Surgical instrument with steerable distal end

• US 5,766,196 A
• Filed: 10/30/1996
• Issued: 06/16/1998
• Est. Priority Date: 06/06/1994
• Status: Expired due to Term

• Current Assignee: Symmetry Medical Inc
• Original Assignee: Tnco, Inc. (Symmetry Medical Inc)
• Inventors: Griffiths, Jerry Richard
• Primary Examiner(s): Buiz, Michael
• Assistant Examiner(s): LEWIS, WILLIAM W
• Application Number:
  US08/739,924
• Time in Patent Office: 594 Days
• Field of Search: 606/1, 606/170, 606/171, 606/174, 606/51, 606/52, 606/205-210, 128/750-755
• US Class Current: 606/170
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft

Abstract

A medical instrument with a steerable distal end, having a handle for actuating the instrument, a distal operating section for performing a medical procedure, a middle section connecting the handle with the operating section, at least a portion of the middle section being bendable, and steerable means within the bendable portion for permitting the operating section to be controlled in direction at an angle with respect to the axis of the middle section. There are means for rotating the distal operating section into any desired angular position with respect to the longitudinal axis of the middle section. A control member control the direction of movement of the bendable section in three dimensions whereby the distal end may be positioned in any place on or off of the longitudinal axis of the middle section. A protective sheath may be disposed over the bendable section.

Claims

1. A medical instrument with a steerable distal end, comprising:

a. a handle for actuating the instrument, said handle being capable of having attached thereto a plurality of tensioning members;

b. a distal operating section for performing a medical procedure and actuated from said handle, said distal operating section, being capable of having attached thereto a plurality of tensioning members;

c. a middle section connecting said handle with said operating section and defining a central lumen throughout the length of said middle section, at least a portion of said middle section being bendable into a smooth curve from, the proximal end of the middle section to the point where it joins the distal operating section;

d. said bendable portion being arranged and constructed to be steerable for permitting the operating section to be controlled in direction at an angle in three dimensions with respect to the axis of the middle section from a position along said axis separated from said bendable portion; and

e. means for rotating the distal operating-section into any desired angular position

wherein said plurality of tensioning members are attached at their respective first ends to said handle and at their respective second ends to said distal operating section such that all of said tensioning members pass through said central lumen and further such that actuation of said handle operates on said plurality of tensioning members such that said bendable portion is urged to bend, thereby causing said distal operating section to be steered.

2. A medical instrument with a steerable distal end, comprising:

a. a handle for actuating the instrument;

b. a distal operating section for performing a medical procedure and actuated from said handle;

c. a middle section connecting said handle with said operating section, at least a portion of said middle section being bendable into a smooth curve from the proximal end of the middle section to the point where it joins the distal operating section;

d. said bendable portion being arranged and constructed to be steerable for permitting the operating section to be controlled in direction at an angle in three dimensions with respect to the axis of the middle section; and

e. means for rotating the distal operating section into any desired angular position.

3. A medical instrument with a steerable distal end, comprising:

a. a handle for actuating the instrument, said handle being capable of having attached thereto a plurality of tensioning members;

b. a distal operating section for performing a medical procedure and actuated from said handle, said distal operating section being capable of having attached thereto a plurality of tensioning members;

c. a middle section connecting said handle with said operating section and defining a central lumen throughout a first portion of its length and having a second portion comprising a plurality of similarly shaped stackable members that each define a plurality of lumens and being arranged so that said plurality of lumens are in alignment such that a like plurality of tensioning members, each having a first and a second end, may be disposed therethrough, said stackable members permitting angular movement between them and thereby allowing for bending movement of the bendable portion, so that, on actuation by said handle, they are bendable;

d. said bendable portion being arranged and constructed to be steerable for permitting the operating section to be controlled in direction at an angle with respect to the axis of the middle section from a position along said axis separated from said bendable portion; and

e. means for rotating the distal operating section into any desired angular position

wherein said plurality of tensioning members are attached at their respective first ends to said handle and at their respective second ends to said distal operating section such that each of said tensioning members passes through one of said lumens formed by alignment of said stackable members and all of said tensioning members pass through said central lumen and further such that actuation of said handle operates on said plurality of tensioning members such that said plurality of stackable members is urged to bend, thereby causing said distal operating section to be steered.

