The present invention is related generally to medical equipment, and more particularly to a medical instrument having an articulatable end effector.
Endoscopes (including colonoscopes) are known which have an insertion tube which is insertable within a patient. The insertion tube has an articulatable distal end portion controlled by wires running from the distal end portion to control knobs on the handle of the endoscope. A wide angle video camera in the distal end of the insertion tube permits medical observation. Medical devices, such as a medical snare, are part of an endoscopic system and are insertable into the working channel(s) of the insertion tube of the endoscope and are translatable to extend from the distal end portion for medical treatment. Other medical devices are known which use a pull wire to articulate an end effector about a pivot pin.
Still, scientists and engineers continue to seek improved medical instruments having an articulatable end effector.
A first expression of a first embodiment of the invention is for a medical instrument including a flexible tube, a medical end effector, a flexible medical-end-effector activation wire, a proximal medical instrument member, and a flexible, lengthwise-translatable first cable. The flexible tube has a distal tube portion insertable within a patient. The medical end effector is connected to the distal tube portion. The medical-end-effector activation wire is positioned within the tube. The proximal medical instrument member is spaced apart from, and is positioned proximal to, the medical end effector. The proximal medical instrument member is attached to the tube. The lengthwise-translatable first cable is positioned outside the tube, is substantially transversely constrained by the proximal medical instrument member, and has a first distal cable portion attached to the medical end effector. Lengthwise translation of the first cable articulates the medical end effector with respect to the proximal medical instrument member.
A first expression of a second embodiment of the invention is for a medical instrument including a flexible tube, a distal medical instrument member, a medical end effector, a flexible activation wire, a proximal medical instrument member, and a flexible, lengthwise-translatable first cable. The flexible tube defines a passageway and has a distal tube portion insertable within a patient. The distal medical instrument member is connected to the distal tube portion and has a lumen in communication with the passageway. The medical end effector is positionable in the lumen of the distal medical instrument member. The activation wire is positionable in the passageway and is connected to the medical end effector. The proximal medical instrument member is spaced apart from, and positioned proximal to, the distal medical instrument member, wherein the proximal medical instrument member is attached to the tube. The lengthwise-translatable first cable is positioned outside the tube, is substantially transversely constrained by the proximal medical instrument member, and has a distal cable portion attached to the distal medical instrument member. Lengthwise translation of the first cable articulates the distal medical instrument member with respect to the proximal medical instrument member.
A first expression of a third embodiment of the invention is for a medical instrument including a tube, a medical end effector, a drive screw, a sled, and a linkage. The tube has a distal tube end insertable within a patient. The medical end effector has a distal portion and a proximal portion. The proximal portion of the medical end effector is pivotally connected to the tube proximate the distal tube end. The drive screw is positioned in the tube proximal the proximal portion of the end effector. The sled is translatable by rotation of the drive screw. The linkage has a first end portion pivotally connected to the sled and has a second end portion pivotally connected to the medical end effector between the proximal and distal portions of the medical end effector. Rotation of the drive screw translates the sled moving the linkage to articulate the medical end effector with respect to the distal tube end.
A first expression of a fourth embodiment of the invention is for a medical instrument including a tube, a distal medical instrument member, a medical end effector, an activation wire, a drive screw, a sled, and a linkage. The tube defines a passageway and has a distal tube end insertable within a patient. The distal medical instrument member has a proximal end portion pivotally connected to the distal tube portion and has a lumen in communication with the passageway. The medical end effector is positionable in the lumen of the distal medical instrument member. The activation wire is positionable in the passageway and is connected to the medical end effector. The drive screw is positioned in the tube proximal the distal medical instrument member. The sled is translatable by rotation of the drive screw. The linkage has a first end portion pivotally connected to the sled and has a second end portion pivotally connected to the distal medical instrument member distal the proximal end portion of the distal medical instrument member. Rotation of the drive screw translates the sled moving the linkage to articulate the distal medical instrument member with respect to the distal tube portion.
A first expression of a fifth embodiment of the invention is for a medical instrument including a flexible tube, a distal medical instrument member, a flexible medical-end-effector activation wire, a proximal medical instrument member, and a flexible, lengthwise-translatable first cable. The flexible tube has a distal tube portion insertable within a patient. The distal medical instrument member is connected to the distal tube portion. The medical-end-effector activation wire is positioned within the tube. The proximal medical instrument member is spaced apart from, and is positioned proximal to, the distal medical instrument member. The proximal medical instrument member is attached to the tube. The lengthwise-translatable first cable is positioned outside the tube, is substantially transversely constrained by the proximal medical instrument member, and has a first distal cable portion attached to the distal medical instrument member. Lengthwise translation of the first cable articulates the distal medical instrument member with respect to the proximal medical instrument member.
