Medical instrument shaft capable of positive and non-positive linking of segments

• US 5,448,989 A
• Filed: 02/18/1994
• Issued: 09/12/1995
• Est. Priority Date: 02/22/1993
• Status: Expired due to Fees

• Current Assignee: Richard Wolf GmbH (Richard & Annemarie Wolf- Stiftung)
• Original Assignee: Richard Wolf GmbH (Richard & Annemarie Wolf- Stiftung)
• Inventors: Heckele, Helmut
• Primary Examiner(s): Apley, Richard P.
• Assistant Examiner(s): Leubecker, John P.
• Application Number:
  US08/200,082
• Time in Patent Office: 571 Days
• Field of Search: 128/4.5, 128/6, 128/656, 128/658, 604/282, 604/95, 403/43
• US Class Current: 600/142
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A shaft for medical instruments, especially for guiding instruments into body cavities, has neighboring segments that are hollow on the inside and that form sections of the shaft. The segments can be adjusted in their positions by means of control wires so that various shaft curvatures can be set, whereby at least two groups of segments can be adjusted independently of one another. The segments of a first group, provided distally, are flexibly linked with each other. A tensioning device provides a variably adjustable spring force to the segments of the second group such that when under low tension, the segments are non-positively locked, and under high tension, the segments are positively locked.

Claims

1. A shaft (1) for guiding medical instruments, particularly for guiding instruments into a body cavity, comprising at least a first group (2) of neighboring segments (5) and a second group (3) of neighboring segments (6), said segments (5, 6) being hollow on their insides, control wires (10, 11;

12,

     13) connected respectively to said first and second groups for adjusting positions of said segments, and means for adjusting the segments of one group independently of another group, said shaft having distal and proximal end regions, the segments (5) of the first group (2) being provided in the distal end region and being flexibly linked with each other, the segments (6) of the second group (3) being provided proximally of the first group (2) and including means for axially linking the segments (6) of the second group (3) together, and a spring (19) connected to the segments (6) of the second group (3) and having variably adjustable force for tensioning the segments (6) of the second group (3), whereby the positions of the segments (5,6) may be set to form various curvatures of the shaft, and wherein the segments (6) of the second group (3) have at one end semicircular projections (25) that lie diametrically opposed to each other, each projection having a circumference formed in the shape of a wavy line with wave crests (27) and wave troughs (28), and at the other end matching recesses (26), whereby the wave crests (27) of the projections (25) of a segment (6) always interlock in the wave troughs (28) of the recesses (26) of a neighboring segment (6).

2. The shaft in accordance with claim 1 wherein the segments (6) of the second group (3) are held together by control wires (12, 13) whose distal ends are fastened at a distal segment (6a) of the second group (3), and further comprising tensioning wires (14, 15) which run in a proximal direction through a rigid shaft part (4), said tensioning wires (14, 15) having proximal ends which are fixed in a tensioning device (16) inside a handle (7) provided on the shaft.

3. The shaft in accordance with claim 2, wherein the tensioning device (16) comprises a distal seat (18), a proximal seat (17) and the spring (19) that holds the two seats (17, 18) at a distance from each other, whereby the distal seat (18) has threaded region (18a) that is screwed into a counter-thread (7a) in the handle (7), the proximal ends of the tensioning wires (14, 15) being fastened to the proximal seat (17), and distal ends of the tensioning wires (14, 15), running through bores in the segments (6) of the second group (3), and being secured at the distal segment (6a).

4. The Shaft in accordance with claim 2, wherein control wires (10, 11) are fastened at their distal ends to a distal side of a distal segment (5a) of the first group (2).

5. The shaft in accordance with claim 1, wherein said adjusting means comprises two adjusting devices (20, 21) inside the handle (7) for adjusting the respective segments (5, 6) of groups (2, 3) with respective control wires (10, 11;

12,

     13).

6. The shaft in accordance with claim 1, wherein segments (5) of the first group (2) have at one end two semi-circular projections (22) and at the other end matching recesses (23), which lie diametrically opposed to each other, the projections (22) of a segment (5) being inserted into the corresponding recesses (23) of a neighboring segment (5), and two neighboring segments (5) being connected with each other in an axially flexible manner.

7. The Shaft in accordance with claim 1, wherein a distal last segment (6a) of the second group (3) in the region of its recess (26) is linked in an axially flexible manner with a projection (22) of a proximal first segment (5) of the first group (2).

