US20110022078A1 - Articulating mechanism - Google Patents

Abstract

An articulating mechanism is provided with at least one pair of spherical joints interconnected by a set of tension members. Each joint includes a ball member, a socket member configured to pivotably receive at least a portion of the ball member, and at least one tension member extending through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint.

Description

FIELD OF THE INVENTION
• This invention relates to articulating mechanisms and applications thereof, including the remote guidance and manipulation of surgical or diagnostic tools.
BACKGROUND OF THE INVENTION
• Surgical procedures such as endoscopy and laparoscopy typically employ instruments that are steered within or towards a target organ or tissue from a position outside the body. Examples of endoscopic procedures include sigmoidoscopy, colonoscopy, esophagogastroduodenoscopy, and bronchoscopy, as well as newer procedures in natural orifice transluminal endoscopic surgery (“NOTES”). Traditionally, the insertion tube of an endoscope is advanced by pushing it forward, and retracted by pulling it back. The tip of the tube may be directed by twisting and general up/down and left/right movements. Oftentimes, this limited range of motion makes it difficult to negotiate acute angles (e.g., in the rectosigmoid colon), creating patient discomfort and increasing the risk of trauma to surrounding tissues.
• Laparoscopy involves the placement of trocar ports according to anatomical landmarks. The number of ports usually varies with the intended procedure and number of instruments required to obtain satisfactory tissue mobilization and exposure of the operative field. Although there are many benefits of laparoscopic surgery, e.g., less postoperative pain, early mobilization, and decreased adhesion formation, it is often difficult to achieve optimal retraction of organs and maneuverability of conventional instruments through laparoscopic ports. In some cases, these deficiencies may lead to increased operative time or imprecise placement of components such as staples and sutures.
• Steerable catheters are also well known for both diagnostic and therapeutic applications. Similar to endoscopes, such catheters include tips that can be directed in generally limited ranges of motion to navigate a patient's vasculature. There have been many attempts to design endoscopes and catheters with improved steerability. For example, U.S. Pat. No. 3,557,780 to Sato; U.S. Pat. No. 5,271,381 to Ailinger et al.; U.S. Pat. No. 5,916,146 to Alotta et al.; U.S. Pat. No. 6,270,453 to Sakai, and U.S. Pat. No. 7,147,650 to Lee describe endoscopic instruments with one or more flexible portions that may be bent by actuation of a single set of wires. The wires are actuated from the proximal end of the instrument by rotating pinions (Sato), manipulating knobs (Ailinger et al.), a steerable arm (Alotta et al.), by a pulley mechanism (Sato), or by manipulation of complementary portions (Lee). U.S. Pat. No. 5,916,147 to Boury et al. discloses a steerable catheter having four wires that run within the catheter wall. Each wire terminates at a different part of the catheter. The proximal ends of the wires extend loosely from the catheter so that the physician may pull them. The physician is able to shape and thereby steer the catheter by selectively placing the wires under tension.
• Recently, surgical instruments, including minimally invasive surgical instruments, have been developed that are more ergonomic and which have a wider range of motion and more precise control of movement. These instruments may include mechanisms that articulate using a series of links coupled with one or more sets of tension bearing members, such as cables. As with conventional instruments used in minimally invasive surgery, rotation of the shaft and end effector with respect to the handle is also an important feature of cable and link type instruments to aid with dissecting, suturing, retracting, knot tying, etc. The links, joints, and other components of existing instrument articulation mechanisms include various undesirable limitations. With the increasing complexity associated with surgical procedures that these instruments are used to perform, further improvements in the design of the articulation mechanisms of the instruments are desirable.
SUMMARY OF THE INVENTION
• According to aspects of the invention, articulating tools are provided with improved articulating mechanisms as well as methods of assembling such tools. In some embodiments, the articulating tool is appropriate for multiple uses, including medical uses such as diagnostic and surgical uses.
• In some embodiments, an articulating mechanism comprises at least one pair of longitudinally spaced apart spherical joints. Each joint may include a convex component and a mating concave component. The concave component is configured to receive at least a portion of the convex component. Both components may have spherical surfaces adapted to slide relative to one another. The articulating mechanism further comprises at least one set of tension members interconnecting one component of one of the joints of a pair to one component of the other joint of the pair. With this arrangement, movement of one of the interconnected components causes corresponding relative movement of the other interconnected component directly through tension member movement. Each of the convex and concave components includes a plurality of channels. Each channel is sized to slidably receive one of the tension members. Each channel on at least one of the components has an opening located on the spherical surface of the component. The channels located in mating convex and concave components form pairs of opposing channels. At least one of these pairs of opposing channels cooperates with a common tension member received therein to transmit torque between the mating components.
