[미국특허]
Articulating steerable clip applier for laparoscopic procedures
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-017/10
A61B-017/128
A61B-017/00
출원번호
US-0339021
(2014-07-23)
등록번호
US-9918715
(2018-03-20)
발명자
/ 주소
Menn, Pavel
출원인 / 주소
Conmed Corporation
대리인 / 주소
Price, Frederick JM
인용정보
피인용 횟수 :
27인용 특허 :
25
초록▼
A long articulating steerable clip applier affixed to a user-operated handle. A surgical jaw assembly is attached to the other end of the clip applier. The clip applier is composed of articulating phalanges that are connected end to end by pivoting links and capable of angulations relative to one an
A long articulating steerable clip applier affixed to a user-operated handle. A surgical jaw assembly is attached to the other end of the clip applier. The clip applier is composed of articulating phalanges that are connected end to end by pivoting links and capable of angulations relative to one another when subjected to a tensile force. Each phalange has opposing s-shaped exterior grooves that form two continuous spiral-shaped channels for holding tension wires once the phalanges are assembled. Multiple tension wires are attached to opposite ends of adjacent phalanges. When each wire is pulled, this tensile force causes the phalanges to pivot at equivalent angles with each other. As each individual phalange pivots by an equivalent angle, the sum of these angles causes the free end of the clip applier to pivot by a large angle or a cascading actuation effect.
대표청구항▼
1. A device comprising: a handle;a first phalanx movably coupled to the handle;an intermediate phalanx movably coupled to the first phalanx;a final phalanx movably coupled to the intermediate phalanx; anda tension wire extending from the handle and operably coupled to the first phalanx, the tension
1. A device comprising: a handle;a first phalanx movably coupled to the handle;an intermediate phalanx movably coupled to the first phalanx;a final phalanx movably coupled to the intermediate phalanx; anda tension wire extending from the handle and operably coupled to the first phalanx, the tension wire configured to allow a user-applied motion applied to the handle to change tension in the tension wire to move the first phalanx in a first direction, the movement of the first phalanx in the first direction further configured to move the intermediate phalanx and the final phalanx in the first direction in response to the motion of the first phalanx, wherein the tension wire is a first tension wire and the user-applied motion is a first user-applied motion, the device further comprising: a second tension wire extending from the handle and operably coupled to the first phalanx, the second tension wire configured to allow a second user-applied motion applied to the handle to change tension in the second tension wire to move the first phalanx in a second direction, the movement of the first phalanx in the second direction further configured to move the intermediate phalanx and the final phalanx in the second direction in response to the motion of the first phalanx, wherein each of the first phalanx, the intermediate phalanx, and the final phalanx comprises two s-shaped grooves on opposite sides of an exterior surface of the phalanx, the two s-shaped grooves forming two continuous axially extending spiral-shaped channels when the first phalanx, the intermediate phalanx, and the final phalanx are coupled. 2. The device of claim 1, wherein the intermediate phalanx moves at a same angle and in a same direction as the first phalanx, wherein the angle of the first phalanx is measured from the handle to the first phalanx, and the angle of the intermediate phalanx is measured from the first phalanx to the intermediate phalanx. 3. The device of claim 1, wherein a third user-applied motion applies a first amount of force to the first tension wire and a second amount of force to the second tension wire, the two amounts of force combining to move the first phalanx in a third direction. 4. The device of claim 1, wherein the tension wires are disposed within the s-shaped grooves, the first tension wire connected to the handle, extending through one of the s-shaped channel on the first phalanx, and connecting to the intermediate phalanx, and the second tension wire connected to the handle, extending through the other of the s-shaped channels on the first phalanx, and connecting to the intermediate phalanx. 5. The device of claim 4, further comprising: a third tension wire attached to the first phalanx in the s-shaped channel containing the first tension wire, extending through one of the s-shaped channels on the intermediate phalanx, and connected to the final phalanx; anda fourth tension wire attached to the first phalanx in the other s-shaped channel containing the second tension wire, extending through the other of the s-shaped channels on the intermediate phalanx, and connected to the final phalanx. 6. The device of claim 5, wherein tension on the first tension wire moves the first phalanx in a first direction, the motion in the first direction imparting tension on the third tension wire, the tension in the third tension wire moving the intermediate phalanx in the first direction; and wherein tension on the second tension wire moves the first phalanx in a second direction, the motion in the second direction imparting tension on the fourth tension wire, the tension in the fourth tension wire moving the intermediate phalanx in the second direction. 7. A device comprising: a handle;at least two tension wires;a first phalanx operably coupled to the handle and further connected to the handle via two tension wires, wherein a user-applied motion applied to the handle changes tension in at least one of the two tension wires, wherein the tension in the at least one tension wire moves the first phalanx;at least one intermediate phalanx, the first intermediate phalanx connected to the first phalanx via a connector, and wherein each phalanx is connected via a substantially similar connector to a successive phalanx; andan end effector coupled to a final intermediate phalanx;wherein the at least one intermediate phalanx, the final phalanx, and the end effector move in response to the motion of the first phalanx;wherein each phalanx comprises two s-shaped grooves on opposite sides of an exterior surface of the phalanx, wherein the s-shaped grooves begin on a first side of a proximal end of the exterior surface and curve over the exterior surface to an opposing side of a distal end of the exterior surface. 