Hand-actuated device for remote manipulation of a grasping tool
The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.
1. A hand-actuated apparatus for remote manipulation of an object comprising:
a) a proximal end having a user hand interface portion with at least one finger slide configured to removably secure one or more digits of a human hand for movement, such that flexion of said digit when secured to the at least one finger slide is translated into translational movement of the at least one finger slide; and
b) a distal end having an effector portion, wherein translational movement of the at least one finger slide is translated into a bending movement at said effector portion
wherein each of said at least one finger slide comprises:
a) a transmission rod;
b) a pulley lever connected to the transmission rod;
c) a plurality of pulleys connected to the pulley lever; and
d) at least two sets of cables, with each set connected at one end to a pulley or pulley lever and operably connected at the other end to the effector portion; wherein translational movement of the transmission rod produces rotational movement of the pulley lever, which actuates the cables about the pulleys to produce bending of the effector portion.
2. The hand-actuated apparatus of claim 1 wherein said effector portion comprises a proximal joint and one or more distal joints.
3. The hand-actuated apparatus of claim 2 wherein at least one of said finger slides controls movement of said one or more distal joints.
4. The hand actuated apparatus of claim 2 wherein control of the proximal joint is independent of control of the one or more distal joints.
5. The hand-actuated apparatus of claim 2 wherein at least one of the finger slides is coupled to the user hand interface by a base joint having the range of motion of a metacarpal phalangeal joint.
6. The hand-actuated apparatus of claim 5 wherein movement of said base joint causes a corresponding relative movement of said proximal joint.
7. The hand-actuated apparatus of claim 1 further comprising a locking mechanism for locking the effector portion into a fixed position.
8. The hand-actuated apparatus of claim 1 wherein the translational movement of at least one of the finger slides is proportionally scaled to at least one of the bending movements of the effector portion.
9. The hand actuated apparatus of claim 1 further comprising a second finger slide configured to removably secure a thumb of a human hand for movement.