Actuating and articulating surgical device

• US 8,771,260 B2
• Filed: 05/30/2008
• Issued: 07/08/2014
• Est. Priority Date: 05/30/2008
• Status: Active Grant

• Current Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Conlon, Sean P., Nobis, Rudolph H., Johnson, Frederick Q., Woodard, Steven P., Costa, Ruth E.
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): LUAN, SCOTT
• Application Number:
  US12/129,880
• Publication Number:
  US 20090299143A1
• Time in Patent Office: 2,230 Days
• US Class Current: 606/1
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1482 having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00424 ergonomic, e.g. fitting in fist
• CPC Class Codes: A61B 2017/00433 knurled
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2911 rings
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2946 Locking means
• CPC Class Codes: A61B 2018/1407 Loop
• CPC Class Codes: A61B 2018/141 Snare
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms

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. A decoupling member can isolate the actuation of the end effector from the articulation of the end effector. 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.

Claims

1. A surgical device, comprising:

a flexible elongate shaft defining a longitudinal axis between a proximal end and a distal end and dimensioned to fit in a working channel of an endoscope;

a handle coupled to the proximal end of the flexible elongate shaft; and

an articulation joint comprising

a first end defining a first articulation axis and rotatably coupled to the distal end of the flexible elongate shaft,

a second end defining a second articulation axis and coupled to an end effector, wherein the handle is configured to operatively couple to the end effector via an actuation wire extending along the flexible elongate shaft and the articulation joint,

a pivot point pivotably coupling the first end and the second end, wherein the second end is pivotable relative to the first end about the pivot point between a straight position and an articulated position to angularly orient the first articulation axis relative to the second articulation axis, and

a decoupling member positioned on the second end of the articulation joint and structured to divert the path of the actuation wire toward the pivot point when the second end is in the straight position and the articulated position to reduce a moment arm with respect to the pivot point when an actuation force is applied to the actuation wire, and wherein the actuation wire defines a first line proximal to the decoupling member and a second line distal to the decoupling member, and wherein the decoupling member geometrically constrains the actuation wire such that when the second end is in the straight position the first line and the second line together define a first non-zero angle and when the second link is in the articulated position the first line and the second line define a second non-zero angle;

wherein the handle is adapted to selectively rotate the articulation joint and the end effector coupled thereto about the longitudinal axis, relative to the flexible elongate shaft.

2. The device of claim 1, wherein the second end is rotatably coupled to the end effector such that the handle is adapted to selectively rotate the end effector about the second articulating axis, relative to the first end.

3. The device of claim 1, wherein the actuation wire is adapted to translate along the longitudinal axis of the flexible elongate shaft to actuate the end effector, and wherein the actuation wire comprises a first segment proximal to the decoupling member and a second segment distal to the decoupling member, and wherein the second segment is aligned with the pivot point in the articulated position.

4. The device of claim 1, wherein the actuation wire is comprised of metal.

5. The device of claim 1, wherein the decoupling member is a pin.

6. The device of claim 5, wherein a lubricant coats at least a portion of the pin.

7. The device of claim 5, wherein the pin is rotatable in relation to the articulation joint.

8. The device of claim 1, wherein the decoupling member is unitary with the articulation joint.

9. A method of preparing an instrument for surgery, comprising:

obtaining the device of claim 1;

sterilizing the surgical device; and

storing the surgical device in a sterile container.

10. A surgical device, comprising:

a flexible elongate shaft comprising a proximal end and a distal end and dimensioned to fit in a working channel of an endoscope;

an articulation joint comprising

a first link defining a first articulation axis and coupled to the distal end of the flexible elongate shaft,

a second link defining a second articulation axis and comprising a proximal end pivotally coupled to a distal end of the first link about a first pivot point and a distal end configured to couple to an end effector, wherein the second link is pivotable relative to the first link about the first pivot point between a straight position and an articulated position to angularly orient the second articulation axis relative to the first articulation axis, wherein the second articulation axis is configured to be substantially aligned with the first articulation axis when the second link is in the straight position and at an angle with respect to the first articulation axis when the second link is in the articulated position, and wherein the second link comprises a decoupling member;

a third link having a distal end pivotally coupled to the second link about a second pivot point; and

an actuation wire extending through the elongate shaft and the articulation joint, and operatively coupled to the end effector, wherein the actuation wire is translatable to actuate the end effector

wherein the decoupling member is positioned on the second link and is configured to divert the path of the actuation wire toward the first pivot point when the second link is in the straight position and the articulated position to reduce a moment arm with respect to the first pivot point when an actuation force is applied to the actuation wire, wherein the actuation wire defines a first line proximal to the decoupling member and a second line distal to the decoupling member, and wherein the decoupling member geometrically constrains the actuation wire such that when the second link is in the straight position the first line and the second line together define a first non-zero angle and when the second link is in the articulated position the first line and the second line define a second non-zero angle.

11. The device of claim 10, comprising an articulation actuator extending through the flexible elongate shaft and having a distal end pivotably coupled to a proximal end of the third link about a third pivot point, wherein the articulation actuator is adapted to translate along the flexible elongate shaft such that the translation pivots the second link and the end effector relative to the first link and the flexible elongate shaft about the first pivot point.

12. The device of claim 10, wherein the decoupling member is fixably mated to the second link.

13. The device of claim 10, wherein the decoupling member is a pin.

14. The device of claim 13, wherein proximal movement of the articulation actuator is adapted to pivot the second link and the end effector from the straight position to the articulated position, and wherein distal movement of the articulation actuator is adapted to pivot the second link and the end effector from the articulated position to the straight position.

15. The device of claim 14, wherein the actuating wire is comprised of metal.

16. The device of claim 15, wherein the end effector is selected from the group consisting of a grasper, a biopsy probe, a snare loop, forceps, and scissors.

17. The device of claim 13, where a lubricant coats at least a portion of the pin.

18. The device of claim 13, wherein the pin is rotatable relative to the second link.