Articulating mechanism for remote manipulation of a surgical or diagnostic tool
The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.
1. A surgical instrument comprising:
a proximal end and a distal end;
a first linking member coupled to a user interface positioned near the proximal end;
a second linking member coupled to a clamp tool positioned near the distal end;
an elongate, rigid shaft extending between the first and second linking members;
at least one cable set extending through the shaft and connected to the first linking member and to the second linking member such that movement of the first linking member causes corresponding movement in the second linking member; and
an articulation locking mechanism configured to selectively lock the instrument in an articulated configuration,
wherein the user interface comprises a handle having a first part connected to the first linking member and a second part pivotably connected to the first part, the user interface being configured to operate the clamp tool by pivoting the second handle part relative to the first handle part,
wherein the first and second linking members each comprise a continuous flexible member having a plurality of flexible segments with flexible linkages positioned between adjacent segments, the segments further comprising a plurality of through lumens through which the cables movably pass; and
wherein the instrument is configured such that movement of the handle relative to the shaft produces a proportionally scaled movement of the clamp tool relative to the shaft through the at least one cable set.
2. The surgical instrument of claim 1 , wherein: the first linking member comprises a first set of links; the second linking member comprises a second set of links; and each link in the first set is connected to a corresponding link in the second set of links by a distinct cable set.
3. The surgical instrument of claim 1 , wherein movement of the first linking member results in inverted movement of the second linking member.
4. The surgical instrument of claim 1 , wherein movement of the first linking member results in movement of the second linking member in the same direction as the movement of the first linking member.
5. The surgical instrument of claim 1 , wherein: the articulation locking mechanism comprises a ball and socket joint and wherein friction is exerted between the ball and socket to lock the instrument in an articulated configuration.