Endoscopic Instrument Having Rotatably Mounted End Effector Assembly
An endoscopic instrument includes a tubular member having a proximal end and a distal end, a clevis at the distal end of the tubular member, and an end effector assembly mounted on the clevis. The clevis is rotatably coupled to the distal end of the tubular member using a bearing system. A control member extends through and is movable relative to the tubular member. The distal end of the control member is coupled to the end effector. The control member which actuates the end effectors is a composite structure that effectively transfers torque through a highly flexed instrument to rotate the clevis on the bearing.
1 . An endoscopic instrument, comprising:
a) a tubular member having proximal and distal ends and defining a longitudinal axis;
b) a control member having proximal and distal ends and extending through said tubular member;
c) an inner bearing fixed within and relative to said distal end of said tubular member;
d) a clevis disposed distally adjacent said inner bearing;
e) an outer bearing fixed to said clevis and rotatable about said inner bearing such that said clevis is rotatable relative to said distal end of said tubular member;
f) at least one end effector mounted on said clevis, said distal end of said control member being de-coupled from said clevis and coupled to said end effector; and
g) a proximal handle assembly for longitudinally and rotationally displacing said control member relative to said tubular member so as to cause (i) movement of said end effector relative to said clevis and (ii) rotation of said end effector about the longitudinal axis.
2 . An endoscopic instrument according to claim 1 , wherein:
said outer bearing is fixed onto said clevis.
3 . An endoscopic instrument according to claim 1 , wherein:
said at least one end effector is a scissors blade.
4 . An endoscopic instrument according to claim 1 , wherein:
said at least one end effector is two end effectors, each of which is rotatable relative to the other.
5 . An endoscopic instrument according to claim 1 , wherein:
said tubular member is sufficiently elastically-flexible and of sufficient length to be passed through a tortuous passage of a retroflexed endoscope.
6 . An endoscopic instrument according to claim 5 , wherein:
said tubular member comprises a wound wire coil.
7 . An endoscopic instrument according to claim 1 , wherein:
said proximal handle includes,
a shaft having a slot and a distal bore in communication with said slot,
a ferrule rotatably mounted to a distal end of said shaft; and
a spool longitudinal displaceable on said shaft,
wherein said proximal end of said tubular member is fixed relative to said ferule and said proximal end of said control member is fixed relative to said spool.
8 . An endoscopic instrument according to claim 1 , wherein:
said control member has a length, and decreasing torsional and flexural stifffiesses along said length in a proximal to distal direction.
9 . An endoscopic instrument according to claim 8 , wherein:
said control member comprises at most a single rod through a proximal portion of said tubular member and comprises a multistrand cable through a distal portion of said tubular member.
10 . An endoscopic instrument according to claim 8 , wherein:
said control member consists essentially of a steel or composite rod through a proximal portion of said tubular member and consists essentially of a superelastic wire through a distal portion of said tubular member.
11 . An endoscopic instrument, comprising:
a) a tubular member having proximal and distal ends and a length therebetween defining a longitudinal axis, said tubular member sufficiently elastically-flexible and said length sufficient to be passed through a tortuous passage of a retroflexed endoscope;
b) a flexible control member having proximal and distal ends and extending through said tubular member;
c) a clevis rotatably mounted on a bearing at said distal end of said tubular member;
d) at least one end effector mounted on said clevis, said distal end of said control member being de-coupled from said clevis and coupled to said end effector; and
e) a proximal handle assembly for longitudinally and rotationally displacing said control member relative to said tubular member to cause (i) movement of said end effector relative to said clevis and (ii) rotation of said clevis on said bearing about the longitudinal axis.
12 . An endoscopic instrument according to claim 11 , wherein:
said at least one end effector is two end effectors, each of which is rotatable relative to the other on said clevis.
13 . An endoscopic instrument according to claim 11 , wherein:
said tubular member comprises a wound wire coil.
14 . An endoscopic instrument according to claim 11 , wherein:
said proximal handle includes,
a shaft having a slot and a distal bore in communication with said slot,
a ferrule rotatably mounted to a distal end of said shaft; and
a spool longitudinal displaceable on said shaft,
wherein said proximal end of said tubular member is fixed relative to said ferule and said proximal end of said control member is fixed relative to said spool.
15 . An endoscopic instrument according to claim 11 , wherein:
said control member has a length, and decreasing torsional and flexural stifffiesses along said length in a proximal to distal direction.
16 . An endoscopic instrument according to claim 15 , wherein:
said control member consists essentially of a single flexible rod through a proximal portion of said tubular member and consists essentially of a multistrand cable through a distal portion of said tubular member.
17 . An endoscopic instrument according to claim 15 , wherein:
said control member consists essentially of a spring steel wire through a proximal portion of said tubular member and consists essentially of a superelastic wire through a distal portion of said tubular member.
18 . An endoscopic instrument according to claim 15 , wherein:
said control member consists essentially of a single flexible rod through a proximal portion of said tubular member and consists essentially of a superelastic wire through a distal portion of said tubular member.
19 . An endoscopic instrument according to claim 11 , further comprising:
an element provided at said distal end of said control member, said element including a cam-pin, wherein said at least one end effector includes a cam-slot in which said cam-pin rides, wherein torque is transferred from said control member to said cam-pin to cause said end effector on said clevis to rotate about said tubular member on said bearing.
20 . An endoscopic instrument, comprising:
a) a tubular member having proximal and distal ends and a length therebetween defining a longitudinal axis, said tubular member sufficiently elastically-flexible and said length sufficient to be passed through a tortuous passage of a retroflexed endoscope;
b) a flexible control member having proximal and distal ends and extending through said tubular member;
c) an end effector assembly rotatably mounted at said distal end of said tubular member, said end effector assembly comprising a clevis and first and second end effectors, at least said first end effector movably relative to said second end effector, said distal end of said control member decoupled from said clevis and coupled directly to at least said first end effector; and
d) a proximal handle assembly for longitudinally and rotationally displacing said control member relative to said tubular member to cause both (i) movement of at least said first end effector relative to said second end effector between open and closed positions and (ii) rotation of at least said first end effector about the longitudinal axis and thus rotation of said end effector assembly about said longitudinal axis.