Articulating endoscopic accessory channel
View Patent ↗Methods and devices are provided for controlling movement of a working end of a surgical device. In one embodiment, methods and devices are provided for moving an end effector on a distal end of a surgical fastening device. Movement can include rotational movement of the end effector about an axis of the shaft, articulation of the end effector relative to the shaft, and actuation of an end effector, e.g., closing, firing, and/or cutting. In other embodiments, a single cable actuator is provided and is movable between a first position, in which it is effective to rotate an end effector without actuating (i.e., closing and firing) the end effector, and a second position, in which it is effective to actuate the end effector without rotating the end effector. In other aspects, methods and devices are provided for moving a flexible neck formed on a distal end of an accessory channel for use with an endoscope. Movement of the flexible neck can be used to control positioning of a tool extending through the flexible neck.
1. A surgical device, comprising:
an end effector including an end effector component configured for linear travel within said end effector upon application of a rotary actuation motion thereto and wherein said surgical device further comprises:
an elongate shaft coupled to said end effector and defining a shaft axis, the elongate shaft comprising:
an elongate flexible portion configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of an actuation device relative to said elongate shaft such that movement of the actuation device is mimicked by said end effector, said elongate flexible portion defining a lumen therethrough; and
a rotary drive shaft extending through said lumen in said elongate flexible portion and being selectively movable relative thereto such that when the rotary drive shaft is in a first position and rotated, said end effector is rotated about the shaft axis and when the rotary drive shaft is in a second position and rotated, said end effector component is moved within the end effector, said rotary drive shaft operably interfacing with the end effector component such that rotation of said rotary drive shaft causes said end effector component to linearly travel through said end effector and wherein the surgical device further comprises:
means for generating the rotary actuation motion operably coupled to the rotary drive shaft.
2. The surgical device of claim 1 wherein said elongate shaft has an inner lumen extending therethrough.
3. The surgical device of claim 1 wherein said elongate shaft comprises:
a flexible hollow tube; and
a plurality of flexible actuators operably interfacing with the actuation device and operably supported along said flexible hollow tube to be operably coupled to said end effector.
4. The surgical device of claim 1 wherein said end effector is pivotally or rotatably coupled to said elongate shaft.
5. The surgical device of claim 3 , wherein the flexible hollow tube comprises a plurality of slits formed therein to facilitate flexion thereof.
6. The surgical device of claim 5 , wherein said plurality of slits comprises a distal region of said slits and a proximal region of said slits, and wherein said slits are configured such that tension applied to the flexible hollow tube will cause the flexible hollow tube to bend at the proximal and distal regions.
7. The surgical device of claim 1 , wherein the actuation device includes a stationary member and a movable member adapted to articulate relative to the stationary member.
8. The surgical device of claim 7 , wherein the movable member is coupled to the stationary member by a joint selected from the group consisting of a ball and socket joint, a hinge joint, and a flexing joint.
9. The surgical device of claim 3 , wherein the plurality of flexible actuators comprise a plurality of cables extending along a length of the flexible hollow tube.
10. The surgical device of claim 9 , further comprising a locking mechanism positioned to engage at least one of a portion of the actuation device and at least one of said cables to lock the at least one of a portion of the actuation device and the at least one of said cables in a fixed position.
11. The surgical device of claim 9 , wherein the plurality of cables are equally spaced apart from one another around a circumference of the flexible hollow tube.
12. The surgical device of claim 9 , wherein the flexible hollow tube includes at least one lumen formed in a sidewall thereof and extending along the length thereof to slidably support one of said cables therein.
13. The surgical device of claim 1 , wherein the elongate shaft includes a mating element formed on and extending along a length of an external surface thereof for mating to a complementary mating element formed on an endoscope or endoscope sleeve.
14. A surgical device, comprising:
an end effector including a movable end effector component therein configured to perform at least one surgical procedure in response to at least one rotary control motion applied thereto; and
an elongate shaft coupled to said end effector and defining a shaft axis, the elongate shaft comprising:
an elongate flexible portion configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of an actuation device relative to said elongate shaft such that movement of the actuation device is mimicked by said end effector, said elongate flexible portion defining a lumen therethrough; and
a rotary drive shaft extending through said lumen in said elongate flexible portion and being selectively movable relative thereto such that when the rotary drive shaft is in a first position and rotated, said end effector is rotated about the shaft axis and when the rotary drive shaft is in a second position and rotated, said movable end effector component is moved within the end effector and wherein the surgical device further comprises:
a rotary actuator operably coupled to the rotary drive shaft.
15. The surgical device of claim 14 wherein said elongate shaft has an inner lumen extending therethrough.
16. The surgical device of claim 14 wherein said elongate shaft comprises:
a flexible hollow tube; and
a plurality of flexible actuators operably interfacing with the actuation device and operably supported along said flexible hollow tube to be operably coupled to said end effector.
17. The surgical device of claim 14 wherein said end effector is pivotally or rotatably coupled to said elongate shaft.
18. The surgical device of claim 16 , wherein the flexible hollow tube comprises a plurality of slits formed therein to facilitate flexion thereof.
19. The surgical device of claim 18 , wherein said plurality of slits comprises a distal region of said slits and a proximal region of said slits, and wherein said slits are configured such that tension applied to the flexible hollow tube will cause the flexible hollow tube to bend at the proximal and distal regions.
20. The surgical device of claim 14 , wherein the actuation device includes a stationary member and a movable member adapted to articulate relative to the stationary member.
21. The surgical device of claim 20 , wherein the movable member is coupled to the stationary member by a joint selected from the group consisting of a ball and socket joint, a hinge joint, and a flexing joint.
22. The surgical device of claim 16 , wherein the plurality of flexible actuators comprise a plurality of cables extending along a length of the flexible hollow tube.
23. The surgical device of claim 22 , further comprising a locking mechanism positioned to engage at least one of a portion of the actuation device and at least one of said cables to lock the at least of the portion of the actuation device and the at least one of said cables in a fixed position.
24. The surgical device of claim 22 , wherein the plurality of cables are equally spaced apart from one another around a circumference of the flexible hollow tube.
25. The surgical device of claim 22 , wherein the flexible hollow tube includes at least one lumen formed in a sidewall thereof and extending along the length thereof to slidably support one of said cables therein.
26. The surgical device of claim 14 , wherein the elongate shaft includes a mating element formed on and extending along a length of an external surface thereof for mating to a complementary mating element formed on an endoscope or endoscope.