Catheter drive system with control handle rotatable about two axes separated from housing by shaft
Drive systems and methods of use are disclosed herein for performing medical procedures on a patient. The drive systems include various handle types and triggers for controlling catheters and end effectors. The various handle types include a flexible handle and ambidextrous handles that can alter the handedness of the handle for particularized use. The handles drive articulation sections of the catheter and end effectors with various degrees of freedom, and include locks for holding the catheter and/or end effector in place. The catheter systems include structures for allowing degrees of freedom, such as notches, mechanical interlocks, and articulation joints. In addition, the catheters articulate via cables or fluids.
1. A drive system, comprising:
a first tool adapted for use by a left hand; and
a second tool adapted for use by a right hand, the second tool comprising:
a single control handle;
a housing containing a control mechanism being driven by the control handle, wherein the control handle is coupled to the housing via a shaft, an entirety of the single control handle being configured to rotate relative to the housing about a first axis defined by the shaft and a second axis different from the first axis by moving the entirety of the single control handle, wherein each of the first axis and the second axis is different from a longitudinal axis of the housing, and wherein rotating the entirety of the single control handle about the second axis causes a corresponding rotation of the shaft about the second axis;
a catheter having an end effector and an articulation section proximal to the end effector comprising a plurality of segments that pivot relative to each other via a ball and socket mechanism; and
a first control cable including a proximal end and a distal end, the proximal end mating with the control mechanism and the distal end mating with the articulation section,
wherein the first control cable articulates the articulation section by transferring force generated by movement of the control handle about the first axis or the second axis.
2. The drive system of claim 1 , wherein the control handle includes a trigger, and the end effector is articulated by the control handle and actuated by the trigger.
3. The drive system of claim 1 , further comprising a locking mechanism that inhibits rotation of the control handle about at least one of the first axis or the second axis.
4. The drive system of claim 3 , wherein the locking mechanism inhibits rotation of the control handle about each of the first axis and the second axis.
5. The drive system of claim 1 , wherein the control handle is coupled to a trunnion having at least one pulley.
6. The drive system of claim 5 , wherein the at least one pulley is fixedly mounted to the trunnion.
7. The drive system of claim 6 , wherein the trunnion includes at least one post defining the second axis.
8. The drive system of claim 1 , wherein the articulation section of the catheter includes a plurality of first segments mated with a plurality of second segments, each first segment being configured to pivot relative to each second segment.
9. The drive system of claim 8 , wherein a proximal surface or a distal surface of each first or second segment defines a male mating member and the other of the proximal surface or the distal surface defines a female mating member, the female mating member of each first segment having a shape complementary to the male mating member of an adjacent second segment, each first and second segment including at least one channel extending through the male mating member but not through the female mating member.