4. A medical instrument with a steerable distal end, comprising:

a. a handle for actuating the instrument;

b. a distal operating section for performing a medical procedure and actuated from said handle;

c. a middle section connecting said handle with said operating section, at least a portion of said middle section being bendable; and

d. said bendable portion being arranged and constructed to be steerable for permitting the operating section to be controlled in direction at an angle with respect to the axis of the middle section, said bendable portion including a plurality of a single type of similarly shaped stacked elements permitting angular movement between them and thereby allowing for bending movement of the bendable portion, said elements being stacked against one another and one side thereof of each of them having a portion removed to allow angular movement between adjacent elements.

5. A medical instrument as defined in claim 4, wherein the removed portion of said elements are all aligned so that the angular movement always takes place along the aligned axis.

6. A medical instrument as defined in claim 5, wherein each stacked element has an extension on one side and a cavity slightly larger than the extension on the other side, and the extension of each element is disposed in the cavity of the adjacent element.

7. A medical instrument as defined in claim 6, wherein the cavity and extension are shaped so that the extension cannot rotate within the cavity.

8. A medical instrument with a steerable distal end, comprising:

a. a handle for actuating the instrument;

b. a distal operating section for performing a medical procedure and actuated from said handle;

c. a middle section connecting said handle with said operating section, at least a portion of said middle section being bendable into a smooth curve from the proximal end of the middle section to the point where it joins the distal operating section;

d. said bendable portion being arranged and constructed to be steerable for permitting the operating section to be controlled in direction at an angle in three dimensions with respect to the axis of the middle section; and

e. control means

wherein control means includes means for rotating the distal operating section into any desired angular position about the longitudinal axis of said middle section.

9. A medical instrument as defined in claim 8 wherein said control means includes means for securing the control means in any position to which it is set by a user.

10. A medical instrument as defined in claim 8 wherein said control means includes wires disposed from the handle to the end of the bendable portion whereby the bending movement of the bendable portion can be controlled by manipulation of said wires.

11. A medical instrument as defined in claim 10 wherein said control means further includes means for securing the wires in the position into which they are placed by a user.

12. A medical instrument as defined in claim 11 wherein said securing means includes a brake.

13. A medical instrument as defined in claim 8, wherein said control means are located adjacent said handle and are constructed and arranged so that said control means can be operated by the user with one finger.

14. A medical instrument with a steerable distal end, comprising:

a. a handle for actuating the instrument;

b. a distal operating section for performing a medical procedure and actuated from said handle;

c. a middle section connecting said handle with said operating section, at least a portion of said middle section being bendable;

d. said bendable portion being arranged and constructed to be steerable for permitting the operating section to be controlled in direction at an angle with respect to the axis of the middle section;

e. control means for controlling the direction of movement of the bendable portion in three dimensions whereby the distal end may be positioned in any place on or off of the longitudinal axis of the middle section, said control means including means for securing the wires in the position into which they are placed by a user;

said securing means includes a turnable restraint having detents at the extreme position in each direction.

15. A medical instrument as defined in claim 14 wherein said turnable restraint has a plurality of detents between the extreme positions.

16. A medical instrument with a steerable distal end, comprising:

a a handle for actuating the instrument, said handle being capable of having attached thereto a plurality of tensioning members;

b. a distal operating section for performing a medical procedure and actuated from said handle, said distal operating section being capable of having attached thereto a plurality of tensioning members;

c. a middle section connecting said handle with said operating section and defining a central lumen throughout a first portion of its length and having a second, bendable portion comprising a plurality of similarly shaped stackable members that each define a plurality of lumens and being arranged so that said plurality of lumens are in alignment such that a like plurality of tensioning members, each having a first and a second end, may be disposed therethrough, said stackable members permitting angular movement between them and thereby allowing for bending movement of the bendable portion, so that, on actuation by said handle, they are bendable;

d. said bendable portion being arranged and constructed to be steerable for permitting the operating section to be controlled in direction at an angle with respect to the axis of the middle section from a position along saidaxis separated from said bendable portion

wherein said plurality of tensioning members are attached at their respective first ends to said handle and at their respective second ends to said distal operating section such that each of said tensioning members passes through one of said lumens formed by alignment of said stackable members and all of said tensioning members pass through said central lumen and further such that actuation of said handle operates on said plurality of tensioning members such that said plurality of stackable members is urged to bend, thereby causingsaid distal operating section to be steered; and

e. a sheath surrounding the elements forming the bendable portion.

18. A medical instrument as defined in claim 16 wherein a sheath surrounds the bendable portion.

17. A medical instrument as defined in claim 19 wherein the distal operating section has jaws for gripping, and the steerable means are constructed and arranged to be capable of being straight when the jaws are in closed position so that the instrument can be withdrawn from the patient while the bendable portion is in straight condition.