Compound angle laparoscopic methods and devices
First Claim
Patent Images
1. An articulating laparoscopic access device, comprising:
- an elongate shaft;
a first linkage having proximal and distal ends, the proximal end of the first linkage being pivotally coupled to a distal end of the elongate shaft at a first pivot point; and
a second linkage having proximal and distal endsan actuator coupled to the distal end of the second linkage and being longitudinally movable relative to the elongate shaft; and
first and second linkage bars coupled to opposite sides of each of the first and second linkages, each linkage bar having proximal and distal ends, the proximal end of each of the first and second linkage bars being pivotally coupled to the distal end of the first linkage by a second pivot point, and the distal end of each of the first and second linkage bars being pivotally coupled to the proximal end of the second linkage by a third pivot point, wherein a first range of motion of the linkage bars is limited such that the first range of motion of the linkage bars about the third pivot point is less than a second range of motion of the linkage bars about the second pivot point; and
wherein the distal end of the first linkage, the proximal end of the second linkage, and the first and second linkage bars are movable between a first position longitudinally aligned with a longitudinal axis of the elongate shaft and a second position displaced from the longitudinal axis of the elongate shaft, and wherein the actuator constrains the distal end of the second linkage to movement along the longitudinal axis of the elongate shaft.
1 Assignment
0 Petitions
Accused Products
Abstract
Methods and devices are provided for performing minimally invasive surgical procedures. In one embodiment, a surgical device is provided that include an elongate shaft having a distal portion configured to be movable between a first configuration in which the distal portion of the shaft is substantially straight or linear and a second configuration in which the distal portion of the shaft is articulated at a compound angle. The shaft'"'"'s distal portion can include two articulation joints to facilitate formation of the compound angle.
-
Citations
18 Claims
-
1. An articulating laparoscopic access device, comprising:
-
an elongate shaft; a first linkage having proximal and distal ends, the proximal end of the first linkage being pivotally coupled to a distal end of the elongate shaft at a first pivot point; and a second linkage having proximal and distal ends an actuator coupled to the distal end of the second linkage and being longitudinally movable relative to the elongate shaft; and first and second linkage bars coupled to opposite sides of each of the first and second linkages, each linkage bar having proximal and distal ends, the proximal end of each of the first and second linkage bars being pivotally coupled to the distal end of the first linkage by a second pivot point, and the distal end of each of the first and second linkage bars being pivotally coupled to the proximal end of the second linkage by a third pivot point, wherein a first range of motion of the linkage bars is limited such that the first range of motion of the linkage bars about the third pivot point is less than a second range of motion of the linkage bars about the second pivot point; and wherein the distal end of the first linkage, the proximal end of the second linkage, and the first and second linkage bars are movable between a first position longitudinally aligned with a longitudinal axis of the elongate shaft and a second position displaced from the longitudinal axis of the elongate shaft, and wherein the actuator constrains the distal end of the second linkage to movement along the longitudinal axis of the elongate shaft. - View Dependent Claims (2, 3, 4, 5, 6, 15, 16, 17)
-
-
7. A laparoscopic system, comprising:
-
an articulation device having, an elongate shaft, a first linkage coupled to the elongate shaft at a first joint, a second linkage coupled to the first linkage at a second joint, the second joint being movable radially outward relative to a central axis extending longitudinally along the elongate shaft, and an actuator coupled to a distal end of the second linkage and being longitudinally movable relative to the elongate shaft; and a tool having a flexible elongate shaft with an end effector on a distal end thereof, the flexible elongate shaft being disposable through a lumen extending through the elongate shaft, the first linkage, and the second linkage such that the end effector extends from the distal end of the second linkage, wherein the flexible elongate shaft is bendable to conform to a shape of the lumen as the second joint is moved radially outward; wherein the actuator constrains the distal end of the second linkage to movement along a longitudinal axis of the actuator. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 18)
-
Specification