Laparoscopic devices with flexible actuation mechanisms
First Claim
Patent Images
1. A laparoscopic device, comprising:
- an elongate shaft having proximal and distal ends defining a longitudinal axis extending therebetween, the elongate shaft having an inner lumen extending therethrough between the proximal and distal ends;
an end effector coupled to the distal end of the elongate shaft; and
an actuator element coupled to the end effector and extending between the proximal and distal ends of the elongate shaft along the longitudinal axis through the inner lumen, a proximal portion of the actuator element being rigid and a distal portion of the actuator element being flexible, the distal portion formed of a composite material including a solid core formed of a first material and an outer sheath formed of a second material having a greater flexibility than the first material, the outer sheath surrounding the solid core and being non-slidable relative thereto;
wherein the actuator element is movable relative to the elongate shaft to actuate the end effector, andwherein the outer sheath includes a plurality of features extending therefrom and disposed in the elongate shaft, the plurality of features changing a stiffness of the actuator element when the actuator element is flexed.
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Abstract
Methods and devices are provided for performing minimally invasive surgical procedures. In one embodiment, a surgical device is provided that includes an elongate shaft having an end effector at a distal end thereof. The end effector can be configured to be movable between a first configuration in which the end effector is longitudinally aligned with or linear relative to the shaft and a second configuration in which the end effector is articulated at an angle beyond 45 degrees relative to the shaft. With the end effector in the first configuration or in the second configuration, the device can be configured to allow selective actuation of the end effector.
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Citations
16 Claims
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1. A laparoscopic device, comprising:
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an elongate shaft having proximal and distal ends defining a longitudinal axis extending therebetween, the elongate shaft having an inner lumen extending therethrough between the proximal and distal ends; an end effector coupled to the distal end of the elongate shaft; and an actuator element coupled to the end effector and extending between the proximal and distal ends of the elongate shaft along the longitudinal axis through the inner lumen, a proximal portion of the actuator element being rigid and a distal portion of the actuator element being flexible, the distal portion formed of a composite material including a solid core formed of a first material and an outer sheath formed of a second material having a greater flexibility than the first material, the outer sheath surrounding the solid core and being non-slidable relative thereto; wherein the actuator element is movable relative to the elongate shaft to actuate the end effector, and wherein the outer sheath includes a plurality of features extending therefrom and disposed in the elongate shaft, the plurality of features changing a stiffness of the actuator element when the actuator element is flexed. - View Dependent Claims (2, 3, 4, 5)
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6. A laparoscopic device, comprising:
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a cannulated elongate shaft having proximal and distal ends defining a longitudinal axis extending therebetween; an end effector coupled to the distal end of the shaft; and an actuator element coupled to the end effector and extending through the cannulated elongate shaft, the actuator element including a rigid proximal portion and a flexible distal portion, the actuator element being formed of a composite material including a sheath surrounding a central core; wherein the actuator element is movable relative to the cannulated elongate shaft to actuate the end effector, and wherein the sheath has a plurality of features extending therefrom and disposed in the cannulated elongate shaft, the plurality of features changing a stiffness of the actuator element when the actuator element is flexed. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification