Articulating mechanism for remote manipulation of a surgical or diagnostic tool

• US 7,682,307 B2
• Filed: 11/09/2005
• Issued: 03/23/2010
• Est. Priority Date: 05/23/2003
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Novare Surgical Systems, Inc. (Groupe Peters Surgical SAS)
• Inventors: Danitz, David J., Gold, Adam
• Primary Examiner(s): Johnson, III; Henry M
• Assistant Examiner(s): ROANE, AARON F
• Application Number:
  US11/271,720
• Publication Number:
  US 20060094931A1
• Time in Patent Office: 1,595 Days
• Field of Search: 606 41- 52, 600/114, 600/139, 600/142, 600/146, 604/95.01, 604/95.04
• US Class Current: 600/141
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 17/02 for holding wounds open; Tractors specula A61B1/32 ; drainage appliances for wounds A61M27/00
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61M 2025/015 Details of the distal fixation of the movable mechanical means
• CPC Class Codes: A61M 2025/0161 wherein the distal tips have two or more deflection regions
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: A61M 25/0138 having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires

Abstract

The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.

Claims

1. An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprising:

a continuous flexible member having multiple pairs of segments, each segment of each pair being maintained in a spaced apart relationship relative to the other segment of the pair, each pair having one segment in a proximal segment set and the other segment in a distal segment set, all of the segments in the proximal segment set being located proximally from all of the segments in the distal segment set, a proximal most active segment of the proximal segment set forming a segment pair with the distal most active segment of the distal segment set, a distal most active segment of the proximal segment set forming a segment pair with the proximal most active segment of the distal segment set, and any intervening active segments following this same segment pair ordering, and

multiple sets of cables, with each set connecting the segments of an independent, discrete pair to one another by way of the cables of the set being affixed to both segments of the pair, such that movement of one segment of a pair causes corresponding relative movement of the other segment of the pair directly through movement of the cables interconnecting the pair of segments.

2. The articulating mechanism of claim 1 wherein the continuous flexible member includes multiple lumens with the sets of cables extending through the lumens.

3. The articulating mechanism of claim 1 wherein the continuous flexible member further comprises flexible linkages positioned between adjacent segments.

4. The articulating mechanism of claim 1 wherein the continuous flexible member is helical.

5. The articulating mechanism of claim 4 wherein each segment corresponds to one turn of the helix.

6. The articulating mechanism of claim 1 wherein each of the sets of cables terminates at the discrete pair of segments associated with the cable set.

7. The articulating mechanism of claim 1 wherein the segments form proximal and distal ends with segments of corresponding pairs being located on the proximal and distal ends respectively and where movement of the proximal end results in corresponding relative movement of the distal end.

8. The articulating mechanism of claim 7 wherein said corresponding relative movement of the distal end is reciprocal to the movement of the proximal end.

9. The articulating mechanism of claim 7 wherein said corresponding relative movement of the distal end mirrors the movement of the proximal end.

10. The articulating mechanism of claim 7 wherein a surgical or diagnostic tool is attached to the distal end.

11. The articulating mechanism of claim 7 wherein a surgical or diagnostic tool extends from the distal end.

12. The articulating mechanism of claim 10 wherein the surgical or diagnostic tool is an ablation element.

13. The articulating mechanism of claim 7 wherein said distal end further comprises a surgical or diagnostic tool.

14. The articulating mechanism of claim 13 wherein said distal end further comprises a tissue retracting surface.

15. The articulating mechanism of claim 1 further comprising a spacer element disposed between the pairs of segments to maintain the pairs of segments in a spaced apart relationship.

16. The articulating mechanism of claim 15 wherein the spacer element is hollow and accommodates the sets of cables.

17. The articulating mechanism of claim 1, wherein pairs of segments include channels for receipt and passage of sets of cables associated with adjacent pairs of segments.

18. The articulating mechanism of claim 1 further comprising additional pairs of spacer segments, wherein said pairs of spacer segments are not connected by discrete sets of cables that terminate at the paired spacer segments.

19. The articulating mechanism of claim 10 wherein one or more segments further include a channel for receiving elements of the attached surgical or diagnostic tool that extend to the proximal end of the mechanism.

20. The articulating mechanism of claim 19 wherein such surgical or diagnostic tool elements are capable of transmitting energy.

21. The articulating mechanism at claim 19 wherein such surgical or diagnostic tool elements are capable of actuating the tool.

22. The articulating mechanism of claim 7 wherein one or more segments further include a channel for receiving a locking rod that can secure and retain the proximal end of the mechanism in a fixed position.

23. The articulating mechanism of claim 7 further comprising a locking sleeve fitted over the proximal end of the mechanism to secure and retain the proximal end in a fixed position.

24. A kit comprising:

the articulating mechanism according to claim 1 and a surgical or diagnostic tool configured for attachment to the articulating mechanism.