• In some of the above embodiments, the articulating mechanism further comprises at least two pairs of longitudinally spaced apart spherical joints. Each of the pairs may have a discrete set of tension members associated with it. The mechanism may further comprise an intermediate member such that each pair of joints has one joint on one side of the member and one joint on the other side of the member. The intermediate member may comprise a rigid tube configured for receiving the tension members therethrough. The convex component of one of the joints may be integrally formed as a single part with the concave component of another of the joints. The convex component of one of the joints may be integrally formed as a single part with the convex component of another of the joints. The concave component of one of the joints may be integrally formed as a single part with the concave component of another of the joints.
• In some of the above embodiments, at least one of the convex members comprises a truncated sphere. At least one of the convex members may comprise a frusto-sphere. At least one of the channels may open radially outward through a circumferential edge of the component. In some embodiments, each of the convex and concave components comprises a central axial bore therethrough. In some embodiments, at least one mating pair of convex and concave components has exactly 4 tension member channels running through each component, and/or at least one mating pair of convex and concave components has exactly 8 tension member channels running through each component. The channels in at least one concave component may be radially interconnected to form a cross-pattern.
• According to aspects of the invention, a spherical joint may be provided that comprises a ball member, a socket member and at least one tension member. The socket member may be configured to pivotably receive at least a portion of the ball member. The tension member(s) may extend through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint.
• In some embodiments, an articulating mechanism for remote manipulation of a surgical or diagnostic tool is provided. The tool may comprise multiple pairs of links. Each link of each pair may be maintained in a spaced apart relationship relative to the other link of the pair. The mechanism may further comprise multiple sets of tension members. Each set of tension members may connect the links of a discrete pair to one another, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair. Each link may be part of a spherical joint having mating convex and concave surfaces. The tension members may extend through channels in the mating surfaces.
• In some of the above embodiments, the links form proximal and distal ends with links of corresponding pairs being located adjacent to the proximal and distal ends, respectively. In these embodiments, movement of the proximal end results in corresponding relative movement of the distal end. The articulating mechanism may further comprise a handle located at the proximal end and a grasper at the distal end.
INCORPORATION BY REFERENCE
• All publications and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference.
BRIEF DESCRIPTION OF THE DRAWINGS
• The novel features of the invention are set forth with particularity in the claims that follow. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings which are briefly described below.
• FIG. 1A is an obliquely distal-looking perspective view of an exemplary articulating device having a handle and an end effector.FIG. 1B is a detailed view of the circled portion ofFIG. 1A, which includes proximal links and bushings.
• FIG. 2 shows the device ofFIG. 1 in a proximal-looking view, with the handle and end effector in an articulated position.FIG. 2B is a detailed view of the circled portion ofFIG. 2A, which includes distal links and bushings.
• FIG. 3 is an exploded perspective view of certain proximal components of the articulating device.
• FIGS. 4A,4B,4C,4D,4E,5A,5B and6A,6B show details of a combination link and busing member for use with the articulating device.
• FIGS. 7A,7B and8A,8B,8C,8D,8E show details of convex bushing components for use with the articulating device.
• FIG. 9 shows details of a double-ended convex bushing component formed as a single unitary piece.
• FIGS. 10A,10B and11A,11B show details of another convex bushing component for use with the articulating device.
• FIGS. 12A,12B, and13A,13B,13C show details of a concave link member for use with an articulating device.
• FIG. 14A,14B,14C shows details of another concave link member for use with an articulating device.
• FIGS. 15-16 show details of an articulating mechanism located on the distal end of an instrument according to aspects of the invention.
• FIGS. 17A,17B,17C,17D,17E,18A,18B,18C,18D,19A,19B,19C, and20A,20B show details of an alternative articulating mechanism.
DETAILED DESCRIPTION OF THE INVENTION
• Articulating tools are described in U.S. Pat. No. 7,090,637; US 2005/0107667; US 2005/0273084; US 2005/0273085; US 2006/0111209, US 2006/0111210, and US 2006/0111615. The articulating mechanisms of the tools described in those publications use multiple pairs of segments or links controlled, e.g., by multiple sets of cables, as well as tools that have a single pair of links, connected by a single set of cables, such as those described in U.S. Pat. No. 5,916,146. Depending upon the specific design of the device, the links can be discrete segments (as described, e.g., in U.S. Pat. No. 7,090,637) or discrete portions of a flexible segment (as described, e.g., in US 2005/0273085). The instrument may also include steerable or controllable links, e.g., as described in US 2005/0273084, US 2006/0111209 and US 2006/0111210. The devices of this invention may include optional end effectors at their distal ends and end effector actuators supported by a handle at their proximal ends. When using such articulating instruments, a user may manipulate the proximal end of the instrument, thereby moving one or more distal links of the articulation mechanism. Aspects of the present invention may be used in any of these and in other articulating mechanisms.
