Surgical Device with Articulation and Wrist Rotation
A surgical instrument comprising a handle assembly, an elongated shaft, an end effector, a rotation mechanism, and an articulation mechanism is disclosed. The rotation mechanism is disposed in mechanical cooperation with the handle assembly and effects rotation of the end effector about the second longitudinal axis. The articulation mechanism is disposed in mechanical cooperation with the handle assembly and effects movement of the end effector from a first position where the first longitudinal axis is substantially aligned with the second longitudinal axis to a second position where the second longitudinal axis is displaced from the first longitudinal axis. The articulation mechanism comprises a first articulation control disposed in mechanical cooperation with the handle assembly, a first cable and a second cable. Actuation of the first articulation control in a first direction causes the first cable to move distally and causes the second cable to move proximally.
1 . A surgical instrument, comprising;
a handle assembly;
an elongated shaft extending distally from the handle assembly and defining a first longitudinal axis;
an end effector disposed in mechanical cooperation with a distal portion of the elongated shaft, the end effector defining a second longitudinal axis;
a rotation mechanism disposed in mechanical cooperation with the handle assembly for effecting rotation of the end effector about the second longitudinal axis; and
an articulation mechanism disposed in mechanical cooperation with the handle assembly for effecting movement of the end effector from a first position where the first longitudinal axis is substantially aligned with the second longitudinal axis to a second position where the second longitudinal axis is displaced from the first longitudinal axis, the articulation mechanism comprising:
a first articulation control disposed in mechanical cooperation with the handle assembly;
a first cable, a distal portion of the first cable being in mechanical cooperation with the end effector, a proximal portion of the first cable being in mechanical cooperation with the first articulation control;
a second cable, a distal portion of the second cable being in mechanical cooperation with the end effector, a proximal portion of the second cable being in mechanical cooperation with the first articulation control;
actuation of the first articulation control in a first direction causes the first cable to move distally and causes the second cable to move proximally.
2 . The surgical instrument of claim 1 , wherein the articulation mechanism comprises a second articulation control, a third cable and a fourth cable, the second articulation control being disposed in mechanical cooperation with the handle assembly, a distal portion of the third and fourth cables being in mechanical cooperation with the end effector, a proximal portion of the third and fourth cables being in mechanical cooperation with the second articulation control, wherein actuation of the second articulation control in a first direction causes the third cable to move distally and causes the fourth cable to move proximally.
3 . The surgical instrument of claim 1 , wherein actuation of the rotation mechanism causes the first cable and the second cable to rotate about the first longitudinal axis.
4 . The surgical instrument of claim 1 , wherein a proximal portion of the first cable and the second cable are coupled to an outer disc, the outer disc being rotatable about the first longitudinal axis.
5 . The surgical instrument of claim 4 , wherein the outer disc is rotatable around an inner disc.
6 . The surgical instrument of claim 5 , wherein the inner disc defines a passageway between the housing and the elongated shaft.
7 . The surgical instrument of claim 5 , further comprising a link mechanism, the link mechanism connecting the first articulation control to the inner disc.
8 . The surgical instrument of claim 2 , wherein a proximal portion of the first cable, the second cable, the third cable and the fourth cable are coupled to an outer disc, the outer disc being rotatable about the first longitudinal axis, the outer disc being rotatable around an inner disc, and further comprising a link mechanism, the link mechanism connecting the first articulation control and the second articulation control to the inner disc.
9 . The surgical instrument of claim 1 , wherein the articulation mechanism further comprises a first disc and a first slider, the first disc being disposed in mechanical cooperation with the first articulation control, and the first slider being disposed in mechanical cooperation with the first disc, actuation of the first articulation control rotates the first disc, rotation of the first disc causes longitudinal translation of the first slider, which causes longitudinal translation of the first cable and the second cable.
10 . The surgical instrument of claim 1 , wherein actuation of the rotation mechanism does not change the second position of the end effector.