Medical instruments for performing minimally-invasive procedures
Apparatus for performing a minimally-invasive procedure, the apparatus comprising: a shaft having a distal end, a proximal end and a longitudinal axis extending between the distal end and the proximal end, wherein the shaft comprises a flexible portion and an articulating portion, wherein the flexible portion extends distally from the handle assembly and the articulating portion extends distally from the flexible portion, and further wherein the articulating portion is configured to articulate relative to the flexible portion; a handle assembly attached to the proximal end of the shaft; and an end effector attached to the distal end of the shaft; wherein a plurality of articulation cables extends from the handle assembly to the articulating portion, such that when tension is applied to at least one of the plurality of articulation cables, the articulating portion bends relative to the flexible portion of the shaft; wherein the plurality of articulation cables are mounted to the handle assembly such that moving the handle assembly to angle the handle assembly relative to the longitudinal axis of the shaft applies tension to at least one of the plurality of articulation cables, whereby to articulate the articulating portion of the shaft relative to the flexible portion of the shaft.
1. Apparatus for performing a minimally-invasive procedure, the apparatus comprising:
a shaft having a distal end, a proximal end and a longitudinal axis extending between the distal end and the proximal end, wherein the shaft comprises a flexible portion and an articulating portion, wherein the articulating portion is disposed distal to the flexible portion;
an end effector disposed at the distal end of the shaft;
an articulation ball comprising a distal end and a proximal end, wherein the distal end of the articulation ball is mounted to the proximal end of the shaft;
a handle assembly comprising a socket and an articulation cable plate, wherein the articulation cable plate is disposed proximal to the proximal end of the articulation ball;
a plurality of articulation cables for articulating the articulating portion of the shaft relative to the flexible portion of the shaft, wherein the plurality of articulation cables each comprise a distal end and a proximal end, wherein the distal ends of the plurality of articulation cables are attached to the articulating portion of the shaft and the proximal ends of the plurality of articulation cables are attached to the articulation cable plate of the handle assembly;
wherein the articulation ball comprises a plurality of openings, wherein each one of the plurality of articulation cables passes through one of the plurality of openings in the articulation ball;
wherein when the socket and the articulation plate of the handle assembly are rotated around the articulation ball, tension is applied to at least one of the plurality of articulation cables, whereby to articulate the articulating portion relative to the flexible portion of the shaft.
2. The apparatus of claim 1 wherein moving the handle assembly in a first direction causes articulation of the articulating portion towards the first direction.
3. The apparatus of claim 1 further comprising a retaining ring for holding the articulation ball within the socket.
4. The apparatus of claim 3 further comprising a friction lock for maintaining the articulation ball within the socket so as to maintain the articulating portion in a desired angle relative to the flexible portion.
5. The apparatus of claim 1 wherein the shaft further comprises a gross articulating portion, wherein the gross articulating portion is disposed between the flexible portion and the articulating portion.
6. The apparatus of claim 5 wherein a gross articulation cable extends from the handle assembly to the gross articulating portion, such that when tension is applied to the gross articulation cable, the gross articulating portion articulates.
7. The apparatus of claim 6 wherein the handle assembly comprises a thumb slider mechanism for tensioning the gross articulation cable.
8. The apparatus according to claim 5 wherein the articulating portion comprises a first flexible spine and the gross articulating portion comprises a second flexible spine.
9. The apparatus according to claim 1 wherein each of the plurality of articulation cables have an articulation cable housing disposed about each of the plurality of articulation cables, such that when the articulating portion bends, the articulation cable housings provide a counterforce to the articulating portion.
10. The apparatus according to claim 1 wherein a rotatable element extends from the handle assembly to the end effector, such that when the rotatable element is rotated, the end effector rotates.
11. The apparatus according to claim 1 wherein an end effector actuation element extends from the handle assembly to the end effector, such that when the end effector actuation element is moved, the end effector is actuated.
12. The apparatus according to claim 8 wherein the flexible portion of the shaft comprises an outer coil secured to the second flexible spine.
13. The apparatus according to claim 1 further comprising a rigid tube configured to rotate relative to the handle assembly, such that rotation of the rigid tube causes rotation of the shaft relative to the handle assembly.
14. The apparatus according to claim 10 wherein the rotatable element comprises a hollow tubular structure extending distally from the handle assembly.
15. The apparatus according to claim 14 wherein the rotatable element further comprises a laser-cut hypotube secured to the hollow tubular structure, such that when the hollow tubular structure is rotated, the laser-cut hypotube is also rotated.
16. The apparatus according to claim 11 wherein the end effector actuation element comprises a pull wire.
17. The apparatus according to claim 1 wherein the end effector comprises one from the group consisting of: graspers, injection needles, scissors, hot snares, monopolar probes, hemostasis clips, bipolar forceps, suction tubes, single-fire or multi-fire closure devices such as staplers and tackers, dissector forceps, retrieval baskets, monopolar scissors, light sources and cameras.
18. The apparatus according to claim 5 wherein the articulating portion and the gross articulating portion articulate independently of one another.
19. A method for performing a minimally-invasive procedure, the method comprising:
providing apparatus for performing the minimally-invasive procedure, the apparatus comprising:
a shaft having a distal end, a proximal end and a longitudinal axis extending between the distal end and the proximal end, wherein the shaft comprises a flexible portion and an articulating portion, wherein the articulating portion is disposed distal to the flexible portion;
an end effector disposed at the distal end of the shaft;
an articulation ball comprising a distal end and a proximal end, wherein the distal end of the articulation ball is mounted to the proximal end of the shaft;
a handle assembly comprising a socket and an articulation cable plate, wherein the articulation cable plate is disposed proximal to the proximal end of the articulation ball;
a plurality of articulation cables for articulating the articulating portion of the shaft relative to the flexible portion of the shaft, wherein the plurality of articulation cables each comprise a distal end and a proximal end, wherein the distal ends of the plurality of articulation cables are attached to the articulating portion of the shaft and the proximal ends of the the plurality of articulation cables are attached to the articulation cable plate of the handle assembly;
wherein the articulation ball comprises a plurality of openings, wherein each one of the plurality of articulation cables passes through one of the plurality of openings in the articulation ball;
wherein when the socket and the articulation plate of the handle assembly are rotated around the articulation ball, tension is applied to at least one of the plurality of articulation cables, whereby to articulate the articulating portion relative to the flexible portion of the shaft;
and
using the apparatus to perform the minimally-invasive procedure.