Compound angle laparoscopic methods and devices
First Claim
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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;
a second linkage having proximal and distal ends;
a linkage bar having proximal and distal ends, a proximal end of the linkage bar being pivotally coupled to the distal end of the first linkage at a second point, and the distal end of the linkage bar being pivotally coupled to the proximal end of the second linkage at a third pivot point;
wherein the first and second linkages and the linkage bar are configured to move from a first position, in which the first and second linkages and the linkage bar are longitudinally aligned, in which the first linkage defines a first straight longitudinal axis, and in which the second linkage defines a second straight longitudinal axis, to a second position, in which the distal end of the first linkage, the proximal end of the second linkage, and the proximal and distal ends of the linkage bar are displaced from a longitudinal axis of the elongate shaft, in which the first and second longitudinal axes remain straight, and in which the proximal end of the first linkage and the distal end of the second linkage are not displayed from the longitudinal axis of the elongate shaft.
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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 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.
444 Citations
20 Claims
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1. An articulating laparoscopic access device, comprising:
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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; a second linkage having proximal and distal ends; a linkage bar having proximal and distal ends, a proximal end of the linkage bar being pivotally coupled to the distal end of the first linkage at a second point, and the distal end of the linkage bar being pivotally coupled to the proximal end of the second linkage at a third pivot point; wherein the first and second linkages and the linkage bar are configured to move from a first position, in which the first and second linkages and the linkage bar are longitudinally aligned, in which the first linkage defines a first straight longitudinal axis, and in which the second linkage defines a second straight longitudinal axis, to a second position, in which the distal end of the first linkage, the proximal end of the second linkage, and the proximal and distal ends of the linkage bar are displaced from a longitudinal axis of the elongate shaft, in which the first and second longitudinal axes remain straight, and in which the proximal end of the first linkage and the distal end of the second linkage are not displayed from the longitudinal axis of the elongate shaft. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A laparoscopic system, comprising:
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an elongate shaft; an articulating portion consisting of; 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 longitudinal axis of the elongate shaft, and an end effector directly coupled to a distal end of the second linkage; and an actuator coupled to the distal end of the second linkage and being movable relative to the elongate shaft, the actuator constraining the distal end of the second linkage to movement parallel to a longitudinal axis of the elongate shaft. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. An articulating laparoscopic access device, comprising:
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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; a second linkage having proximal and distal ends; a linkage bar having proximal and distal ends, a proximal end of the linkage bar being pivotally coupled to the distal end of the first linkage at a second point, and the distal end of the linkage bar being pivotally coupled to the proximal end of the second linkage at a third pivot point; and an actuator coupled to the distal end of the second linkage and being longitudinally movable in proximal and distal directions relative to the elongate shaft, wherein the first and second linkages and the linkage bar are configured to move from a first position in which the first and second linkages and the linkage bar are longitudinally aligned to a second position in which the distal end of the first linkage, the proximal end of the second linkage, and the proximal and distal ends of the linkage bar are displaced from the longitudinal axis of the elongate shaft, and wherein the distal end of the second linkage is pivotally coupled to the actuator at a fourth pivot point, the actuator constraining the fourth pivot point to movement parallel to a longitudinal axis of the elongate shaft. - View Dependent Claims (20)
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Specification