Tool with articulation lock

Patent metadata

Field	Value
Publication number	US-9737365-B2
Application number	US-201514735564-A
Country	US
Kind code	B2
Filing date	Jun 10, 2015
Priority date	May 23, 2003
Publication date	Aug 22, 2017
Grant date	Aug 22, 2017

Abstract

The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator. A rotation lock provides for enablement and disablement of rotatability of the end effector.

First claim

What is claimed is:

1. A tool comprising:
a distal portion and a proximal portion spaced apart by a shaft along a longitudinal axis, the distal portion including a plurality of distal links and the proximal portion including a plurality of proximal links, wherein the plurality of distal and proximal links are configured to form multiple pairs of links, each pair comprising a proximal link and a corresponding distal link;
multiple sets of tension load bearing members, each set connecting the proximal link and the corresponding distal link of one of the multiple pairs of links and terminating at the links of the pair to transfer movement therebetween; and
an articulation lock positioned between the distal portion and the proximal portion and configured to allow passage of each set of tension load bearing members through the articulation lock, and to increase an effective length of the shaft to force adjacent distal links into frictional engagement and adjacent proximal links into frictional engagement to impede movement of the distal and proximal portions.

2. The tool of claim 1 , further comprising a handle with an end effector actuator disposed at the proximal portion, such that moving the end effector actuator causes movement of a proximal link of the plurality of proximal links.

3. The tool of claim 1 , further comprising:
an end effector disposed at the distal portion; and
an end effector actuator disposed at the proximal portion, wherein movement of a distal link of the plurality of distal links causes angular movement of the end effector with respect to the shaft.

4. The tool of claim 1 , wherein the articulation lock comprises a tension adjusting mechanism configured to vary the effective length of the shaft to vary tension in a set of the tension load bearing members to vary friction between adjacent links among the plurality of proximal links.

5. The tool of claim 1 , wherein the articulation lock is configured to maintain a first configuration of the distal and proximal links when the distal and proximal links are in the first configuration when the articulation lock is engaged.

6. The tool of claim 1 , wherein the articulation lock has a partially engaged state wherein a tension on the tension load bearing members is such that movement between adjacent links is partially impeded and the articulation mechanism as a whole is malleable.

7. The tool of claim 1 , wherein tension on the tension load bearing members is such that movement of adjacent links is substantially blocked when the articulation lock is in an engaged state.

8. The tool of claim 1 , wherein the articulation lock comprises a tension adjusting mechanism configured to vary the effective length of the shaft, the tension adjusting mechanism including:
a sleeve featuring a first threaded portion with right hand threads and a second threaded portion with left hand threads,
a first threaded element featuring right hand threads, and
a second threaded element featuring left hand threads.

9. The tool of claim 1 , wherein the articulation lock comprises a lever mechanism configured to vary the effective length of the shaft disposed between the distal portion and the proximal portion.

10. The tool of claim 1 , wherein the tension load bearing members comprise a set of cables.

11. The tool of claim 1 , wherein the articulation lock comprises a tension adjusting mechanism including a proximal component and a distal component.

12. The tool of claim 11 , wherein an engaged state of the articulation lock results in increasing the effective length of the shaft by moving the proximal component of the tension adjusting mechanism and the distal component of the tension adjusting mechanism away from each other.

13. The tool of claim 12 , wherein friction between the adjacent links is increased when the effective length of the shaft disposed between the proximal portion of the tool and the distal portion is increased.

14. A tool, comprising:
a distal portion and a proximal portion spaced apart by an effective distance, the distal portion including first and second distal links and the proximal portion including first and second proximal links;
a tension load bearing member configured to connect the first proximal link to the first distal link, and to transfer movement therebetween; and
an articulation lock configured to increase the effective distance between the distal portion and the proximal portion to increase friction between the first and second proximal links, wherein the articulation lock is configured to allow passage of the tension load bearing member through the articulation lock.

15. The tool of claim 14 , wherein the articulation lock comprises a tension adjusting mechanism including a first component and a second component, the tension adjusting mechanism configured to vary the effective distance by varying a distance between the first component and the second component.

16. The tool of claim 15 , wherein the first component and the second component are engaged in a threaded configuration to allow varying of the distance between the first component and the second component.

17. The tool of claim 16 , wherein the articulation lock is configured to vary friction between the first and second proximal links by varying the effective distance between the distal portion and the proximal portion.

Assignees

• Intuitive Surgical Operations

Inventors

• Hegeman David Elias
• Danitz David J
• Hinman Cameron D
• Alvord Lincoln J

Classifications

• A61B2090/508

  with releasable brake mechanisms · CPC title

• H04B7/2125

  Synchronisation · CPC title

• A61B2017/00314

  Separate linked members · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title