Carriage assembly for controlling a steering wire steering mechanism within a flexible shaft

• US 6,517,565 B1
• Filed: 02/22/2000
• Issued: 02/11/2003
• Est. Priority Date: 06/02/1999
• Status: Expired due to Term

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Power Medical Interventions, Inc. (Medtronic Plc)
• Inventors: Whitman, Michael P., Nicholas, David A., Burbank, John E.
• Primary Examiner(s): Robert; Eduardo C.
• Application Number:
  US09/510,923
• Time in Patent Office: 1,085 Days
• Field of Search: 606/219 600/146,147,148,149
• US Class Current: 606/219
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 17/32053 Punch like cutting instruments, e.g. using a cylindrical or oval knife A61B17/326 takes precedence; trepans A61B17/1695; for use on the cornea A61F9/007
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments by marking A61B2090/395

Abstract

A carriage assembly for controlling a steering wire steering mechanism within a flexible shaft, for use in gastrointestinal tract surgery, comprises a plurality of selectably engageable motors, including two drive motors for selectably rotating drive shafts of a surgical attachment, two steering motors mechanically communicating with corresponding pulleys around which are coiled directional steering wires communicating with a flexible shaft to enable the selective direction of the flexible shaft within a spatial plane, wherein within the assembly housing the steering motors travel on a steering motor carriage and the pulleys travel on a pulley carriage which is biased by a spring means away from the interior wall of the housing, which biases the steering wires toward a taut state. The bias can be overcome by a carriage motor mechanically communicating with the pulley carriage to cause the flexible shaft to go limp. Also disclosed are a series of surgical attachments which may be coupled to and utilized in conjunction with the carriage assembly.

Claims

1. An electromechanical assembly, comprising

a) at least one selectively engageable steering motor for engaging a steering wire,

b) at least one spring means for biasing said steering wire toward a taut state, and

c) at least one selectively engageable carriage motor for overcoming the bias created by said spring means.

2. The electromechanical assembly of claim 1, wherein said steering motor mechanically communicates with a pulley around which said steering wire is coiled to selectively rotate said pulley to selectively advance or retract said steering wire.

3. The electromechanical assembly of claim 1, wherein said at least one steering motor includes a plurality of steering motors, each of which is for engaging a separate steering wire, which engagement translates to enable the selective direction of a flexible shaft within a spatial plane.

4. The electromechanical assembly of claim 3, wherein said at least one steering motor includes two steering motors,

a) the first of which is for engaging a first steering wire, which engagement translates to enable the selective direction of the flexible shaft within a first spatial plane, and

b) the second of which is for engaging a second steering wire, which engagement translates to enable the selective direction of the flexible shaft within a second spatial plane which is perpendicular to said first spatial plane.

5. The electromechanical assembly of claim 4, wherein

a) said first steering motor mechanically communicates with a first pulley around which said first steering wire is coiled to selectively rotate said pulley to selectively advance or retract said first steering wire and

b) said second steering motor mechanically communicates with a second pulley around which said second steering wire is coiled to selectively rotate said pulley to selectively advance or retract said second steering wire.

6. The electromechanical assembly of claim 5, further comprising at least one selectively engageable drive motor for engaging an attached drive shaft.

7. The electromechanical assembly of claim 5, wherein

a) said electromechanical assembly further comprises an assembly housing having an interior wall,

b) said first steering motor and said second steering motor travel on a steering motor carriage within said assembly housing,

c) said first pulley and said second pulley travel on a pulley carriage within said assembly housing,

d) said spring means biases said pulley carriage away from said interior wall, and

e) said carriage motor mechanically communicates with said pulley carriage to selectively allow said pulley carriage to succumb to the bias of said spring means or push said pulley carriage toward said interior wall with a force great enough to overcome the bias of said spring means.

8. The electromechanical assembly of claim 7, further comprising at least one selectively engageable drive motor which selectably rotates an attached drive shaft.

9. The electromechanical assembly of claim 1, wherein

a) said electromechanical assembly further comprises an assembly housing having an interior wall,

b) said steering motor travels on a steering motor carriage within said assembly housing, and

c) said spring means biases said steering motor carriage away from said interior wall.

10. The electromechanical assembly of claim 9, wherein said carriage motor mechanically communicates with said steering motor carriage to selectively allow said steering motor carriage to succumb to the bias of said spring means or push said steering motor carriage toward said interior wall with a force great enough to overcome the bias of said spring means.

11. The electromechanical assembly of claim 1, wherein

a) said electromechanical assembly further comprises an assembly housing having an interior wall,

b) said steering wire is coiled around a pulley which travels on a pulley carriage within said assembly housing, and

c) said spring means biases said pulley carriage away from said interior wall.

12. The electromechanical assembly of claim 11, wherein said carriage motor mechanically communicates with said pulley carriage to selectively allow said pulley carriage to succumb to the bias of said spring means or push said pulley carriage toward said interior wall with a force great enough to overcome the bias of said spring means.

13. The electromechanical assembly of claim 12, further comprising at least one selectively engageable drive motor for engaging an attached drive shaft.

14. The electromechanical assembly of claim 11, wherein

a) said steering motor travels on a steering motor carriage within said assembly housing,

b) said steering motor mechanically communicates with a pulley around which said steering wire is coiled,

c) said pulley travels on a pulley carriage within said assembly housing, and

d) said spring means biases said pulley carriage away from said interior wall.

15. The electromechanical assembly of claim 14, wherein at least one of said steering motor carriage and said pulley carriage travel on a carriage rail within said assembly housing.

16. The electromechanical assembly of claim 14, wherein said carriage motor mechanically communicates with said steering motor carriage to selectively allow said steering motor carriage to succumb to the bias of said spring means or push said steering motor carriage toward said interior wall with a force great enough to overcome the bias of said spring means.

17. The electromechanical assembly of claim 14, wherein said carriage motor mechanically communicates with said pulley carriage to selectively allow said pulley carriage to succumb to the bias of said spring means or push said pulley carriage toward said interior wall with a force great enough to overcome the bias of said spring means.

18. The electromechanical assembly of claim 17, further comprising at least one selectively engageable drive motor for engaging an attached drive shaft.

19. The electromechanical assembly of claim 1, further comprising at least one selectively engageable drive motor for engaging an attached drive shaft.