Laparoscopic device with compound angulation
First Claim
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1. An articulating laparoscopic device, comprising:
- an elongate shaft having first and second articulation joints, the first articulation joint being configured to pivot in a first direction and the second articulation joint being configured to pivot in a second direction that is opposite to the first direction such that the shaft is configured to form a compound angle, one of the first and second directions being clockwise and another of the first and second directions being counterclockwise, the first articulation joint being limited to pivoting from a zero angle position in the first direction to form the compound angle, and the second articulation joint being limited to pivoting from a zero angle position in the second direction to form the compound angle;
an end effector coupled to a distal end of the elongate shaft and positioned distal of the first and second articulation joints, the end effector being pivotable relative to the elongate shaft at a third articulation joint positioned distal of the first and second articulation joints;
an articulator element extending through the elongate shaft and configured to rigidly maintain the elongate shaft in a plurality of positions in which the elongate shaft has the compound angle;
wherein movement of the articulator element relative to the elongate shaft is configured to simultaneously pivot the first articulation joint in the first direction and the second articulation joint in the second direction to form the compound angle.
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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 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 bent at a compound angle. The shaft'"'"'s distal portion can be configured to be articulated in a wide range of compound angles and can be configured to be selectively locked in a fixed position anywhere within that range.
1217 Citations
22 Claims
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1. An articulating laparoscopic device, comprising:
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an elongate shaft having first and second articulation joints, the first articulation joint being configured to pivot in a first direction and the second articulation joint being configured to pivot in a second direction that is opposite to the first direction such that the shaft is configured to form a compound angle, one of the first and second directions being clockwise and another of the first and second directions being counterclockwise, the first articulation joint being limited to pivoting from a zero angle position in the first direction to form the compound angle, and the second articulation joint being limited to pivoting from a zero angle position in the second direction to form the compound angle; an end effector coupled to a distal end of the elongate shaft and positioned distal of the first and second articulation joints, the end effector being pivotable relative to the elongate shaft at a third articulation joint positioned distal of the first and second articulation joints; an articulator element extending through the elongate shaft and configured to rigidly maintain the elongate shaft in a plurality of positions in which the elongate shaft has the compound angle; wherein movement of the articulator element relative to the elongate shaft is configured to simultaneously pivot the first articulation joint in the first direction and the second articulation joint in the second direction to form the compound angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An articulating laparoscopic device, comprising:
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an elongate shaft; a first linkage coupled to a distal end of the elongate shaft at a first articulation joint, the first linkage including a slot formed therein; a second linkage coupled to a distal end of the first linkage at a second articulation joint; and an articulator element having a proximal articulation rod extending through the elongate shaft and having a pin slidably extending into the slot formed in the first linkage such that sliding movement of the in causes articulation of the first linkage, and the articulator element having a distal articulation rod extending through the first linkage and having a proximal end pivotally coupled to a distal end of the proximal articulation rod at a single pivot point that floats laterally relative to the elongate shaft and the first linkage, and a distal end of the distal articulation rod being coupled to the second linkage. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. An articulating laparoscopic device, comprising:
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an elongate shaft; a first linkage having a proximal end coupled to a distal end of the elongate shaft at a first articulation joint, the first articulation joint being laterally offset from a longitudinal axis of the elongate shaft; a second linkage having a proximal end coupled to a distal end of the first linkage at a second articulation joint, the second articulation joint being laterally offset from the longitudinal axis of the elongate shaft, and the second articulation joint being movable toward and away from the longitudinal axis of the elongate shaft such that the first and second linkages are movable between an initial position in which the first and second linkages are longitudinally aligned with the longitudinal axis of the elongate shaft and an articulated position in which the first and second linkages are angularly oriented relative to the longitudinal axis of the elongate shaft; an end effector coupled to a distal end of the second linkage; and a rigid articulator element having a proximal portion disposed within the elongate shaft and configured to translate longitudinally relative to the elongate shaft, and a distal portion disposed within the first linkage and configured to translate laterally relative to the first linkage. - View Dependent Claims (20, 21)
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22. The device of 19, wherein movement of the rigid articulator element relative to the elongate shaft is configured to pivot the first linkage in a first direction and pivot the second linkage in a second, opposite direction.
Specification