Articulating mechanisms with actuatable elements
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. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.
1. A medical instrument comprising:
a distal articulation mechanism including a plurality of distal segments movable relative to each other;
an actuatable element coupled to the distal articulation mechanism;
a proximal articulation mechanism including a plurality of proximal segments, each proximal segment forming a pair with a corresponding distal segment from the plurality of distal segments;
a user interface coupled to the proximal articulation mechanism, wherein the user interface manipulates the actuatable element; and
multiple sets of cables, each set connecting the proximal segment and the corresponding distal segment of one of the pairs and terminating at the segments of the pair, such that movement of the proximal segment causes corresponding relative movement of the corresponding distal segment of the pair.
2. The medical instrument of claim 1 , wherein the actuatable element includes a pair of jaws.
3. The medical instrument of claim 1 , wherein the actuatable element includes a cutting element.
4. The medical instrument of claim 1 , wherein the actuatable element includes a stapling device.
5. The medical instrument of claim 1 , wherein the actuatable element includes an ablation device.
6. The medical instrument of claim 1 , wherein the actuatable element includes a grasping device.
7. The medical instrument of claim 1 , wherein the user interface includes a pivot mechanism.
8. The medical instrument of claim 7 , wherein the proximal articulation mechanism is coupled to the user interface distally of the pivot mechanism.
9. The medical instrument of claim 7 , wherein the proximal articulation mechanism is coupled to the user interface proximally of the pivot mechanism.
10. The medical instrument of claim 1 , wherein the user interface includes a clamp handle.
11. The medical instrument of claim 10 , wherein a portion of the proximal articulation mechanism extends through the clamp handle.
12. The medical instrument of claim 1 , wherein the at least one set of cables is bifurcated to connect one of the proximal segments to a corresponding distal segment on each of two portions of the actuatable element such that movement of the proximal segment causes corresponding relative movement of both of the corresponding distal segments, whereby both of the portions of the actuatable element can be articulated into a common desired shape by manipulation of one or more proximal segments.
13. The medical instrument of claim 12 , wherein the two portions of the actuatable element form a pair of jaws.
14. The medical instrument of claim 13 , wherein at least one of the jaws includes an ablation element.
15. The medical instrument of claim 1 , wherein the plurality of distal segments are generally aligned along a first common axis and the plurality of proximal segments are generally aligned along a second common axis, the first axis being non-parallel to the second axis.
16. The medical instrument of claim 15 , wherein the first axis is generally perpendicular to the second axis.
17. The medical instrument of claim 1 , wherein the plurality of distal segments are generally aligned along a first common axis and the plurality of proximal segments are generally aligned along a second common axis, the first axis being generally parallel to the second axis.
18. The medical instrument of claim 1 , further comprising a spacer element between the proximal and distal articulation mechanisms.