Medical device with articulating shaft
A medical device ( 10 ) includes an articulating shaft ( 20, 20 a , 20 b , 20 c , 20 d , 20 e , or 20 f ) with a pair of slat assemblies ( 31, 33 ). By moving an articulator ( 37 ), the slat assemblies ( 31, 33 ) are configured to concurrently push while the other pulls in order to bend the articulating shaft ( 20 ). The articulating shaft ( 20 ) includes a series of pivot members ( 26, 26 a , 26 b , 26 c , 26 d , 126 e and 226 e , or 126 f and 226 f ). The pivot members ( 26 ) may include inner links ( 126 e , 126 f ) and outer links ( 226 e , 226 f ). A method for articulating a shaft of a medical device is also provided.
1. A medical device, comprising:
a bendable thumb-actuated articulator comprising a first bendable portion located at a proximal end of the device, the bendable thumb-actuated articulator being bendable in a plane and being bendable on a curve to a first side curve or a second side curve;
a rigid shaft operatively coupled to a distal end of the bendable articulator;
a second bendable portion located at a distal end of the device and operatively coupled to a distal end of the rigid shaft;
a first slat member extending through the bendable thumb-actuated articulator, the rigid shaft, and the second bendable portion, wherein the first slat member: (i) is operatively coupled to the bendable thumb-actuated articulator and to a first side of a distal end of the second bendable portion; (ii) is restricted from buckling by the bendable articulator, the rigid shaft, and the second bendable portion; (iii) has a non-circular cross section perpendicular to the length of the first slat member; (iv) has sufficient tensile strength to pull the second bendable portion to one side; and (v) and has sufficient compressive strength when restricted from buckling by the bendable articulator, the rigid shaft, and the second bendable portion to push the second bendable portion to an opposite side; and
a second slat member extending through the bendable thumb-actuated articulator, the rigid shaft, and the second bendable portion, wherein the second slat member: (i) is operatively coupled to the bendable thumb-actuated articulator and to a second side of a distal end of the second bendable portion; (ii) is restricted from buckling by the bendable articulator, the rigid shaft, and the second bendable portion; (iii) has a non-circular cross section perpendicular to the length of the first slat member; (iv) has sufficient tensile strength to pull the second bendable portion to one side; and (v) and has sufficient compressive strength when restricted from buckling by the bendable articulator, the rigid shaft, and the second bendable portion to push the second bendable portion to an opposite side;
wherein the thumb-actuated articulator, rigid shaft, and second bendable portion are configured to restrict the first and second slat members from buckling; and
wherein bending the thumb-actuated articulator to the first side curve pushes on the first slat member and pulls on the second slat member, and bending the thumb-actuated articulator to the second side curve pulls on the first slat member and pushes on the second slat member, to simultaneously apply a tensive pulling force and a compressive pushing force to opposite sides of the second bendable portion and thereby cause the second bendable portion to bend in one direction, or the other, with more combined force than with pulling alone.
2. The device of claim 1 , wherein the first bendable portion further comprises:
a plurality of first pivot members and first pins that are arranged in succession and a related plurality of first pivot assemblies that pivotally connect adjacent ones of the plurality of first pivot members, each first pivot member defining a first opening;
wherein the first pivot members comprise first top and first bottom plates and wherein adjacent ones of the plurality of first pivot members are overlapped relative to one another;
wherein the first pivot assemblies comprise a plurality of first pins and corresponding pin holes in the top and bottom plates of the first pivot members, the pin holes of adjacent ones of the plurality of first pivot members being aligned when the first pivot members are overlapped relative to one another, the plurality of first pins located within the aligned pin holes;
wherein the first pivot members comprise an alternating succession of first inner and first outer links; and
wherein each of the inner and outer links comprises a male tab at one end and a female slot and an opposite end and wherein adjacent ones of the inner links are connected to one another by the male tab of one inner link and the female tab of the adjacent inner link and wherein adjacent ones of the outer links are connected to one another by the male tab of one outer link and the female tab of the adjacent outer link.
3. The device of claim 1 , wherein the second bendable portion further comprises:
a plurality of second pivot members and second pins in an alternating configuration, each second pivot member defining a second opening;
wherein the second pivot members comprise second top and second bottom plates having one or more pin holes, wherein adjacent second pivot members of the plurality of second pivot members are overlapped relative to one another;
wherein the second pivot members comprise an alternating succession of second inner and second outer links;
wherein the pin holes of the adjacent second pivot members are aligned and a plurality of second pins located within the aligned pin holes rotatably couples the adjacent second pivot members.
4. The device of claim 3 , wherein the first opening and the second opening collectively define an inner passageway.
5. The device of claim 4 , wherein:
the first slat member extends through the inner passageway along a first side of the first and second pins; and
the second slat member extends through the inner passageway along a second side of the pins opposite the first side of the first and second pins.
6. The device of claim 1 , further comprising an electrical wire extending through the second bendable portion.
7. The device of claim 1 , further comprising an optical fiber extending through the second bendable portion.
8. The device of claim 1 , further comprising a flexible tube extending through the second bendable portion.
9. The device of claim 8 , wherein the flexible tube comprises a passageway for the delivery of fluids.
10. The device of claim 1 , further comprising an actuator extending through the second bendable portion.
11. The device of claim 10 further comprising an operating mechanism operatively coupled to a distal end of the second bendable portion, wherein the actuator is configured for actuating the operating mechanism.