STEERABLE ENDOSCOPIC INSTRUMENTS
Flexible, steerable, endoscopic instruments include a handle, a flexible shaft, and an end effector. The handle includes an actuator for controlling the end effector. The handle also includes a steering mechanism for steering the endoscopic instrument. The steering mechanism includes one or more tensioning members configured to increase or decrease a tension force on one or more steering wires that are attached to one or more steerable portions of the flexible shaft.
1 . A steerable endoscopic instrument comprising:
a handle;
an elongated flexible shaft extending from the handle, the shaft comprising an outer sheath and an inner shaft member, the shaft including a steerable portion located distally of the handle;
an end effector disposed at or near a distal end of the shaft, with a distal end of the inner shaft member being operatively coupled to the end effector;
at least one steering wire extending between the handle and the steerable portion of the shaft, the at least one steering wire being operatively coupled to the steerable portion of the shaft;
an actuator associated with the handle and coupled to a proximal end of the inner shaft member such that movement of the actuator causes translation of the inner shaft member relative to the outer sheath; and
a tensioning member associated with the handle and coupled to a proximal end of the at least one steering wire such that movement of the tensioning member increases or decreases a tension force in said steering wire.
2 . The instrument of claim 1 , wherein said tensioning member comprises a drum rotatably supported on said handle.
3 . The instrument of claim 1 , wherein said tensioning member comprises a sphere rotatably supported on said handle.
4 . The instrument of claim 1 , further comprising a steering lock having a first position substantially preventing movement of said tensioning member and a second position allowing movement of said tensioning member.
5 . The instrument of claim 4 , wherein said steering lock comprises a tab and a plurality of slots.
6 . The instrument of claim 5 , wherein the tab is disposed on a lever used to move the tensioning member, and the plurality of slots are disposed on a portion of said handle.
7 . The instrument of claim 1 , wherein said steerable portion of said shaft comprises a proximal steering portion and a distal steering portion, said proximal and distal steering portions being controlled separately such that each is independently steerable.
8 . The instrument of claim 1 , wherein said handle comprises a pusher block slidably received within a main body, and an actuation arm connected to said pusher block by a linkage.
9 . The instrument of claim 8 , further comprising a stop mechanism including a plate member having a slot through which the pusher block extends, the plate member having a first position in which the plate member substantially prevents translation of the pusher block and a second position in which the plate member allows translation of the pusher block through the slot.
10 . The instrument of claim 1 , wherein said steerable portion of said shaft comprises a plurality of hinged links.
11 . The instrument of claim 1 , wherein the end effector comprises a tissue grasper having a pair of jaws.