• FIGS. 1A and 2A show anexemplary articulatable tool100 with anend effector102 at its distal end and anend effector actuator104 within ahandle106 at its proximal end:FIG. 1A shows the tool in a neutral or non-articulated configuration, whileFIG. 2A shows the tool in an articulated position or configuration.FIG. 1B shows detail (encircled inFIG. 1A) of the proximal links of the tool.FIG. 2B shows detail (encircled inFIG. 2A) of the distal links of the tool.Instrument100 may be used, e.g., in a laparoscopic procedure requiring grasping or cutting within a patient. Exemplary embodiments of thetool100 may also be useful in endoscopic procedures, particularly when, as in some embodiments, the tool has a flexible shaft. Still other embodiments may be used for percutaneous procedures, such as a catheter. Still other embodiments include devices that are directed toward natural orifice transluminal endoscopic surgery (“NOTES”). Embodiments of the invention may include a wide variety of tools, some with medical or diagnostic purposes, and others that are applied to other types of tasks where the articulational capabilities of the tool provide benefit.
• Proximal articulation links108 and110 extend distally fromhandle106, and distal articulation links112 and114 extend proximally fromend effector102.Proximal link108 is a spindle and is connected to and moves withhandle106. Likewise,distal link112 is connected to and moves withend effector102. Anelongated shaft116 is disposed between the proximal links and the distal links; in some embodiments the shaft is rigid, in other embodiments the shaft may be flexible.
• A set of tension bearing elements orcontrol cables118 is attached toproximal link108, extends throughproximal link110,shaft116 anddistal link114 and is attached todistal link112, as shown inFIGS. 1A and 1B. A second set of tension bearing element orcontrol cables120 is attached toproximal link110, extends throughshaft116 and is attached todistal link114. In this embodiment, there are threecontrol cables118 in the first set and threecontrol cables120 in the second set. It should be appreciated, however, that other numbers of control cables may be used to connect corresponding proximal and distal links. In addition, tension bearing elements other than cables may be used to connect corresponding links. In some embodiments, the tension members may comprise cables that are capable of only transmitting tension between the links. In other embodiments, the tension members may comprise Nitinol wires, rods or other elements capable of transmitting both tension and compression. In these latter embodiments, a link may be alternately pushed and pulled by at least one tension member. In some embodiments, one set of control cables, such ascables120, may be eliminated to provide an instrument with a single pair of connected links. What is meant by the word “connected” is that the cable(s) are attached to a pair of links to allow one link to drive another link, as opposed to the cables merely slidably passing through the connected links.
• As shown inFIGS. 1A,1B,2A, and2B, movement ofhandle106 andproximal link108 with respect toproximal link110 movesend effector102 anddistal link112 in a relative and corresponding manner. Likewise, movement ofproximal link110 with respect toshaft116 movesdistal link114 with respect toshaft116 in a relative and corresponding manner, also as shown inFIG. 2. This relative articulation movement provides a way for a user to remotely manipulate the end effector through movement of the handle. It should be understood that the proximal and distal links can be connected by the tension bearing elements so as to move in the same direction with respect to the shaft (thereby providing a mirror image movement) or in opposite directions with respect to the shaft, depending on whether the tension bearing elements connect the corresponding links on the opposite sides or on the same sides of the links, respectively. In addition, the degree of relative movement can be determined by the relative diameters of the cables' connections to corresponding links as well as through the use and specific design of bushings or spacer links separating the connected proximal and distal links. For example, in the embodiment shown inFIGS. 1-3, the cables' radial spacing on the proximal links is about three times greater than their radial spacing on the distal links. This means that a movement of about 5° in a proximal link will cause a corresponding movement of about 15° in a distal link. Further details of these links are provided in US2005/0273085, which is hereby incorporated by this reference.
