Remotely activated endoscopic tools such as endoscopic biopsy forceps
First Claim
1. A remotely operable actuator for use with an endoscopic tool having a hollow tubular member and a control member extending through the tubular member, at least one end effector coupled to the distal ends of the tubular member and the control member, the tubular member and the control member having a proximal actuating end where the control member is movable through the tubular member to actuate the tool and effect movement of the at least one end effector, said actuator comprising:
- a) coupling means adapted for mechanically attaching said actuator to the proximal actuating end of the tool;
b) drive means coupled to said coupling means for moving said coupling means to effect actuation of the tool;
c) power source means coupled to said drive means for powering said drive means;
d) interface means for accepting commands from a user to at least partially control said moving of said drive means, said interface means coupled to one of said drive means and said power source means.
1 Assignment
0 Petitions
Accused Products
Abstract
Remote control actuators for endoscopic tools are provided. Each remote control actuator includes a driver, a coupler which couple the endoscopic tool to the driver, a power source which power the driver, and a controller coupled to the power source and/or the driver for controlling the power applied to the driver. In conjunction with the controller, a user interface is preferably provided for user control of the remote control actuator which actuates the endoscopic tool. In addition, a sensing/feedback mechanism is preferably provided between the driver and the endoscopic tool and is coupled to the controller and/or the power source. The sensing/feedback mechanism senses the amount of tension or compression on the pull wire(s) of the endoscopic tool and provides a related signal to the controller so that the force applied to the endoscopic tool may be regulated. Various types of power sources are disclosed including electric, mechanical, hydraulic, and pneumatic. Various types of drivers are disclosed, including a motor/linear actuator, a hydraulic or pneumatic piston, and a motor with or without reduction gears coupled to a pulley and belt or a sprocket and chain or a rack and pinion. In addition, several couplers, controllers, user interfaces, and sensing/feedback mechanisms are disclosed.
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Citations
44 Claims
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1. A remotely operable actuator for use with an endoscopic tool having a hollow tubular member and a control member extending through the tubular member, at least one end effector coupled to the distal ends of the tubular member and the control member, the tubular member and the control member having a proximal actuating end where the control member is movable through the tubular member to actuate the tool and effect movement of the at least one end effector, said actuator comprising:
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a) coupling means adapted for mechanically attaching said actuator to the proximal actuating end of the tool; b) drive means coupled to said coupling means for moving said coupling means to effect actuation of the tool; c) power source means coupled to said drive means for powering said drive means; d) interface means for accepting commands from a user to at least partially control said moving of said drive means, said interface means coupled to one of said drive means and said power source means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. An actuator for remote actuation of an endoscopic tool having a hollow tubular member and a control member extending through the tubular member, at least one end effector coupled to the distal ends of the tubular member and the control member, the tubular member and the control member having a proximal actuating end where the control member is movable through the tubular member to actuate the tool and effect movement of the at least one end effector, said actuator comprising:
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a) a flexible coil having an internal pull wire; b) a coupling device coupled to a distal end of said coil and a distal end of said pull wire, said coupling device being adapted to couple the proximal actuating end of the endoscopic tool to said distal end of said coil and said distal end of said pull wire; and c) drive means coupled to a proximal end of said coil and pull wire for moving one of said coil and pull wire relative to another. - View Dependent Claims (40, 41)
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42. An extension device for use with an endoscopic tool having a hollow tubular member and a control member extending through the tubular member, at least one end effector coupled to the distal ends of the tubular member and the control member, the tubular member and the control member having a proximal actuating end where the control member is movable through the tubular member to actuate the tool and effect movement of the at least one end effector, said extension device for coupling the proximal actuating end to a remotely located actuator, said extension device comprising:
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a) a flexible coil having an internal pull wire; b) a first coupling device coupled to a distal end of said coil and a distal end of said pull wire, said first coupling device being adapted to couple the proximal actuating end of the endoscopic tool to said distal end of said coil and said distal end of said pull wire; and c) a second coupling device coupled to a proximal end of said coil and a proximal end of said pull wire, said second coupling device being adapted to couple said proximal end of said coil and said proximal end of said pull wire to said remotely located actuator. - View Dependent Claims (43, 44)
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Specification