Manually articulating devices
First Claim
Patent Images
1. A surgical device, comprising:
- an elongate shaft having proximal and distal ends and a longitudinal axis extending therebetween;
an actuator extending through the elongate shaft, the actuator having a distal end adjacent to the distal end of the elongate shaft;
a three-bar linkage coupled to the distal end of the elongate shaft; and
an end effector coupled to a distal end of the three-bar linkage;
wherein rotation of the actuator is effective to rotate the three-bar linkage relative to the elongate shaft about the longitudinal axis of the elongate shaft, and translation of the actuator along the longitudinal axis of the elongate shaft is effective to laterally articulate the three-bar linkage relative to the elongate shaft.
0 Assignments
0 Petitions
Accused Products
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.
-
Citations
20 Claims
-
1. A surgical device, comprising:
-
an elongate shaft having proximal and distal ends and a longitudinal axis extending therebetween; an actuator extending through the elongate shaft, the actuator having a distal end adjacent to the distal end of the elongate shaft; a three-bar linkage coupled to the distal end of the elongate shaft; and an end effector coupled to a distal end of the three-bar linkage; wherein rotation of the actuator is effective to rotate the three-bar linkage relative to the elongate shaft about the longitudinal axis of the elongate shaft, and translation of the actuator along the longitudinal axis of the elongate shaft is effective to laterally articulate the three-bar linkage relative to the elongate shaft. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A manually articulating device, comprising:
-
an elongate shaft having proximal and distal ends and a longitudinal axis extending therebetween; an actuator extending through the elongate shaft; 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 coupled to a distal end of the first link at an articulation joint; a third link having a proximal end pivotally coupled to a distal end of the actuator and a distal end pivotally coupled to the second link; and an end effector coupled to a distal end of the second link; wherein rotation of the actuator about the longitudinal axis of the elongate shaft is effective to rotate the first link relative to the elongate shaft at the rotation joint, and translation of the actuator along the longitudinal axis of the elongate shaft is effective to laterally articulate the second link relative to the first link at the articulation joint; and wherein the distal end of the actuator is adjacent to the distal end of the elongate shaft. - View Dependent Claims (15, 16, 17, 18, 19)
-
-
20. A surgical device, comprising:
-
an elongate shaft having proximal and distal ends; a three-bar linkage having a proximal end rotatably coupled directly to the distal end of the elongate shaft; an end effector coupled to a distal end of the three-bar linkage; and an actuation mechanism disposed through the elongate shaft, the actuation mechanism being rotatable about a longitudinal axis of the elongate shaft to rotate the three-bar linkage relative to the elongate shaft and thereby rotate the end effector relative to the elongate shaft, the actuation mechanism being longitudinally translatable through the elongate shaft to cause the three-bar linkage to laterally articulate relative to the longitudinal axis of the elongate shaft to angularly orient the end effector relative to the elongate shaft, and the actuation mechanism having a distal end adjacent to the distal end of the elongate shaft.
-
Specification