Triangulation methods with hollow segments
A surgical apparatus providing access to an underlying body cavity through a tissue tract articulates a flexible surgical object inserted therein. The surgical apparatus includes a tube member defining a longitudinal axis and a lumen therethrough to receive the flexible surgical object. The tube member includes a proximal member, a middle member connected to the proximal member at a first joint, and a distal member connected to the middle member at a second joint. The surgical apparatus also includes articulation mechanisms to articulate the tube member.
1. A surgical apparatus for articulating a flexible surgical object to access an underlying body cavity through a tissue tract, which comprises:
a tube member defining a longitudinal axis and a lumen therethrough to receive the flexible surgical object therein, the tube member including:
a proximal member;
a middle member connected to the proximal member at a first joint, the middle member configured to pivot relative to the proximal member about the first joint, the middle member including a first segment and a second segment, the first and second segments disposed coaxially along the middle member and configured to rotate relative to each other about a common axis; and
a distal member connected to the middle member at a second joint, the distal member configured to pivot relative to the middle member about the second joint, the distal member including a third segment and a fourth segment, the third segment and the fourth segment disposed coaxially along the distal member, the fourth segment configured to extend from and retract within the third segment.
2. The surgical apparatus according to claim 1 , wherein the tube member is configured to be inserted through an access device which is configured to be positioned within the tissue tract for providing access to the underlying body cavity.
3. The surgical apparatus according to claim 1 , wherein the first joint and the second joint have a first, parallel configuration.
4. The surgical apparatus according to claim 3 , wherein the first joint and the second joint have a second, perpendicular configuration.
5. The surgical apparatus according to claim 4 , wherein the rotation of the first and second segments of the middle member transit the first and second joints from the first, parallel configuration to the second, perpendicular configuration.
6. The surgical apparatus according to claim 5 including a rotation system which effects relative rotation between the first and second segments of the middle member.
7. The surgical apparatus according to claim 1 , wherein the distal member is dimensioned to permit rotation of an end effector of the flexible surgical object therein.
8. The surgical apparatus according to claim 1 , including at least one cable associated with at least one of the first and second joints in a manner such that longitudinal motion of the at least one cable causes rotation of the associated joint.
9. The surgical apparatus according to claim 1 , including a rigid arm extending along the tube member, a sleeve mounted about the distal member, the rigid arm and the sleeve being hingedly connected to each other.
10. The surgical apparatus according to claim 9 , wherein longitudinal motion of the rigid arm articulates the middle member and the distal member relative to the proximal member.
11. The surgical apparatus according to claim 1 , including a closed-loop system which effects rotation of at least one of the first and second joints.
12. The surgical apparatus according to claim 11 , wherein the closed-loop system includes a rotatable member disposed proximally beyond the tube member and a cable looping around the rotatable member and one of the first and second joints.