End effector positioning mechanism
An end effector positioning mechanism for a surgical device may include an articulation mechanism including a plurality of tiltable segments disposed generally in a longitudinal row between an elongated shaft of a surgical device and an end effector of the surgical device. Each of the plurality of segments may be generally in the form of a flattened disk. At least one of the segments may include a proximal surface and/or a distal surface that is substantially planar and is oriented substantially orthogonally with respect to a central axis of the articulation mechanism. At least one of the segments may include a proximal surface and/or a distal surface including two transversely oriented, generally planar surfaces that meet along a substantially diametric peak.
1. A surgical device comprising:
an elongated shaft,
a handle disposed at a proximal end of the shaft, and
an end effector disposed at a distal end of the shaft;
wherein the end effector is articulable with respect to a shaft longitudinal axis using a plurality of tiltable segments, where each segment includes a planar proximal-most stationary surface and a distal diametric and linearly extending peak, where the planar proximal-most stationary surface of a first segment is configured to teeter on the distal diametric peak of a second adjacent segment;
wherein consecutive distal diametric and linearly extending peaks are rotationally offset by ninety degrees;
wherein the end effector is rotatable about an end effector longitudinal axis; and
wherein the end effector is rotatable about the shaft longitudinal axis.
2. The device of claim 1 , further comprising an end effector positioning mechanism, the end effector positioning mechanism comprising an articulation mechanism and a rotation mechanism.
3. The device of claim 2 , wherein the articulation mechanism comprises a pivotable connection mounting the end effector to the shaft.
4. The device of claim 3 , further comprising an actuator disposed on the handle, the actuator being operable to articulate the end effector about the pivotable connection.
5. The device of claim 2 , wherein the rotation mechanism is operable by an actuator disposed on the handle to rotate the end effector about the end effector longitudinal axis.
6. The device of claim 1 , wherein:
each of the plurality of tiltable segments includes a plurality of longitudinal holes disposed generally proximate an outer periphery thereof; and
each of the plurality of longitudinal holes is occupied by at least one tension line extending therethrough.