Medical device with articulating shaft
A medical device includes an articulating shaft with a pair of slat assemblies. By moving an articulator, the slat assemblies are configured to concurrently push while the other pulls in order to bend the articulating shaft. The articulating shaft includes a series of alternating pins and pivot members. Each pin defines an aperture that collectively forms a passageway for receiving an actuator or a tube. The pair of slat assemblies extend generally parallel to each other on opposite sides of the pins. A method for articulating a shaft of a medical device is also provided.
1. A medical device, comprising:
a bendable portion including a plurality of pivot members and pins in an alternating configuration, each pivot member defining an opening, each pin defining a pin aperture;
a first slat assembly extending through the bendable portion, the first slat assembly comprising a first plurality of layered slats; and
a second slat assembly extending through the bendable portion, the second slat assembly comprising a second plurality of layered slats;
wherein each of the first slat assembly and the second slat assembly is configured to push when the other of the first slat assembly and the second slat assembly pulls so as to cause the bendable portion to bend.
2. The device of claim 1 , wherein:
the openings collectively define an outer passageway; and
the pin apertures collectively define an inner passageway.
3. The device of claim 2 , wherein:
the first slat assembly extends through the outer passageway alongside a first side of the pins; and
the second slat assembly extends through the outer passageway alongside a second side of the pins opposite the first side of the pins.
4. The device of claim 1 , further comprising an actuator extending through the bendable portion.
5. The device of claim 4 , further comprising an operating mechanism coupled to the bendable portion, wherein the actuator is configured to actuate the operating mechanism.
6. The device of claim 1 , further comprising a flexible tube extending through the bendable portion.
7. The device of claim 6 , wherein the flexible tube comprises a passage for delivery of fluids.
8. The device of claim 1 , further comprising an articulator coupled to the first slat assembly and the second slat assembly, wherein movement of the articulator causes one of the first and second slat assemblies to push and the other of the first and second slat assemblies to pull simultaneously.
9. The device of claim 8 , wherein movement of the articulator in a first direction causes the bendable portion to bend in a second direction away from the first direction.
10. The device of claim 8 , wherein movement of the articulator in a first direction causes the bendable portion to bend in a second direction toward the first direction.
11. The device of claim 1 , wherein each pivot member defines a vertical axis, the device further comprising means for preventing each pin from moving vertically with respect to an adjacent pivot member.
12. The device of claim 1 , wherein each pivot member has a laterally tapered thickness.
13. The device of claim 1 , wherein:
the bendable portion is bendable in a first direction and an opposite second direction, the first and second directions collectively defining a range of motion;
the bendable portion comprises a preconfigured curve generally perpendicular to the range of motion.
14. The device of claim 13 , wherein the first slat assembly and second slat assembly are curved in conformity with the preconfigured curve.
15. The device of claim 13 , further comprising an actuator curved in conformity with the preconfigured curve.
16. The device of claim 13 , wherein each pivot member has a tapered top portion.
17. The device of claim 13 , wherein each pin has a tapered top portion.
18. The device of claim 1 , further comprising an electrical wire extending through the pin apertures.
19. The device of claim 1 , further comprising an optical fiber extending through the pin apertures.
20. A medical device, comprising:
a bendable portion including a plurality of pivot members and pins in an alternating configuration and wherein each pivot member comprises a pair of arms extending in opposite directions so as to form a first plurality of arms disposed along a first side of the pivot members and a second plurality of arms disposed along a second opposite side of the pivot members;
a first slat assembly coupled to the bendable portion, the first slat assembly comprising a first slat groove for receiving the first plurality of arms; and
a second slat assembly coupled to the bendable portion, the second slat assembly comprises a second slat groove for receiving the second plurality of arms,
wherein each of the first slat assembly and the second slat assembly is configured to push when the other of the first slat assembly and the second slat assembly pulls so as to cause the bendable portion to bend.
21. A method for articulating a shaft of a medical device, comprising:
providing pivot members each having a single opening;
providing pins each having a single pin aperture;
disposing the pins adjacent to the pivot members in an alternating configuration;
extending a first slat assembly through the single opening of each pivot member;
extending a second slat assembly through the single opening of each pivot member; and
pushing one of the first and second slat assemblies while concurrently pulling the other of the first and second slat assemblies to cause the pivot members to collectively form a bend.
22. The method of claim 21 , wherein pushing one of the first and second slat assemblies while concurrently pulling the other of the first and second slat assemblies comprises moving an articulator.
23. The method of claim 22 , wherein moving the articulator comprises:
moving the articulator to a left direction to cause the pivot members to collectively form a bend in a first direction; and
moving the articulator to a right direction to cause the pivot members to collectively form a bend in a second direction.
24. The method of claim 21 , further comprising actuating an end operating assembly coupled distally to the articulating shaft.