Several benefits and advantages are obtained from one or more of the expressions of the embodiments of the invention. In a first example of the first expression of the first, second, third and/or fourth embodiments, the tube is inserted into a working channel of a flexible insertion tube of an endoscope, wherein the medical end effector can be articulated with respect to the insertion tube of the endoscope allowing independent alignment of the wide angle video camera of the endoscope and the medical end effector. In a second example of the first expression of the first, second, third and/or fourth embodiments, the tube has a tube-to-endoscope-rail distal medical instrument member feature allowing the tube to be coupled to, and slid along, an exterior rail of a flexible insertion tube of an endoscope allowing independent alignment of the wide angle video camera of the endoscope and the medical end effector. The cable embodiments allow, with multiple cables, articulation which is not limited to a single plane. The drive screw embodiments allow pivotal articulation unhindered by tube bending from endoscopic insertion within a patient.
The present invention has, without limitation, application in hand-activated instruments as well as in robotic-assisted instruments.
This application incorporates by reference the concurrently-filed and commonly-assigned U.S. patent application entitled “MEDICAL TUBULAR ASSEMBLY”.
Before explaining the present invention in detail, it should be noted that the invention is not limited in its application or use to the details of construction and arrangement of parts illustrated in the accompanying drawings and description. The illustrative embodiments of the invention may be implemented or incorporated in other embodiments, variations and modifications, and may be practiced or carried out in various ways. Furthermore, unless otherwise indicated, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative embodiments of the present invention for the convenience of the reader and are not for the purpose of limiting the invention.
It is understood that any one or more of the following-described embodiments, examples, etc. can be combined with any one or more of the other following-described embodiments, examples, etc.
Referring now to the Figures, wherein like numerals represent like elements throughout,
In one example, without limitation, of the first expression of the first embodiment of
In one enablement of the first expression of the first embodiment of
In one implementation of the first expression of the first embodiment of
In a first construction of the first expression of the first embodiment of
In one configuration of the first expression of the first embodiment of
In one illustration, the medical end effector 14 has a proximal end-effector portion 34, and the first, second and third cables 20, 36 and 40 are attached to the proximal end-effector portion 34 of the medical end effector 14. In one modification, the proximal end-effector portion 34 has a circumferential surface 44, and the first, second and third cables 20, 36 and 40 are spaced apart from each other by substantially 120 degrees about the circumferential surface 44 of the proximal end-effector portion 34. In one deployment, pulling of the first, second and third cables 20, 36 and 40, either alone or in pairs articulates the medical end effector 14 with respect to the proximal medical instrument member 18.
Examples, without limitation, of medical end effectors 14 of the first expression of the embodiment of
A second embodiment of the invention is shown in
In one implementation of the first expression of the second embodiment of
Examples, without limitation, of medical end effectors 114 of the first expression of the embodiment of
A third embodiment of the invention is shown in
Examples, without limitation, of medical end effectors 214 of the first expression of the embodiment of
A fourth embodiment of the invention is shown in
Examples, without limitation, of medical end effectors 314 of the fourth expression of the embodiment of
In a first extension of any one or more or all of the expressions of the above-described embodiments of the inventions, the medical instrument includes a handle (not shown) connected to a proximal end portion of the tube, wherein the handle has knobs, levers, ports, etc. adapted for manual operation for pulling and/or pushing the cables and activation wires for articulation and activation of the medical instrument. In a second extension, not shown, the proximal end portions of the cables and activation wires are operatively connected to a robotic device for articulation and activation of the medical instrument.
A fifth embodiment of the invention is shown in
In an enablement of the first expression of the embodiment of
In one modification, the distal medical instrument member 466 is a medical end effector such as, without limitation, a medical grasper as shown in
In a first alternate modification, shown in the embodiment of
Several benefits and advantages are obtained from one or more of the expressions of the embodiments of the invention. In a first example of the first expression of the first, second, third and/or fourth embodiments, the tube is inserted into a working channel of a flexible insertion tube of an endoscope, wherein the medical end effector can be articulated with respect to the insertion tube of the endoscope allowing independent alignment of the wide angle video camera of the endoscope and the medical end effector. In a second example of the first expression of the first, second, third and/or fourth embodiments, the tube has a tube-to-endoscope-rail distal medical instrument member feature allowing the tube to be coupled to, and slid along, an exterior rail of a flexible insertion tube of an endoscope allowing independent alignment of the wide angle video camera of the endoscope and the medical end effector. Non-endoscopic examples are left to those skilled in the art. The cable embodiments allow, with multiple cables, articulation which is not limited to a single plane. The drive screw embodiments allow pivotal articulation unhindered by tube bending from endoscopic insertion within a patient.
While the present invention has been illustrated by a description of several expressions of embodiments, it is not the intention of the applicants to restrict or limit the spirit and scope of the appended claims to such detail. Numerous other variations, changes, and substitutions will occur to those skilled in the art without departing from the scope of the invention. For instance, the medical instrument of the invention has application in robotic assisted surgery taking into account the obvious modifications of such systems, components and methods to be compatible with such a robotic system. It will be understood that the foregoing description is provided by way of example, and that other modifications may occur to those skilled in the art without departing from the scope and spirit of the appended Claims.
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