CA2526381A1 - Articulating mechanism for remote manipulation of a surgical or diagnostic tool - Google Patents
Articulating mechanism for remote manipulation of a surgical or diagnostic tool Download PDFInfo
- Publication number
- CA2526381A1 CA2526381A1 CA002526381A CA2526381A CA2526381A1 CA 2526381 A1 CA2526381 A1 CA 2526381A1 CA 002526381 A CA002526381 A CA 002526381A CA 2526381 A CA2526381 A CA 2526381A CA 2526381 A1 CA2526381 A1 CA 2526381A1
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- CA
- Canada
- Prior art keywords
- links
- articulating mechanism
- pair
- pairs
- surgical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
- A61M2025/015—Details of the distal fixation of the movable mechanical means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M2025/0161—Tip steering devices wherein the distal tips have two or more deflection regions
Abstract
The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments a t the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.
Claims (32)
1. An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprising:
multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair, and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair.
multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair, and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair.
2. The articulating mechanism of claim 1 wherein the links form proximal and distal ends with links of corresponding pairs being located on the proximal and distal ends respectively and where movement of the proximal end results in corresponding relative movement of the distal end.
3. The articulating mechanism of claim 2 wherein said corresponding relative movement of the distal end is reciprocal to the movement of the proximal end.
4. The articulating mechanism of claim 2 wherein said corresponding relative movement of the distal end mirrors the movement of the proximal end.
5. The articulating mechanism of claim 2 wherein a surgical or diagnostic tool is attached to the distal end.
6. The articulating mechanism of claim 2 wherein the surgical or diagnostic tool extends from the distal end.
7. The articulating mechanism of claim 5 wherein the surgical or diagnostic tool is an ablation element.
8. The articulating mechanism of claim 2 wherein said distal end further comprises a surgical or diagnostic tool.
9. The articulating mechanism of claim 8 wherein said distal end further comprises a tissue retracting surface.
10. The articulating mechanism of claim 1 further comprising a spacer element disposed between the pairs of links to maintain the pairs of links in a spaced apart relationship.
11. The articulating mechanism of claim 10 wherein the spacer element is hollow and accommodates the sets of cables.
12. The articulating mechanism of claim 1, wherein pairs of links include channels for receipt and passage of sets of cables associated with adjacent pairs of links.
13. The articulating mechanism of claim 1 further comprising additional pairs of spacer links, wherein said pairs of spacer links are not connected by discrete sets of cables that terminate at the paired spacer links.
14. The articulating mechanism of claim 1 wherein one or more links includes a stem portion that extends from the link and engages a corresponding recess in an adjacent link.
15. The articulating mechanism of claim 5 wherein one or more links further include a channel for receiving elements of the attached surgical or diagnostic tool that extend to the proximal end of the mechanism.
16. The articulating mechanism of claim 15 wherein such surgical or diagnostic tool elements are capable of transmitting energy.
17. The articulating mechanism of claim 15 wherein such surgical or diagnostic tool elements are capable of actuating the tool.
18. The articulating mechanism of claim 2 wherein one or more links further include a channel for receiving a locking rod that can secure and retain the proximal end of the mechanism in a fixed position.
19. The articulating mechanism of claim 2 further comprising a locking sleeve fitted over the proximal end of the mechanism to secure and retain the proximal end in a fixed position.
20. An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprising:
a continuous flexible member having multiple pairs of segments, each segment of each pair being maintained in a spaced apart relationship relative to the other segment of the pair, and multiple sets of cables, with each set connecting the segments of a discrete pair to one another and terminating at the segments of each discrete pair, such that movement of one segment of a pair causes corresponding relative movement of the other segment of the pair.
a continuous flexible member having multiple pairs of segments, each segment of each pair being maintained in a spaced apart relationship relative to the other segment of the pair, and multiple sets of cables, with each set connecting the segments of a discrete pair to one another and terminating at the segments of each discrete pair, such that movement of one segment of a pair causes corresponding relative movement of the other segment of the pair.
21. The articulating mechanism of claim 20 wherein the continuous flexible member includes multiple lumens with the sets of cables extending through the lumens.
22. The articulating mechanism of claim 20 wherein the continuous flexible member further comprises flexible linkages positioned between adjacent segments.
