Surgical tool
View Patent ↗A medical instrument comprising: (a) a first joint comprising a first member and a second member, the first member configured to be repositionable with respect to the second member in a first degree of freedom; (b) a second joint operatively coupled to the first joint, the second joint comprising a third member and a fourth member, the third member configured to be repositionable with respect to the fourth member in a second degree of freedom; (c) a pair of repositionable jaws operatively coupled to the first joint and the second joint; (d) an occlusion clip detachably mounted to the pair of repositionable jaws; and, (e) a controller operatively coupled to the first joint, the second joint, and the pair of repositionable jaws, the controller including a first control configured to direct repositioning of at least one of the first member and the second member, and a second control configured to direct repositioning of at least one of the third member and the fourth member, and a third control configured to direct repositioning of the pair of repositionable jaws.
1. A method of establishing controls for an end effector of a medical instrument, the medical instrument including a hand-held device operatively coupled to the end effector, the method comprising:
providing a first manual control of the hand-held device configured to direct repositioning of at least one of a first member and a second member of a first joint of the end effector, the first member and second member being repositionable with respect to one another in a first degree of freedom;
providing a second manual control of the hand-held device configured to direct repositioning of at least one of a third member and a fourth member of a second joint of the end effector, the third member and fourth member being repositionable with respect to one another in a second degree of freedom different from the first degree of freedom; and,
providing a third manual control of the hand-held device configured to direct repositioning of a folding pantograph support between a compact position and an expanded position, the folding pantograph support operatively coupled to the first and second joints.
2. The method of claim 1 , further including providing a fourth control of the hand-held device configured to selectively disengage an occlusion clip operatively coupled to the folding pantograph support.
3. The method of claim 1 , wherein:
the first control includes a first wheel having a first wire partially wound therearound, where the first wire is also operatively coupled to at least one of the first member and the second member of the first joint of the end effector; and,
the second control includes a second wheel having a second wire partially wound therearound, where the second wire is also operatively coupled to at least one of the third member and the fourth member of the second joint of the end effector.
4. The method of claim 1 , wherein the third control includes a repositionable handle operatively coupled to the hand-held device, the repositionable handle operatively coupled to a wire that is operatively coupled to the folding pantograph support to allow repositioning of the folding pantograph support between the compact position and the expanded position.
5. A method of establishing controls for an end effector of a medical instrument, the medical instrument including a hand-held device operatively coupled to the end effector, the method comprising:
providing a first manually actuated control of the hand-held device remote from the end effector and configured to direct repositioning of at least one of a first member and a second member of a first joint of the end effector, the first member and second member being repositionable with respect to one another in a first degree of freedom;
providing a second manually actuated control of the hand-held device remote from the end effector and configured to direct repositioning of at least one of a third member and a fourth member of a second joint of the end effector, the third member and fourth member being repositionable with respect to one another in a second degree of freedom different from the first degree of freedom; and,
providing a third manually actuated control of the hand-held device remote from the end effector and configured to direct repositioning of a folding support between a compact position and an expanded position, the folding support operatively coupled to the first and second joints;
providing a fourth manually actuated control of the hand-held device remote from the end effector and configured to selectively disengage an occlusion clip operatively coupled to the folding support.
6. The method of claim 5 , wherein:
the first manually actuated control includes a first wheel having a first wire partially wound therearound, where the first wire is also operatively coupled to at least one of the first member and the second member of the first joint of the end effector; and,
the second manually actuated control includes a second wheel having a second wire partially wound therearound, where the second wire is also operatively coupled to at least one of the third member and the fourth member of the second joint of the end effector.
7. The method of claim 5 , wherein the third manually actuated control includes a repositionable handle operatively coupled to the hand-held device, the repositionable handle operatively coupled to a wire that is operatively coupled to the folding support to allow repositioning of the folding support between the compact position and the expanded position.
8. A method of establishing controls for an end effector of a medical instrument, the medical instrument including a hand-held device operatively coupled to the end effector, the method comprising:
providing a first manually actuated control of the hand-held device remote from the end effector and configured to direct repositioning of at least one of a first member and a second member of a first joint of the end effector, the first member and second member being repositionable with respect to one another in a first degree of freedom;
providing a second manually actuated control of the hand-held device remote from the end effector and configured to direct repositioning of at least one of a third member and a fourth member of a second joint of the end effector, the third member and fourth member being repositionable with respect to one another in a second degree of freedom different from the first degree of freedom; and,
providing a third manually actuated control of the hand-held device remote from the end effector and configured to direct repositioning of a folding support between a compact position and an expanded position, the folding support operatively coupled to the first and second joints;
wherein the first manually actuated control includes a first wheel having a first wire partially wound therearound, where the first wire is also operatively coupled to at least one of the first member and the second member of the first joint of the end effector;
wherein the second manually actuated control includes a second wheel having a second wire partially wound therearound, where the second wire is also operatively coupled to at least one of the third member and the fourth member of the second joint of the end effector.
9. The method of claim 8 , further including providing a fourth manually actuated control of the hand-held device remote from the end effector and configured to selectively disengage an occlusion clip operatively coupled to the folding support.
10. The method of claim 8 , wherein the third manually actuated control includes a repositionable handle operatively coupled to the hand-held device, the repositionable handle operatively coupled to a wire that is operatively coupled to the folding support to allow repositioning of the folding support between the compact position and the expanded position.