Articulating surgical device

• US 8,968,355 B2
• Filed: 03/15/2011
• Issued: 03/03/2015
• Est. Priority Date: 08/04/2008
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Malkowski, Jaroslaw T., Cabrera, Ramiro, Fortier, Richard, Ziegler, Andrew, Cruz, Amos, Stellon, Gene A., Evans, Steve
• Primary Examiner(s): Dowe, Katherine
• Assistant Examiner(s): Shipley, Amy
• Application Number:
  US13/047,930
• Publication Number:
  US 20110184459A1
• Time in Patent Office: 1,449 Days
• Field of Search: 606205-209, 606/1, 606/174, 604/528, 600139-142, 600/146, 600/149
• US Class Current: 606/205
• CPC Class Codes: A61B 17/282 Jaws
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/2909 Handles
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/2837 with a locking ratchet
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2923 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2925 Pistol grips
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2945 Curved jaws
• CPC Class Codes: A61B 2017/2946 Locking means
• CPC Class Codes: A61B 2018/1422 Hook
• CPC Class Codes: A61B 2018/1432 curved
• CPC Class Codes: A61B 2034/715 : Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms

Abstract

An articulation mechanism for a surgical instrument includes an articulation assembly, a plurality of cables, and a trigger. The cables are coupled to the articulation assembly at a proximal end thereof and extend distally therefrom. The cables are configured to engage an end effector assembly of the surgical instrument at a distal end thereof. The trigger is coupled to the articulation assembly and is selectively moveable from a shipping position to a use position. In the shipping position, the cables are substantially un-tensioned. In the use position, the cables are disposed in an initial tensioned position. In the use position, the trigger is moveable between an unlocked position and a locked position. In the unlocked position, the cables are selectively tensionable to articulate the end effector assembly. In the locked position, the tensions on the cables are maintained to lock the end effector assembly in position.

Claims

1. An articulation mechanism configured for use with a surgical instrument defining a longitudinal axis, the articulation mechanism comprising:

an articulation assembly;

a plurality of cables coupled to the articulation assembly at a proximal end thereof and extending distally therefrom, the plurality of cables configured to engage an end effector assembly of the surgical instrument at a distal end thereof; and

a trigger coupled to the articulation assembly, the trigger irreversibly moveable from a first position, wherein the cables are substantially un-tensioned, to a second position, wherein each of the cables is disposed in an initial tensioned position, the trigger, when in the second position, configured to move between;

an unlocked position, wherein each of the cables is selectively tensionable from the initial tensioned position to a further tensioned position to articulate the end effector assembly relative to the longitudinal axis of the surgical instrument, and

a locked position, wherein the tensions on the cables are maintained to lock the end effector assembly in an articulated position.

2. The articulation mechanism according to claim 1, wherein the articulation assembly includes a ball and a socket, the socket configured to retain the proximal ends of the cables therein and configured to rotate about the ball to selectively tension the cables, thereby articulating the end effector assembly relative to the longitudinal axis.

3. The articulation mechanism according to claim 2, further comprising a shaft extending proximally from the socket, the shaft having the trigger coupled thereto, the shaft longitudinally translatable between a distal position, when the trigger is disposed in the first position, an intermediate position, when the trigger is moved to the unlocked position, and a proximal position, when the trigger is moved to the locked position.

4. The articulation mechanism according to claim 3, further comprising a pivoting linkage pivotably coupled to the shaft at a first end thereof and pivotably coupled to the trigger at a second end thereof, the pivoting linkage movable between a first linkage position corresponding to the unlocked position of the trigger, wherein the second end of the pivoting linkage is disposed below a plane defined by a line extending between the first end of the pivoting linkage and a pivot point coupling the trigger and the shaft, and a second linkage position, wherein the second end of the pivoting linkage is disposed above the plane defined by the line extending between the first end of the pivoting linkage and the pivot point coupling the trigger and the shaft.

5. The articulation mechanism according to claim 1, further comprising a biasing member coupled to the articulation assembly, wherein the biasing member is movable between a disengaged position when the trigger is in the first position, and an engaged position when the trigger is in the second position, and wherein when the biasing member is in the engaged position, the biasing member biases the trigger toward the unlocked position.

