existing handle.

34. An articulating medical instrument comprising of:

a substantially straight proximal segment;

a substantially straight distal segment connected to the proximal segment, the distal segment containing a threaded shaft around which a plurality of helical fasteners are screwed;

an articulation mechanism for changing an articulation angle between the proximal and distal segments and providing a straight configuration in which the proximal and distal segments form a substantially straight line and at least one articulated configuration in which the proximal and distal segments form an articulation angle of less than 180 degrees between the segments or extensions of the segments, the articulation mechanism being configured for articulating the distal segment towards or away from the proximal segment; and

a drive mechanism configured for transferring rotary movement from the proximal segment to the distal segment such that the fasteners distally exit the threaded shaft, wherein the drive mechanism is contained within the segments in the straight configuration and at least a portion of the drive mechanism is external to at least a portion of at least one segment adjacent to the connection between the segments in the articulated configuration.

36. An instrument according to claim 34, wherein the drive mechanism is positioned exterior of the articulation angle.

37. An instrument according to claim 36, wherein the articulation mechanism comprises a lever and wherein the drive mechanism is positioned between the articulation angle and the lever.

38. An instrument according to claim 37, wherein the lever is positioned interior of the articulation angle.

39. An instrument according to claim 34, wherein the drive mechanism is positioned interior of the articulation angle.

40. An instrument according to claim 39, wherein the articulation mechanism comprises a lever extending out of the proximal segment and wherein the drive mechanism is positioned between the articulation angle and the proximal segment.

41. An instrument according to claim 34, wherein the drive mechanism configured for transferring rotary movement from the proximal segment to the distal segment comprises a gear mechanism.

42. An instrument according to claim 34, wherein the drive mechanism configured for transferring rotary movement from the proximal segment to the distal segment comprises a flexible shaft.

43. An instrument according to claim 34, wherein the drive mechanism configured for transferring rotary movement from the proximal segment to the distal segment comprises a spring.

44. An instrument according to claim 43, wherein a wire passes through said spring.

45. An instrument according to claim 34, further comprising a distance compensation mechanism for compensating the distance at the point of attachment of the drive mechanism to the distal and proximal segments in the articulated configuration as the articulation angle changes.

35. An articulating medical instrument comprising of:

a substantially straight proximal segment;

a substantially straight distal segment connected to the proximal segment, the distal segment containing;

a plurality of threaded fasteners comprising wings;

a tube having longitudinal slots in which the helical fasteners are positioned such that the wings exit through the slots; and

an internally threaded outer layer into which the wings of the fasteners are screwed;

an articulation mechanism for changing an articulation angle between the proximal and distal segments and providing a straight configuration in which the proximal and distal segments form a substantially straight line and at least one articulated configuration in which the proximal and distal segments form an articulation angle of less than 180 degrees between the segments or extensions of the segments, the articulation mechanism being configured for articulating the distal segment towards or away from the proximal segment; and

a drive mechanism configured for transferring rotary movement from the proximal segment to the distal segment such that the tube rotates causing the fasteners to exit the distal segment, wherein the drive mechanism is contained within the segments in the straight configuration and wherein at least a portion of the drive mechanism is external to at least a portion of at least one segment adjacent to the connection between the segments in the articulated configuration.