Heart stabilizer
View Patent ↗A heart stabilizer that may include a wrist which couples an end effector to a first linkage. The end effector and wrist may be inserted through an incision in the chest of a patient to assist in performing a minimally invasive coronary procedure. The wrist provides dexterity so that the end effector can be placed on the heart to stabilize the same.
1. A heart stabilizer, comprising:
an end effector;
a first linkage; and,
a wrist that couples said first linkage to said end effector to allow said end effector to move from a position essentially parallel with said first linkage to a position at an angle oblique to said first linkage.
2. The heart stabilizer of claim 1 , wherein said end effector includes a paddle.
3. The heart stabilizer of claim 2 , wherein said paddle includes an opening that is adapted to be coupled to a source of vacuum.
4. The heart stabilizer of clam 1 , wherein said end effector includes a rack, and a pinion gear that is coupled to said rack.
5. The heart stabilizer of claim 1 , wherein said wrist includes a first universal joint.
6. The heart stabilizer of claim 5 , wherein said wrist includes a second universal joint that pivots about a common plane with said first universal joint.
7. The heart stabilizer of claim 4 , further comprising a drive shaft that is coupled to said rack and extends along said first linkage.
8. The he art stabilizer of claim 7 , further comprising a motor output shaft that is coupled to said drive shaft.
9. The heart stabilizer of claim 7 , further comprising locking pin that is coupled to said drive shaft.
10. The heart stabilizer of claim 1 , further comprising a second linkage and an elbow that are coupled to said first linkage.
11. The heart stabilizer of claim 10 , wherein said elbow includes a first universal joint.
12. A heart stabilizer, comprising:
a first linkage that has a proximal end and a distal end;
an elbow coupled to said proximal end of said first linkage;
a wrist coupled to said distal end of said first linkage;
an end effector coupled to said wrist, said end effector having a paddle; and,
a drive shaft that extends along said first linkage and is coupled to said paddle of said end effector to move said paddle.
13. The heart stabilizer of claim 12 , wherein said paddle includes an opening that is adapted to be coupled to a source of vacuum.
14. The heart stabilizer of claim 12 , wherein said end effector includes a rack, and a pinion gear that is coupled to said rack.
15. The heart stabilizer of claim 12 , wherein said wrist includes a first universal joint.
16. The heart stabilizer of claim 15 , wherein said wrist includes a second universal joint that pivots about a common plane with said first universal joint.
17. The heart stabilizer of claim 12 , further comprising a motor output shaft that is coupled to said drive shaft.
18. The heart stabilizer of claim 12 , further comprising locking pin that is coupled to said drive shaft.
19. The heart stabilizer of claim 12 , wherein said elbow includes a first universal joint.
20. A method for applying a heart stabilizer to a heart of a patient that has a chest, comprising:
inserting an end effector and a wrist through an incision in the chest of the patient, the wrist couples the end effector to a first linkage;
bending the wrist to place the end effector onto the heart; and,
bending the wrist to move the end effector from a position essentially parallel with the first linkage to a position at an angle oblique to the first linkage.
21. The method of claim 20 , further comprising bending an elbow to place the end effector onto the heart.
22. The method of claim 20 , further comprising moving a paddle of the end effector relative to the heart.
23. A retractor, comprising:
a first linkage;
an end effector;
a first joint that couples said end effector to said first linkage;
a second joint that couples said end effector to said first linkage and pivots about a common plane with said first joint.
24. The retractor of claim 23 , where in said end effector includes a paddle.
25. The retractor of claim 24 , wherein said paddle includes an opening that is adapted to be coupled to a source of vacuum.
26. The retractor of claim 23 , wherein said end effector includes rack, and a pinion gear that is coupled to said rack.
27. The retractor of claim 26 , further comprising a drive shaft that is coupled to said rack and extends along said first linkage.
28. The retractor of claim 27 , further comprising a motor output shaft that is coupled to said drive shaft.
29. The retractor of claim 27 , further comprising a locking pin that is coupled to said drive shaft.
30. The retractor of claim 27 , further comprising a second linkage and an elbow that are coupled to said shaft.
31. The retractor of claim 30 , wherein said elbow includes a first universal joint.