Manually articulating devices
First Claim
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1. A surgical device, comprising:
- an elongate shaft having proximal and distal ends;
a three-bar linkage having proximal and distal ends, the three-bar linkage including a first pivot joint, a second pivot joint, and a rotation joint, the rotation joint rotatably coupling the proximal end of the three-bar linkage to the distal end of the elongate shaft such that the three-bar linkage can rotate about a longitudinal axis of the elongate shaft;
an end effector coupled to the distal end of the three-bar linkage; and
an articulation actuator extending through the elongate shaft, the articulation actuator being coupled to the three-bar linkage at a third pivot joint and being effective to laterally articulate the three-bar linkage relative to a longitudinal axis of the elongate shaft to angularly orient the end effector relative to the elongate shaft, the articulation actuator having a distal end adjacent to the distal end of the elongate shaft,wherein the articulation actuator is rotatable about the longitudinal axis of the elongate shaft such that rotation of the articulation actuator about the longitudinal axis of the elongate shaft rotates the three-bar linkage and the end effector relative to the elongate shaft.
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Abstract
Methods and devices are provided for controlling movement of a working end of a surgical device, and in particular for performing various surgical procedures using an instrument having an end effector that can be articulated relative to an elongate shaft of the device. In certain embodiments, the end effector can also optionally rotate relative to the elongate shaft of the device, and/or the shaft can rotate relative to a handle of the device.
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Citations
23 Claims
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1. A surgical device, comprising:
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an elongate shaft having proximal and distal ends; a three-bar linkage having proximal and distal ends, the three-bar linkage including a first pivot joint, a second pivot joint, and a rotation joint, the rotation joint rotatably coupling the proximal end of the three-bar linkage to the distal end of the elongate shaft such that the three-bar linkage can rotate about a longitudinal axis of the elongate shaft; an end effector coupled to the distal end of the three-bar linkage; and an articulation actuator extending through the elongate shaft, the articulation actuator being coupled to the three-bar linkage at a third pivot joint and being effective to laterally articulate the three-bar linkage relative to a longitudinal axis of the elongate shaft to angularly orient the end effector relative to the elongate shaft, the articulation actuator having a distal end adjacent to the distal end of the elongate shaft, wherein the articulation actuator is rotatable about the longitudinal axis of the elongate shaft such that rotation of the articulation actuator about the longitudinal axis of the elongate shaft rotates the three-bar linkage and the end effector relative to the elongate shaft. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 20, 21, 22, 23)
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11. A manually articulating device, comprising:
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an elongate shaft having proximal and distal ends; a first link having a proximal end coupled to the distal end of the elongate shaft at a rotation joint; a second link having a proximal end pivotally and directly coupled to a distal end of the first link; an end effector directly coupled to a distal end of the second link; a third link having a distal end pivotally and directly coupled to the second link; and an articulation actuator extending through the elongate shaft and having a distal end directly coupled to a proximal end of the third link, the articulation actuator being adapted to translate along a longitudinal axis of the elongate shaft such that translation of the articulation actuator is adapted to laterally articulate the second link and the end effector relative to the first link and the elongate shaft, the articulation actuator having a distal end adjacent to the distal end of the elongate shaft, wherein the first link is rotatably coupled to the elongate shaft such that the first link, second link, third link, and end effector are rotatable about a longitudinal axis of the elongate shaft and wherein the articulation actuator is rotatable about the longitudinal axis of the elongate shaft such that rotation of the articulation actuator about the longitudinal axis of the elongate shaft is effective to rotate the first link, second link, third link, and end effector relative to the elongate shaft. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification