Steerable surgical device with joystick
A surgical device according to an exemplary aspect of this disclosure includes, among other things, a tool at a distal end of the surgical device, and a joystick including a ball. Movement of the joystick results in movement of the tool. The surgical device further includes a housing including a socket receiving the ball of the joystick.
1. A surgical device, comprising:
a tool at a distal end of the surgical device;
a joystick including a ball, wherein movement of the joystick results in movement of the tool;
a housing including a socket receiving the ball of the joystick; and
a fulcrum assembly, the fulcrum assembly arranged such that movement of the joystick in a first direction, relative to a perspective of a user of the surgical device, results in movement of the tool in the first direction relative to the perspective of the user of the surgical device, wherein the fulcrum assembly includes an intermediate member within an internal cavity in a housing of the surgical device, and wherein the intermediate member is operably connected to the joystick, wherein at least one connecting wire is fixed to the intermediate member, the at least one connecting wire configured to transmit mechanical force from movement of the intermediate member to the tool, and wherein the fulcrum assembly includes a cup portion moveable relative to a fixed ball, the fixed ball rigidly connected to the housing.
2. The surgical device as recited in claim 1 , wherein the intermediate member is operably connected to the joystick by a ball joint.
3. The surgical device as recited in claim 1 , wherein the intermediate member includes a semi-spherical disk portion.
4. The surgical device as recited in claim 1 , further comprising a shaft connected to the housing, the shaft having a rigid portion and an articulating portion, wherein the tool is connected to the articulating portion, and wherein the at least one connecting wire extends through the shaft to the articulating portion.
5. The surgical device as recited in claim 1 , wherein the fixed ball includes a plurality of passageways, the at least one connecting wire extending through the passageways in the fixed ball.
6. The surgical device as recited in claim 1 , wherein the joystick is configured to pivot relative to a neutral axis to allow for a two dimensional input.
7. The surgical device as recited in claim 6 , wherein the joystick is moveable in one of a forward direction and rearward direction while simultaneously moving in one of a leftward direction and rightward direction.
8. The surgical device as recited in claim 1 , wherein the joystick includes an input surface connected to the ball of the joystick by a stick, the stick and input surface projecting through an orifice in the housing.
9. The surgical device as recited in claim 1 , wherein the surgical device is electrically connected to a control unit to provide power to the tool.
10. The surgical device as recited in claim 1 , further comprising a resilient member configured to urge the joystick to a neutral position.
11. A method, comprising:
adjusting a position of a tool of a surgical device by moving a joystick, the surgical device including a fulcrum assembly, the fulcrum assembly arranged such that movement of the joystick in a first direction, relative to a perspective of a user of the surgical device, results in movement of the tool in the first direction relative to the perspective of the user of the surgical device, wherein the fulcrum assembly includes an intermediate member within an internal cavity in a housing of the surgical device, and wherein the intermediate member is operably connected to the joystick, wherein at least one connecting wire is fixed to the intermediate member, the at least one connecting wire configured to transmit mechanical force from movement of the intermediate member to the tool, and wherein the fulcrum assembly includes a cup portion moveable relative to a fixed ball, the fixed ball rigidly connected to the housing.
12. The method as recited in claim 11 , wherein movement of the joystick away from a neutral axis in a rearward direction results in a downward movement of the tool.
13. The method as recited in claim 12 , wherein rearward movement of the joystick results in an upward movement of a ball joint between the joystick and an intermediate member.
14. The method as recited in claim 13 , wherein upward movement of the ball joint results in a forward rotation of the intermediate member.
15. The method as recited in claim 14 , wherein the forward rotation of the intermediate member results in mechanical forces being transmitted to the tool.
16. The method as recited in claim 11 , wherein the position of the tool is adjusted by moving the joystick in one of a forward direction and rearward direction while simultaneously moving the joystick in one of a leftward direction and rightward direction.
17. The surgical device as recited in claim 1 , wherein the perspective of the user of the surgical device is a fixed location.