COMPOUND ANGLE LAPAROSCOPIC METHODS AND DEVICES
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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.
7 Citations
37 Claims
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1-19. -19. (canceled)
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20. 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 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. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. 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, and 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 actuator coupled to a 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 (32, 33, 34, 35, 36, 37)
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Specification