• In the embodiment illustrated inFIG. 1, theend effector102 is a pair of jaws. Actuation force is transmitted fromend effector actuator104 through a transmission that includes a linearly movable rod and a rotatable rod actuator (not shown). Other end effectors (surgical, diagnostic, etc.) and end effector actuators may be used with an articulating tool constructed according to this invention. In some embodiments, the distal links themselves can comprise an end effector, such as, for example, a retractor. The movable rod may comprise any flexible material; in some embodiments Nitinol offers particular advantages as it is sufficiently flexible to accommodate articulation, and yet can still carry a compressive load sufficiently, for example, to be able to push open an end effector, such as a set of jaws. In some embodiments, a series of proximal links, themselves, can comprise a “handle” with no other rigid handle being provided. In other words, the proximal links may be formed into a particular shape which is emulated by a corresponding series of distal links. More details of such embodiments are provided in U.S. Pat. No. 7,090,637.
• FIG. 3 shows an exploded view of certain proximal components of the articulating tool. The tension members have been omitted for clarity. As shown, a double headedbushing109 is disposed betweenlinks108 and110, and anotherbushing111 is disposed betweenlinks110 and aproximal end cap300. The interaction ofbushings109 and111 withlinks108 and110 and withproximal end cap300 is described in more detail in U.S. 2005/0273084, U.S. 2006/0111209, and U.S. 2006/0111210. If thetension bearing cables118 and120 were shown inFIG. 3 as they are inFIGS. 1 and 2, the proximal ends of the threecables118 would terminate inopenings1806 oflink108, and the cables would pass throughopenings1820 inlink110 andopenings304 inend cap300 before enteringshaft116. Likewise, the proximal ends of threecables120 would terminate inopenings1822 oflink110 and would pass throughopenings304 inproximal end cap300 before enteringshaft116. A tapered end cap housing or cover306 may be rigidly fixed toshaft116 to provide a transition fromend cap300 toshaft116.
• As previously noted,device100 shown inFIGS. 1-3 includes two pairs of links, each interconnected by its own set of tension members. Specifically, one pair is formed byproximal link108 anddistal link112 which are interconnected bytension members118, and another pair is formed byproximal link110 anddistal link114 which are interconnected bytension members120. In other embodiments, only a single pair of links interconnected by a single set of tension members is used. In yet other embodiments, three or more pairs of links may be used, each interconnected by a discrete set of tension members. In some embodiments, instead of a set of tension members, only a single tension member may be used between a pair of links, such as when the tension member is capable of also transmitting compression between the links.
• As shown inFIG. 3,proximal links108 and110 are separated by bushing109, andproximal link110 is separated fromproximal end cap300 bybushing111.Proximal bushings109 and110 each have a convex spherical component or ball located at each of their ends. Mating concave recesses are formed inproximal links108 and110 and inproximal end cap300 for receiving a portion of the ball ends of the bushings. With this arrangement,proximal links108 and110 pivot relative to one another about two pivot points (i.e. about the centers of the two ball ends of bushing109). Similarly,proximal link110 andend cap300 pivot relative to one another about two pivot points (i.e. about the centers of the two ball ends of bushing111). In other embodiments, some of which are later described, links may pivot relative to one another about a single pivot point. In the embodiment shown inFIG. 3, protruding pin features are located on opposite sides of each ball and are pivotably received within mating slots located in the concave recesses. This pin and slot configuration allows torque to be transmitted across the four proximal spherical joints.Distal links112 and114, anddistal end cap400 are separated by bushings in a similar arrangement. As can be seen by the radial location oftension member channels1806,1807,1820,1822 and304 relative to the concave recesses, the tension members travel axially along lines that are radially outside of the spherical joint surfaces in this embodiment.
• FIGS. 4A-4E show details of a combination link andbushing member500 that may be used in any of the articulating devices described above. For example,member500 may be used to replacelink110 andbushing111 shown inFIG. 3, and a component similar tomember500 may be used to replacelink108 andbushing109.
• Link andbushing member500 comprises aconcave component502 and a complementary-shapedconvex component504, which may be integrally formed therewith as shown. A centralaxial bore506 may be provided throughmember500.Concave component502 includes a recess having a concavespherical surface508. In this embodiment,spherical surface508 is bounded above byrim surface510 and below bystop surface512, which is further described below. Concavespherical surface508 is interrupted by the upper openings of fourchannels514 that travel axially through the concave component and in this embodiment are evenly spaced around the centralaxial bore506.
• The convex component ofmember500 includes a portion having the overall shape of a frustro-sphere, as best seen inFIG. 4D. This frusto-sphere is circumferentially interrupted by fourchannels516 that extend axially in line withchannels514, but also extend radially outward to divide the frustro-sphere into four convexspherical surfaces518. As best seen inFIG. 4D, eachchannel516 is outwardly tapered at both its top and bottom to generally form an hourglass shape.