8. The device of claim 7, wherein each of the first phalanx, at least one intermediate phalanx, and the final phalanx comprises a lumen, and the lumen from the first phalanx, the at least one intermediate phalanx, and the final phalanx, when connected, form an internal longitudinal passage. 9. The device of claim 7, wherein the s-shaped grooves form two continuous axially extending spiral shaped channels, each continuous axially extending spiral shaped channel extends along the first phalanx, the at least one intermediate phalanx, and the final phalanx. 10. The device of claim 9, wherein the axially extending spiral shaped channels curve in opposing directions. 11. The device of claim 10, wherein a tension wire is disposed within each s-shaped channel, and wherein tension applied to at least one of the tension wires in the s-shaped channels provides steering control of the phalanx. 12. The device of claim 11, wherein the two tension wires are attached to the handle and are each disposed within one of the s-shaped channels on the first phalanx, and are attached in opposing s-shaped channels of a first intermediate phalanx; wherein applying tension to a first of the two tension wires moves the first phalanx in a first direction;wherein applying tension to a second of the two tension wires moves the first phalanx in a second direction;wherein the first direction and the second direction are defined by a pivot angle, wherein the pivot angle is the angle between the handle to the first phalanx. 13. The device of claim 12, wherein each intermediate phalanx is connected to the previous and successive phalanx via two tension wires, wherein motion of the first phalanx applies tension to tension wires around the first intermediate phalanx and the tension pivots the first intermediate phalanx in the first or second direction such that the angle between the first intermediate phalanx and the successive phalanx is the same as the pivot angle between the handle and the first phalanx. 14. The device of claim 13, wherein the first phalanx is connected to the first intermediate phalanx and second intermediate phalanx from the at least one intermediate phalanx via a phalanx-wire connection, wherein the phalanx-wire connection comprises two phalanx tension wires; wherein the first of the two phalanx tension wires is connected to and disposed within a proximal end of a first of the s-shaped channels of the first phalanx and wherein the second of the two phalanx tension wires is connected to and disposed within a proximal end of the second of the s-shaped channels of the first phalanx;wherein the two phalanx tension wires are each disposed within one of the s-shaped channels of the first intermediate phalanx; andwherein the first of the two phalanx tension wires is connected to and disposed within a distal end of a first of the s-shaped channels of the second intermediate phalanx and wherein the second of the two phalanx tension wires is connected to and disposed within a distal end of a second of the s-shaped channels of the second intermediate phalanx. 15. The device of claim 14, wherein each phalanx of the intermediate phalanxes is connected to the previous and next phalanx using the phalanx-wire connection, and wherein the final phalanx is secured using two final tension wires, wherein the final tension wires are similarly connected to the proximal end of the penultimate phalanx, are disposed within the two s-shaped channels of the final phalanx, and connected to opposite ends of the end effector. 16. The device of claim 15, wherein the motion of the first phalanx caused by tension on the at least one tension wire causes tension on the at least two phalanx tension wires between the first phalanx and second intermediate phalanx, and the first intermediate phalanx is pivoted by a phalanx pivot angle, wherein the phalanx pivot angle is the angle between the first phalanx and the first intermediate phalanx, andwherein the phalanx pivot angle is the same angle as the pivot angle between the handle and the first phalanx. 17. A device comprising: a handle;a first phalanx movably coupled to the handle;an intermediate phalanx movably coupled to the first phalanx;a final phalanx movably coupled to the intermediate phalanx;a first pair of tension wires extending from the handle and operably coupled to the first phalanx, the first pair of tension wires configured to allow user-applied motion applied to the handle to change tension in the tension wire to move the first phalanx to a specified angle based on the user-applied motion;a second pair of tension wires extending from the first phalanx and operably coupled to the intermediate phalanx, the second pair of tension wires configured to move the intermediate phalanx at the specified angle in response to the motion of the first phalanx;a third pair of tension wires expending from the intermediate phalanx to the final phalanx, the third pair of tension wires configured to move the final phalanx at the specified angle in response to motion of the intermediate phalanx; andan end effector operably coupled to the final phalanx, the end effector configured to perform a function in response to a second user-applied motion applied to the handle;wherein the first pair of tension wires are coupled to the first phalanx through an s-shaped channel on the first phalanx and connected to the handle and the intermediate phalanx, the second pair of tension wires are coupled to the first intermediate phalanx through an s-shaped channel on the intermediate phalanx and are connected to the first phalanx and the final phalanx, and the third pair of tension wires are coupled to the final phalanx through an s-shaped channel on the final phalanx and are connected to the intermediate phalanx and the end effector.
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