6. The articulation mechanism according to claim 5, wherein the biasing member is one of a leaf spring or a flat spring.

7. The articulation mechanism according to claim 1, wherein the trigger includes a contoured outer surface configured to engage a protrusion extending from the articulation assembly and to move relative thereto such that, upon movement of the trigger from the first position to the second position, the cables are moved from the substantially un-tensioned position to the initial tensioned position and are inhibited from returning to the substantially un-tensioned position, and wherein, upon movement of the trigger from the unlocked position to the locked position, the tensions on the cables are maintained to lock the end effector assembly in position.

8. The articulation mechanism according to claim 1, further comprising an elongated tubular member including a plurality of slots defined therein and extending longitudinally therealong, the slots helically disposed about the elongated tubular member such that a position of each slot at a first end of the elongated tubular member is rotated at least one half of a turn relative to a position of the slot at a second end of the elongated tubular member, each slot configured to retain at least a portion of one of the cables therein.

9. The articulation mechanism according to claim 1, further comprising a plurality of articulation linkages longitudinally aligned with one another and configured to receive the cables therethrough, the articulation linkages configured for articulation relative to one another upon selective tensioning of the cables to permit articulation of the end effector assembly relative to the longitudinal axis.

10. The articulation mechanism according to claim 9, wherein at least one of the articulation linkages includes a chamfered portion defined within at least one of the proximal and distal surfaces thereof toward an outer circumference thereof.

11. A surgical device for performing surgery, comprising:

an elongate member defining a longitudinal axis;

an articulation section extending from the elongate member, the articulation section transitionable between a straight position in which the articulation section is aligned with the longitudinal axis and a plurality of articulated positions in which the articulation section is offset from the longitudinal axis, the articulation section including a plurality of articulation links arranged in a linear fashion, each articulation link including chamfered portions, the chamfered portions of adjacent articulation links in juxtaposed relation to one another;

a handle assembly operatively coupled to the articulation section, the handle assembly including;

a support member; and

a trigger operatively coupled to a biasing member, the trigger irreversibly transitionable from a first position in which the biasing member is disengaged from the support member to a second position in which the biasing member is engaged with the support member;

an articulation cable interconnecting the articulation section with the handle assembly, the articulation cable operably coupled to the biasing member; and

an end effector operatively coupled to the articulation section.

12. The surgical device for performing surgery according to claim 11, wherein each of the plurality of articulation links includes proximal and distal surfaces, each surface including a pair of chamfered portions.

13. The surgical device for performing surgery according to claim 12, wherein the pair of chamfered portions diametrically oppose each other.

14. The surgical device for performing surgery according to claim 12, wherein each surface defines the pair of chamfered portions near an outer periphery of the surface.

15. The surgical device for performing surgery according to claim 12, wherein each articulation link includes at least a pair of bores on a peripheral portion of the articulation link, the bores adapted and dimensioned to receive an articulation cable therein.

16. The surgical device for performing surgery according to claim 15, wherein movement of the handle assembly to angle the handle assembly with respect to the longitudinal axis of the elongate member results in corresponding articulation of the articulation section to an angled position with respect to the longitudinal axis of the elongate member.

17. The surgical device for performing surgery according to claim 12, wherein each articulation link defines a channel configured and dimensioned to receive an actuation cable therethrough for actuation of the end effector.

18. The surgical device for performing surgery according to claim 11, wherein each articulation link includes a proximal surface and a distal surface, one of the proximal or distal surfaces defining a pair of recesses, the other one of the proximal or distal surfaces including a pair of extension members extending axially therefrom.

19. The surgical device for performing surgery according to claim 18, wherein the pair of extension members are configured and dimensioned to at least partially slidably engage the pair of recesses of an adjacent articulation link.

20. The surgical device for performing surgery according to claim 19, wherein the distal surface includes a contoured profile that is configured to mate with a contoured profile of the proximal surface of the adjacent articulation link.

21. The surgical device for performing surgery according to claim 11, further comprising a conformable sheath substantially encasing the articulation section.

22. The surgical device for performing surgery according to claim 11, wherein the biasing member is a flat spring.