23. The articulating mechanism of claim 20 wherein the continuous flexible member is helical.
24. The articulating mechanism of claim 23 wherein each segment corresponds to one turn of the helix.
25. A kit comprising:
the articulating mechanism according to claim 1 and a surgical or diagnostic tool configured for attachment to the articulating mechanism.
the articulating mechanism according to claim 1 and a surgical or diagnostic tool configured for attachment to the articulating mechanism.
26. An articulating mechanism comprising:
multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair such that the links form proximal and distal ends with links of corresponding pairs being located on the proximal and distal ends, respectively; and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair, and movement of the proximal end results in corresponding relative movement of the distal end.
multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair such that the links form proximal and distal ends with links of corresponding pairs being located on the proximal and distal ends, respectively; and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair, and movement of the proximal end results in corresponding relative movement of the distal end.
27. The articulating mechanism of claim 26 further comprising a spacer element disposed between the pairs of links to maintain the pairs of links in a spaced apart relationship.
28. The articulating mechanism of claim 27 wherein the spacer element is hollow and accommodates the sets of cables.
29. The articulating mechanism of claim 26 wherein the pairs of links include channels for receipt and passage of sets of cables associated with adjacent pairs of links.
30. The articulating mechanism of claim 26 further comprising additional pairs of spacer links, wherein said pairs of spacer links are not connected by discrete sets of cables that terminate at the paired spacer links.
31. The articulating mechanism of claim 26 wherein a tool is attached to the distal end.
32. The articulating mechanism of claim 31 wherein wherein one or more links further include a channel for receiving elements of the attached tool.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/444,769 | 2003-05-23 | ||
US10/444,769 US7090637B2 (en) | 2003-05-23 | 2003-05-23 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
PCT/US2004/015944 WO2004105578A2 (en) | 2003-05-23 | 2004-05-21 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2526381A1 true CA2526381A1 (en) | 2004-12-09 |
CA2526381C CA2526381C (en) | 2011-09-06 |
Family
ID=33450745
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA2526381A Active CA2526381C (en) | 2003-05-23 | 2004-05-21 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
Country Status (9)
Country | Link |
---|---|
US (3) | US7090637B2 (en) |
EP (1) | EP1631196B1 (en) |
JP (1) | JP4680917B2 (en) |
CN (2) | CN100574709C (en) |
AU (2) | AU2004243056B2 (en) |
BR (1) | BRPI0410599B1 (en) |
CA (1) | CA2526381C (en) |
MX (1) | MXPA05012599A (en) |
WO (1) | WO2004105578A2 (en) |
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2003
- 2003-05-23 US US10/444,769 patent/US7090637B2/en not_active Expired - Lifetime
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2004
- 2004-05-21 CN CN200480020940A patent/CN100574709C/en active Active
- 2004-05-21 JP JP2006533272A patent/JP4680917B2/en active Active
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- 2004-05-21 EP EP04752882.3A patent/EP1631196B1/en active Active
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CN101703424A (en) | 2010-05-12 |
BRPI0410599B1 (en) | 2015-05-26 |
WO2004105578A3 (en) | 2005-11-17 |
CN1826083A (en) | 2006-08-30 |
US20040236316A1 (en) | 2004-11-25 |
EP1631196A2 (en) | 2006-03-08 |
WO2004105578A2 (en) | 2004-12-09 |
AU2009243488B2 (en) | 2010-06-10 |
US7090637B2 (en) | 2006-08-15 |
AU2009243488A1 (en) | 2009-12-24 |
CN100574709C (en) | 2009-12-30 |
JP4680917B2 (en) | 2011-05-11 |
AU2004243056A1 (en) | 2004-12-09 |
JP2007502198A (en) | 2007-02-08 |
BRPI0410599A (en) | 2006-06-20 |
US7615066B2 (en) | 2009-11-10 |
WO2004105578A9 (en) | 2005-04-07 |
EP1631196A4 (en) | 2013-03-06 |
CA2526381C (en) | 2011-09-06 |
US20050251112A1 (en) | 2005-11-10 |
CN101703424B (en) | 2012-08-08 |
US20060094931A1 (en) | 2006-05-04 |
EP1631196B1 (en) | 2014-09-17 |
AU2004243056B2 (en) | 2009-10-15 |
US7682307B2 (en) | 2010-03-23 |
MXPA05012599A (en) | 2006-05-25 |
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