MICRO-ARTICULATED SURGICAL INSTRUMENTS USING MICRO GEAR ACTUATION
First Claim
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1. A medical device for manipulating tissue of a subject, comprising:
- a distal housing configured with an end effector;
an elongate member coupled to the distal housing and configured to introduce the distal housing to a target tissue site of the subject, the elongate member comprising a proximal portion having a first central axis and a distal portion having a second central axis, the proximal portion of the elongate member comprising a proximal outer tube and a proximal inner drive tube rotatably mounted within the proximal outer tube, the distal portion of the elongate member comprising a distal outer tube and a distal inner drive tube rotatably mounted within the distal outer tube, the distal inner drive tube engaging with a portion of the end effector to drive the end effector;
a joint mechanism configured to pivotably connect a distal end of the proximal outer tube with a proximal end of the distal outer tube, wherein the joint mechanism allows the distal portion of the elongate member to be pivoted relative to the proximal portion such that an angle formed between the first and the second central axes can be changed;
a proximal crown gear located at a distal end of the proximal inner drive tube;
a distal crown gear located at a proximal end of the distal inner drive tube; and
a first spur gear spanning between and inter-engaging with the proximal crown gear and the distal crown gear, thereby allowing the end effector to be positioned by the proximal and the distal outer tubes, and to be driven by the proximal inner drive tube, the spur gear and the distal inner drive tube.
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Abstract
A medical device for removing or manipulating tissue of a subject is provided with a distal housing having an end effector, and an elongate member configured to introduce the distal housing to a target tissue site of the subject. The elongate member may have proximal and distal portions interconnected by a joint mechanism that is configured to allow the two portions to articulate relative to one another. In some embodiments, the joint mechanism includes one or more nested crown gear(s) configured to drive associated spur gear(s) to accomplish the articulation. In some embodiments, the end effector is a powered scissors device.
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Citations
40 Claims
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1. A medical device for manipulating tissue of a subject, comprising:
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a distal housing configured with an end effector; an elongate member coupled to the distal housing and configured to introduce the distal housing to a target tissue site of the subject, the elongate member comprising a proximal portion having a first central axis and a distal portion having a second central axis, the proximal portion of the elongate member comprising a proximal outer tube and a proximal inner drive tube rotatably mounted within the proximal outer tube, the distal portion of the elongate member comprising a distal outer tube and a distal inner drive tube rotatably mounted within the distal outer tube, the distal inner drive tube engaging with a portion of the end effector to drive the end effector; a joint mechanism configured to pivotably connect a distal end of the proximal outer tube with a proximal end of the distal outer tube, wherein the joint mechanism allows the distal portion of the elongate member to be pivoted relative to the proximal portion such that an angle formed between the first and the second central axes can be changed; a proximal crown gear located at a distal end of the proximal inner drive tube; a distal crown gear located at a proximal end of the distal inner drive tube; and a first spur gear spanning between and inter-engaging with the proximal crown gear and the distal crown gear, thereby allowing the end effector to be positioned by the proximal and the distal outer tubes, and to be driven by the proximal inner drive tube, the spur gear and the distal inner drive tube. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of manipulating tissue of a subject comprising:
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providing a device having a distal housing configured with an end effector and an elongate member coupled to the distal housing; introducing the distal housing to a target tissue site of the subject with the elongate member; driving the end effector with a drive train comprising a proximal crown gear located at a distal end of a proximal drive tube, a distal crown gear located at a proximal end of a distal drive tube, and a first spur gear spanning between and inter-engaging with the proximal crown gear and the distal crown gear; pivoting the location of the end effector, the distal housing and the distal drive tube relative to the proximal drive tube by rotating a second proximal tube, the second proximal tube being rotatably mounted coaxially with the proximal drive tube and having a crown gear located on a distal end, the crown gear engaging with a gear segment coaxially mounted with the spur gear; and manipulating the tissue of the subject with the end effector. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27)
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28. A powered scissors device comprising:
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a distal housing having a fixed cutting arm located thereon; an elongate member coupled to the distal housing and configured to introduce the distal housing to a target tissue site of the subject, the elongate member comprising an outer tube and an inner drive tube rotatably mounted within the outer tube; a rotatable blade rotatably mounted to the distal housing, the rotatable blade having at least one cutting element configured to cooperate with the fixed arm to shear tissue therebetween; a crown gear located at a distal end of the inner drive tube; and a first spur gear configured to inter-engage with the crown gear and coupled with the rotatable blade to allow the crown gear to drive the rotatable blade. - View Dependent Claims (29, 30)
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31. A medical device for manipulating tissue of a subject, comprising:
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a distal housing configured with an end effector, the end effector comprising a first member pivotably mounted to the distal housing and a second member pivotably mounted to the distal housing independent from the first member;
the first and the second members each having surfaces configured to manipulate tissue of the subject; andan elongate member coupled to the distal housing and configured to introduce the distal housing to a target tissue site of the subject, the elongate member comprising a first drive tube and a second drive tube coaxially mounted within the first drive tube, the first and the second drive tubes being configured to independently rotate relative to the distal housing, the first drive tube having a first crown gear located on a distal end thereof coupled with the first member such that rotating the first drive tube and first crown gear causes the first member to pivot, the second drive tube having a second crown gear located on a distal end thereof coupled with the second member such that rotating the second drive tube and second crown gear causes the second member to pivot, wherein the tissue engaging surfaces of the first and the second members may be alternately pivoted towards each other by their respective drive tubes into a closed position and away from each other into an open position. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40)
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Specification