Insertion instrument with articulating wrist
A surgical instrument suitable for preparing an intervertebral disc space includes an outer sleeve, an instrument head, an inner shaft, a handle, a universal joint, a coupling member, and a drive mechanism. The outer sleeve includes a proximal end, a distal end and a longitudinal axis. The instrument head defines a longitudinal axis and is disposed at the distal end of the outer shaft. The inner shaft is slidably disposed within the outer sleeve and includes a proximal end, a distal end and a longitudinal axis coaxially aligned with the longitudinal axis of the outer sleeve. The drive mechanism is coupled between the outer sleeve and the inner shaft and actuates the outer sleeve axially relative to the inner shaft, thereby setting an angle of the longitudinal axis of the instrument head in relation to the longitudinal axis of the inner shaft.
1. A method of operating a surgical instrument including an outer sleeve extending along a first axis, an inner shaft supported by the outer sleeve rotatable about the first axis, a drive member extending along a second axis, and a coupling member pivotably connected to the outer sleeve and a retainer containing the drive member, the method comprising:
rotating the inner shaft about the first axis to rotate the drive member about the second axis; and
translating the outer sleeve along the first axis causing the coupling member to pivot about first and second pivot points to angulate the second axis relative to the first axis, wherein the translating the outer sleeve causes the first pivot point to translate relative to the inner shaft and concurrently causes a retaining feature in the drive member to prevent linear translation of the second pivot point relative to the drive member,
wherein the translating the outer sleeve includes a pin forming the second pivot point interacting with the retaining feature in the form of an annular groove to prevent linear translation of the second pivot point relative to the drive member.
2. The method of claim 1 , wherein the surgical instrument includes an activation member threadably engaged to the outer sleeve, and wherein the translating the outer sleeve along the first axis includes threading the activation member relative to the outer sleeve.
3. The method of claim 1 , wherein the surgical instrument includes an implant coupled to at least one of the inner shaft and the outer sleeve, the method further comprising:
inserting the surgical instrument through an incision in an anterior posterior direction; and
articulating the implant into an intervertebral disc space in a medial lateral direction.
4. The method of claim 3 , wherein the articulating the implant is caused by the translating the outer sleeve.
5. The method of claim 3 , further comprising rotating a first actuation mechanism disposed on a proximal end of a handle assembly coupled to the inner shaft to release the implant within the intervertebral disc space.
6. The method of claim 5 , wherein the translating the outer sleeve includes rotating a second actuation mechanism disposed on a distal end of the handle assembly.
7. The method of claim 1 , wherein the translating the outer sleeve includes causing the coupling member to restrain a distance between a first hinge on the outer sleeve and a second hinge on the retainer.
8. The method of claim 1 , wherein the translating the outer sleeve includes linearly shifting the outer sleeve along the first axis relative to at least a portion of the inner shaft.
9. A method comprising:
rotating an inner shaft extending along a first axis of a surgical instrument and contained within an outer sleeve to rotate an implant attached to a drive member around a second axis, the drive member contained within a retainer and coupled to the inner shaft through a universal joint; and
translating the outer sleeve along the first axis causing a coupling member pivotably coupled to the outer sleeve by a first pivot point and the retainer by a second pivot point to angulate the second axis relative to the first axis, wherein the translating the outer sleeve causes the first pivot point to translate relative to the inner shaft and concurrently a retaining feature on the drive member prevents linear translation of the second pivot point relative to the drive member,
wherein the translating the outer sleeve includes a pin forming the second pivot point interacting with the retaining feature in the form of an annular groove to prevent linear translation of the second pivot point relative to the drive member.
10. The method of claim 9 , wherein the surgical instrument includes an activation member threadably engaged to the outer sleeve, and wherein the translating the outer sleeve along the first axis includes threading the activation member relative to the outer sleeve.
11. The method of claim 9 , further comprising:
inserting the surgical instrument through an incision in an anterior posterior direction; and
articulating the implant into an intervertebral disc space in a medial lateral direction.
12. The method of claim 11 , wherein the articulating the implant is caused by the translating the outer sleeve.
13. The method of claim 11 , further comprising rotating a first actuation mechanism disposed on a proximal end of a handle assembly coupled to the inner shaft to release the implant within the intervertebral disc space.
14. The method of claim 13 , wherein the translating the outer sleeve includes rotating a second actuation mechanism disposed on a distal end of the handle assembly.
15. The method of claim 9 , wherein the translating the outer sleeve includes causing the coupling member to restrain a distance between a first hinge on the outer sleeve and a second hinge on the retainer.
16. The method of claim 9 , wherein the translating the outer sleeve includes linearly shifting the outer sleeve along the first axis relative to at least a portion of the inner shaft.