Articulating steerable clip applier for laparoscopic procedures
A long articulating steerable clip applier affixed to a user-operated handle. A surgical jaw assembly is attached to the other end of the clip applier. The clip applier is composed of articulating phalanges that are connected end to end by pivoting links and capable of angulations relative to one another when subjected to a tensile force. Each phalange has opposing s-shaped exterior grooves that form two continuous spiral-shaped channels for holding tension wires once the phalanges are assembled. Multiple tension wires are attached to opposite ends of adjacent phalanges. When each wire is pulled, this tensile force causes the phalanges to pivot at equivalent angles with each other. As each individual phalange pivots by an equivalent angle, the sum of these angles causes the free end of the clip applier to pivot by a large angle or a cascading actuation effect.
1. A device comprising:
a handle extending along a central longitudinal axis;
a first phalanx movably coupled to the handle;
a second phalanx movably coupled to the first phalanx;
wherein each phalanx comprises two s-shaped grooves on opposite sides of an exterior surface of the respective phalanx, wherein each s-shaped groove begins on a first side of a proximal end of the exterior surface and curves over the exterior surface to an opposing side of a distal end of the exterior surface;
a first pair of semicircular connecting ligaments, each of which includes a proximal end and a distal end, the first pair of semicircular connecting ligaments being positioned in an opposite top-bottom configuration and in a covering relation over the first phalanx; and
a second pair of semicircular connecting ligaments, each of which includes a proximal end and a distal end, the second pair of semicircular connecting ligaments being positioned in an opposite top-bottom configuration and in a covering relation over the second phalanx.
2. The device of claim 1 , wherein the second phalanx moves at a same angle and in a same direction as the first phalanx, wherein the angle of the first phalanx is measured from the handle to the first phalanx, and the angle of the second phalanx is measured from the first phalanx to the second phalanx.
3. The device of claim 1 , wherein each of the first phalanx and the second phalanx comprises a lumen, and the lumens form an internal longitudinal passage when connected.
4. The device of claim 1 , wherein at least one of the first pair of semicircular connecting ligaments or second pair of semicircular connecting ligaments comprises a first flexible tip extending from the proximal end or from the distal end thereof.
5. The device of claim 4 , further comprising a second flexible tip, wherein the first flexible tip extends from the proximal end of the at least one of the first pair of semicircular connecting ligaments or second pair of semicircular connecting ligaments, and the second flexible tip extends from the distal end of the at least one of the first pair of semicircular connecting ligaments or second pair of semicircular connecting ligaments.
6. The device of claim 5 , wherein the first flexible tip extends from the proximal end of the at least one of the first pair of semicircular connecting ligaments or second pair of semicircular connecting ligaments on one side of the central longitudinal axis, and the second flexible tip extends from the distal end of the at least one of the first pair of semicircular connecting ligaments or second pair of semicircular connecting ligaments on the other side of the central longitudinal axis.
7. The device of claim 6 , wherein a second one of the first pair of semicircular connecting ligaments or the second pair of semicircular connecting ligaments comprises a first flexible tip extending from the proximal end or from the distal end thereof.
8. The device of claim 7 , further comprising a second flexible tip, wherein the first flexible tip extends from the proximal end of the second one of the first pair of semicircular connecting ligaments or the second pair of semicircular connecting ligaments, and the second flexible tip extends from the distal end of the second one of the first pair of semicircular connecting ligaments or the second pair of semicircular connecting ligaments.
9. The device of claim 8 , wherein the first flexible tip extends from the proximal end of the second one of the first pair of semicircular connecting ligaments or the second pair of semicircular connecting ligaments on one side of the central longitudinal axis, and the second flexible tip extends from the distal end of the second one of the first pair of semicircular connecting ligaments or the second pair of semicircular connecting ligaments on the other side of the central longitudinal axis.
10. The device of claim 1 , wherein each of the first pair of semicircular connecting ligaments or the second pair of semicircular connecting ligaments includes a first flexible tip extending from the proximal end thereof and a second flexible tip extending from the distal end thereof.
11. The device of claim 10 , wherein each first flexible tip extends on opposite sides of the central longitudinal axis.
12. The device of claim 10 , wherein each second flexible tip extends on opposite sides of the central longitudinal axis.