Methods and devices for actuating surgical instruments
Various exemplary methods and devices for actuating surgical instruments are provided. In general, a surgical device can include one or more actuation shafts configured to facilitate actuation of the device. In an exemplary embodiment, the device can include four actuation shafts, two actuation shafts to facilitate articulation of the device, one actuation shaft to facilitate opening and closing of jaws at a distal end of the device, and one actuation shaft to facilitate moving a cutting element of the device. In an exemplary embodiment, each of the one or more actuation shafts can include a distal elongate member and a proximal elongate member having a proximal end attached to a distal end of the distal elongate member. The proximal elongate member can be rigid, and the distal elongate member can be flexible.
1. A surgical device, comprising:
a handle having an actuation mechanism coupled thereto;
a shaft assembly extending distally from the handle, the shaft assembly including an outer elongate shell defining an inner lumen, and the shaft assembly including first and second elongate members extending longitudinally within the inner lumen;
first and second stabilizing members; and
an end effector coupled to a distal end of the shaft assembly;
wherein the actuation mechanism is configured to be actuated by a user so as to simultaneously cause a first force to be applied to one of the first and second elongate members, and thereby cause the one of the first and second elongate members to slidably translate proximally and longitudinally within the inner lumen, and cause a second force to be applied to the other of the first and second elongate members, and thereby cause the other of the first and second elongate members to slidably translate distally and longitudinally within the inner lumen, the translation of the first and second elongate members causing articulation of the end effector;
wherein the shaft assembly includes first and second elongate tubes, the first elongate member being positioned within the first elongate tube in a fixed position relative thereto, the second elongate member being positioned within the second elongate tube in a fixed position relative thereto, and the actuation mechanism being configured to move the first and second elongate tubes in response to the actuation of the actuation mechanism, thereby causing the translation of the first and second elongate members; and
wherein the first stabilizing member is attached to the first elongate tube, the second stabilizing member is attached to the second elongate tube, and the actuation of the actuation mechanism is configured to simultaneously longitudinally translate the first stabilizing member, thereby causing the longitudinal translation of the first elongate member, and longitudinally translate the second stabilizing member, thereby causing the longitudinal translation of the second elongate member.
2. The device of claim 1 , wherein the first elongate member is attached to the first elongate tube via one of welding and crimping, and the second elongate member is attached to the second elongate tube via one of welding and crimping.
3. The device of claim 1 , further comprising a second actuation mechanism, the second actuation mechanism being configured to be actuated by the user so as to rotate the first and second stabilizing members about a longitudinal axis of the outer elongate shell so as to cause rotation of the end effector about the longitudinal axis.
4. The device of claim 1 , wherein the first elongate member includes a first rigid elongate rod, and the second elongate member includes a second rigid elongate rod.
5. The device of claim 4 , wherein the shaft assembly includes a first flexible elongate band having a proximal end attached to a distal end of the first rigid elongate rod, and the second elongate member includes a second flexible elongate band having a proximal end attached to a distal end of the second rigid elongate rod, the first and second flexible elongate bands being configured to bend during the articulation of the end effector.
6. The device of claim 1 , wherein the first stabilizing member is attached to the first elongate member via one of welding, crimping, and interference fit, the second stabilizing member is attached to the second elongate member via one of welding, crimping, and interference fit.
7. The device of claim 1 , further comprising a bend region at a distal portion of the shaft assembly, the shaft assembly being configured to bend at the bend region so as to articulate the end effector.
8. The device of claim 7 , wherein the first elongate member includes a first rigid elongate rod, the second elongate member includes a second rigid elongate rod, and the shaft assembly includes first and second flexible elongate bands each spanning the bend region, the first elongate band having a proximal end attached to a distal end of the first rigid elongate rod, and the second elongate member includes a second flexible elongate band having a proximal end attached to a distal end of the second rigid elongate rod, the first and second flexible elongate bands being configured to bend in the bend region during the articulation of the end effector.
9. The device of claim 1 , wherein the actuation mechanism includes first and second drums, the first drum being coupled to the first elongate member, the second drum being coupled to the second elongate member, the actuation of the actuation mechanism being configured to simultaneously move the first drum in a first direction and thereby apply the first force and cause the longitudinal translation of the first elongate member, and move the second drum in a second direction and thereby apply the second force and cause the longitudinal translation of the second elongate member, the second direction being opposite to the first direction.
10. The device of claim 9 , wherein:
the actuation mechanism is configured to continuously rotate 360° about the longitudinal axis; and
during the continuous 360° rotation of the actuation mechanism, the one of the first and second elongate members is configured to first translate proximally and longitudinally within the inner lumen and the other of the first and second elongate members is configured to translate distally and longitudinally within the inner lumen, and then the one of the first and second elongate members is configured to translate distally and longitudinally within the inner lumen and the other of the first and second elongate members is configured to translate proximally and longitudinally within the inner lumen.
11. The device of claim 1 , wherein the actuation mechanism includes one of a rotatable knob, a slidable lever, and a movable handle.
12. A surgical device, comprising:
a handle having a movable actuator coupled thereto;
a shaft assembly extending distally from the handle, the shaft assembly including an outer elongate shell defining an inner lumen, and the shaft assembly including first and second elongate members extending longitudinally within the inner lumen; and
an end effector coupled to a distal end of the shaft assembly;
wherein the actuator is configured to be moved by a user relative to the handle so as to simultaneously cause a first force to be applied to one of the first and second elongate members, and thereby cause the one of the first and second elongate members to slidably translate proximally and longitudinally within the inner lumen, and cause a second force to be applied to the other of the first and second elongate members, and thereby cause the other of the first and second elongate members to slidably translate distally and longitudinally within the inner lumen, the translation of the first and second elongate members causing articulation of the end effector;
wherein the shaft assembly includes first and second elongate tubes, the first elongate member being positioned within the first elongate tube in a fixed position relative thereto, the second elongate member being positioned within the second elongate tube in a fixed position relative thereto, and the first and second elongate tubes being configured to move in response to the actuation of the actuator, thereby causing the translation of the first and second elongate members; and
wherein the surgical device further comprises first and second stabilizing members, the first stabilizing members being attached to the first elongate tube, the second stabilizing member being attached to the second elongate tube, the actuation of the actuator being to configured to simultaneously longitudinally translate the first stabilizing member, thereby causing the longitudinal translation of the first elongate member, and longitudinally translate the second stabilizing member, thereby causing the longitudinal translation of the second elongate member.
13. The device of claim 12 , wherein the actuator includes one of a lever, a button, a switch, a rotatable knob, and a movable handle configured to be moved relative to a stationary portion of the handle.
14. The device of claim 12 , further comprising a second movable actuator coupled to the handle, the second actuator being configured to be moved by the user relative to the handle so as to rotate the first and second stabilizing members about a longitudinal axis of the outer elongate shell so as to cause rotation of the end effector about the longitudinal axis.