8. The shaft in accordance with claim 1, wherein a distal end of a proximally rigid shaft part (4) is provided with a recess (26) for receiving a projection (25) of a proximal first segment (6b) of the second group (3).

9. A shaft in accordance with claim 1, wherein the means for axially linking the segments (6) of the second group (3) further includes a positive linking means for causing said spring (19) to apply a sufficient force to positively lock said segments (6) relative to one another.

10. A shaft in accordance with claim 1, wherein the means for axially linking the segments (6) of the second group (3) further includes a non-positive linking means for causing said spring (19) to apply a sufficient force to non-positively lock said segments (6) relative to one another.

19. A shaft in accordance with claim 1, wherein the means for axially linking the segments (6) of the second group (3) further includes a positive linking means for causing said spring (19) to apply a sufficient force to positively lock said segments (6) relative to one another.

11. A shaft (1) for guiding medical instruments, particularly for guiding instruments into a body cavity, comprising at least a first group (2) of neighboring segments (5) and a second group (3) of neighboring segments (6), said segments (5, 6) being hollow on their insides, control wires (10, 11;

12,

     13) connected respectively to said first and second group, for adjusting positions of said segments, and means for adjusting the segments of one group independently of another group, said shaft having distal and proximal end regions, the segments (5) of the first group (2) being provided in the distal end region and being flexibly linked with each other, the segments (6) of the second group (3) being provided proximally of the first group (2) and including means for axially linking the segments (6) of the second group (3) together, and a spring (19) connected to segments (6) of the second group (3) and having variably adjustable force for tensioning the segments (6) of the second group (3), whereby the positions of the segments (5,6) may be set to form various curvatures of the shaft, and wherein the segments (6) of the second group (3) have at one end projections (25) that are essentially semicircular and diametrically opposed to one another and whose circumference is formed in the shape of a wavy line, and at the other end semicircular recesses (26), and further comprising a lock pin (29) in the recess of each segment (6), said lock pin being located in the middle of a bowed surface which forms the semicircular recess (26), said lock pin locking into the wavy-line shaped projections (25) of a neighboring segment (6).

12. The shaft in accordance with claim 11 wherein the segments (6) of the second group (3) are held together by means of control wires (12, 13) whose distal ends are fastened at a distal segment (6a) of the second group (3), and further comprising tensioning wires (14, 15) which run in a proximal direction through a rigid shaft part (4), said tensioning wires (14, 15) having proximal ends which are fixed in a tensioning device (16) inside a handle (7) provided on the shaft.

13. The shaft in accordance with claim 12, wherein control wires (10, 11) are fastened at their distal ends to a distal side of a distal segment (5a) of the first group (2).

14. The shaft in accordance with claim 12, wherein the tensioning device (16) comprises a distal seat (18), a proximal seat (17) and the spring (19) that holds the two seats (17, 18) at a distance from each other, whereby the distal seat (18) has threaded region (18a) that is screwed into a counter-thread (7a) in the handle (7), the proximal ends of the tensioning wires (14, 15) being fastened to the proximal seat (17), and distal ends of the tensioning wires (14, 15), running through bores in the segments (6) of the second group (3), and being secured at the distal segment (6a).

15. The shaft in accordance with claim 11, wherein said adjusting means comprises two adjusting devices (20, 21) inside the handle (7) for adjusting the respective segments (5, 6) of groups (2, 3) with respective control wires (10, 11;

12,

     13).

16. The shaft in accordance with claim 11, wherein segments (5) of the first group (2) have at one end two semi-circular projections (22) and at the other end matching recesses (23), which lie diametrically opposed to each other, the projections (22) of a segment (5) being inserted into the corresponding recesses (23) of a neighboring segment (5), and two neighboring segments (5) being connected with each other in an axially flexible manner.

17. The shaft in accordance with claim 11, wherein a distal last segment (6a) of the second group (3) in the region of its recess (26) is linked in an axially flexible manner with a projection (22) of a proximal first segment (5) of the first group (2).

18. The shaft in accordance with claim 11, wherein a distal end of a proximally rigid shaft part (4) is provided with a recess (26) for receiving a projection (25) of a proximal first segment (6b) of the second group (3).

20. A shaft in accordance with claim 11, wherein the means for axially linking the segments (6) of the second group (3) further includes a non-positive linking means for causing said spring (19) to apply a sufficient force to non-positively lock said segments (6) relative to one another.