Articulating retractors

Patent metadata

Field	Value
Publication number	US-9550300-B2
Application number	US-76682710-A
Country	US
Kind code	B2
Filing date	Apr 23, 2010
Priority date	May 23, 2003
Publication date	Jan 24, 2017
Grant date	Jan 24, 2017

Abstract

The present invention provides an articulating retractor including: a plurality of distal segments, a distal segment of the plurality of distal segments being movable relative to others of the plurality of distal segments; a plurality of proximal segments, a proximal segment of the plurality of proximal segments being movable relative to others of the plurality of proximal segments, the proximal segment corresponding to the distal segment; and multiple sets of cables, the proximal segment connected to its corresponding unit of the distal segment, by a set of cables, such that movement of the proximal segment causes corresponding reciprocal movement of the distal segment. The mechanisms of the articulating retractor may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

First claim

What is claimed is:

1. An articulating retractor comprising:
a retractor comprising a plurality of linearly aligned distal segments linked by a plurality of distal link pivots, each distal segment including a plurality of channels arranged in a radial channel pattern and each distal segment being movable in multiple planes relative to an adjacent distal segment about a distal link pivot of the adjacent distal segment, each distal link pivot being disposed between adjacent distal segments;
a plurality of proximal segments linked by a plurality of proximal link pivots, each proximal segment of the plurality of proximal segments being movable in multiple planes relative to an adjacent proximal segment about a proximal link pivot of the plurality of proximal link pivots, each proximal link pivot being disposed between adjacent proximal segments, each proximal segment including a plurality of channels arranged in a radial channel pattern and each proximal segment forming a pair with a corresponding distal segment of the plurality of distal segments, each proximal segment being maintained in a spaced apart relationship relative to the distal segment of the pair, wherein the radial channel pattern of the distal segments is the same as the radial channel pattern of the proximal segments;
a first pair of segments comprising a first proximal segment of the plurality of proximal segments and a first distal segment of the plurality of distal segments connected to one another by a first set of cables extending through a first set of the plurality of channels in each of a first set of intervening proximal and distal segments that extend between the first distal segment and first proximal segment, wherein ends of the first set of cables terminate at the first proximal segment and first distal segments; and
a second pair of segments comprising a second proximal segment of the plurality of proximal segments, different than the first proximal segment, and a second distal segment of the plurality of distal segments, different than the first distal segment, connected to one another by a second set of cables, different than the first set of cables, extending through a second set of the plurality of channels, different than the first set of the plurality of channels, in each of a second set of intervening proximal and distal segments that extend between the second distal segment and second proximal segment, wherein ends of the second set of cables terminate at the second proximal segment and second distal segments,
wherein each channel of the first set of channels is linearly aligned along each segment of the first set of intervening proximal and distal segments and each channel of the second set of channels is linearly aligned along each segment of the second set of intervening proximal and distal segments,
wherein for at least one pair of the distal and proximal segments, each segment has a first set of the plurality of channels occupied by one set of terminating cables, a second set of the plurality of channels occupied by one set of slip-fit cables, and a third set of the plurality of channels unoccupied by cables, and
wherein the retractor has a reconfigurable locked configuration.

2. The articulating retractor of claim 1 , further comprising a generally rigid handle located between the distal segments and the proximal segments.

3. The articulating retractor of claim 1 , further comprising a locking mechanism which is configured to fix the retractor in a particular configuration.

4. The articulating retractor of claim 3 , wherein at least some of the segments comprise a ball and socket configuration and the locking mechanism comprises a locking cable.

5. The articulating retractor of claim 3 , further comprising an attachment channel wherein the attachment channel is formed by alignment of attachment channel openings formed in each of the plurality of proximal segments, each attachment channel opening having a first portion extending through each segment and a second opening portion connecting the first portion to an outer surface of the segment.

6. The articulating retractor of claim 5 , wherein the reconfigurable locked configuration is provided by a locking rod inserted into the attachment channel openings.

7. The articulating retractor of claim 3 , the locking mechanism comprising a tensioning cable having an end affixed to a screw.

8. The articulating retractor of claim 7 , the screw being threaded into a nut affixed at a proximal end of the locking mechanism, such that rotation of the screw within the nut causes adjustments to the tension.

9. The articulating retractor of claim 1 , wherein the retractor can be articulated into a desired shape by manipulation of one or more proximal segments.

10. An articulating retractor comprising:
a retractor comprising a plurality of linearly aligned distal segments, each distal segment including a segment head having a plurality of channels arranged in a radial channel pattern and a segment stem, each distal segment being movable in multiple planes relative to an adjacent distal segment about a distal link stem of the distal segment, the retractor further comprising a reconfigurable lock;
a plurality of proximal segments, each proximal segment of the plurality of proximal segments have a segment head and a segment stem and being movable in multiple planes relative to an adjacent proximal segment about the segment stem of the proximal segment, each proximal segment head including a plurality of channels arranged in a radial channel pattern and each proximal segment forming a pair with a corresponding distal segment of the plurality of distal segments, each proximal segment being maintained in a spaced apart relationship relative to the distal segment of the pair;
multiple sets of cables, each set connecting the proximal segment and the corresponding distal segment of one of the pairs and terminating at the segments of the pair, such that movement of each proximal segment causes corresponding inverse movement of the paired distal segment, each set of cables passing through corresponding channels of the plurality of channels of each intervening segment, each corresponding channel being a specific channel in the radial channel pattern; and
a locking mechanism configured to fix the retractor in a particular configuration, wherein at least some of the segments comprise a ball and socket configuration and the locking mechanism comprises a locking cable extending through the segment stems of the distal segments.

11. The articulating retractor of claim 10 , wherein the segment head of each of the proximal segments further includes an attachment channel opening that communicates with the segment exterior.

12. An articulating retractor comprising:
a retractor comprising a plurality of linearly aligned distal segments and a plurality of proximal segments, each of the plurality of linearly aligned distal and proximal segments comprising a plurality of circumferentially spaced channels, wherein the plurality of circumferentially spaced channels in the distal segments is the same as the plurality of circumferentially spaced channels in the proximal segments;
an attachment channel wherein the attachment channel is formed by linear alignment of attachment channel openings formed in each of the plurality of proximal segments, each attachment channel opening having a first portion extending through each segment and a second opening portion connecting the first portion to an outer surface of the segment;
a first set of cables;
a first pair of segments comprising a first proximal segment and a first distal segment connected to one another by the first set of cables extendin

Assignees

• Danitz David J
• Gold Adam
• Intuitive Surgical Operations

Inventors

• Danitz David J
• Gold Adam

Classifications

• A61B2017/00424

  ergonomic, e.g. fitting in fist · CPC title

• A61B2017/2927

  the angular position of the head being adjustable with respect to the shaft · CPC title

• A61B1/0055

  Constructional details of insertion parts, e.g. vertebral elements · CPC title

• Y10S901/21

  Flaccid drive element · CPC title

• Y10T74/20323

  including flaccid drive element · CPC title