• FIGS. 5A-5B show two link andbushing members500,500 axially coupled together in operation. As can be seen inFIG. 5B, theconvex component504 of theupper member500 is received within theconcave component502 of thelower member500 to form a spherical joint. In this embodiment, the spherical joint is capable of pivoting in at least two degrees of freedom. Dimensions may be appropriately chosen such that the four convexspherical surfaces518 slidably engage with the concavespherical surface508 but lateral movement between the spherical surfaces is generally prevented. Stopsurface512 may be provided in the lower concave component for abutting against thebottom surface520 of the upper convex component to limit the degree of angular rotation permitted between the twomembers500,500. In some embodiments, the degree of angular rotation permitted bystop surface520 is symmetrical about the central longitudinal axis, and in other embodiments it is asymmetrical. As shown, each centralaxial bore506 may be tapered at its top and bottom such that any cables, tubes, fiber optics, etc. passing through the bore are not pinched and do not inhibitmembers500,500 from pivoting.
• FIG. 6B is a cross-section similar toFIG. 5B, but is aligned withchannels514 inconcave component502 andchannels516 inconvex component504.Tension members522, such as for controlling other links in an articulating system, are shown passing throughchannels514 and516. The tapering ofchannels516permit members500,500 to pivot withouttension members522 binding. In some embodiments of the invention,channels516 may be tapered only at their lower ends and not at their upper ends. In other embodiments,channels514 inconcave component502 may be tapered whilechannels516 inconvex component504 are straight. In yet other embodiments, channels in bothcomponents502 and504 are tapered. In still other embodiments, channels in bothcomponents502 and504 are straight and sufficient axial distance between the channels is provided to inhibit binding oftension members522 during pivoting movement.
• With the arrangement shown inFIG. 6B, torque may be transmitted betweenmembers500,500 bytension members522 without the need for protrusions and slots as previously described in relation toFIG. 3. It can be appreciated that the shorter the distance betweenchannels514 and516 and the closer that these channels constraintension members522, the less axial rotation or backlash there will be betweenmembers500,500 for a given torque.
• Spherical joints constructed as described above may be provided with mating spherical surfaces that are larger than those of conventional spherical joints for a given joint envelope because they are not outwardly constrained by ball protrusions, socket slots, or tension members that are located radially outward from the mating spherical surfaces. Larger surface sizes may provide additional benefits such as being able to carry more load, allow for looser tolerance control and/or greater instrument rigidity. Such an arrangement may also allow one or more components of the joint to be made out of lighter, cheaper or disposable material such as plastic.
• FIGS. 7A-7B and8A-8E show details ofconvex bushing components550 that may be used in any of the articulating devices described above. For example,components550 may be used in pairs in a similar manner toproximal bushings109 and111 shown inFIG. 3, and/or in the distal articulating mechanism of a grasper instrument as shown inFIG. 16.
• Convex components550 are constructed and operate in a manner similar to that ofconvex components504 described above. In particular, eachcomponent550 includes a portion having the overall shape of a frustro-sphere, as best seen inFIG. 8A. This frusto-sphere is circumferentially interrupted by fourchannels516 that extend axially through the frusto-sphere, but also extend radially outward to divide the frustro-sphere into four convexspherical surfaces518. As best seen inFIG. 8A, eachchannel516 is outwardly tapered at both its top and bottom to generally form an hourglass shape.
• Eachconvex component550 comprises a pair of opposing, axially protrudingring segments552 on opposite sides of acentral bore554, as best seen inFIG. 7A where twocomponents550 are shown axially separated. The protrudingring segments552 of two facingcomponents550 may be rotationally oriented as shown inFIG. 7A so that when they are axially drawn together, as shown inFIG. 7B, the four protrudingring segments552 interdigitate and rotationally lock the twocomponents550 together. This creates a double-endedbushing556, with each end having a convex component formed by fourspherical surfaces518. Forming the double-endedbushing556 from two separate pieces as shown facilitates fabrication of the bushing from an injection molding process. As shown inFIG. 9, a similar double-endedbushing556′ may also be formed as a single, unitary piece.
• FIGS. 10A-10B and11A-11B show details ofconvex bushing components550′.Convex components550′ are similar toconvex components550 described above and shown inFIGS. 7A-7B and8A-8E, except thatcomponents550′ each have eightchannels516 instead of fourchannels516. This allows up to eight tension members522 (shown inFIG. 6B) to pass throughcomponents550′. When twoconvex bushing components550′ are interengaged as shown inFIG. 10B, they form a double-endedbushing556″, with each end having a convex component formed by eightspherical surfaces518′. A similar double-ended bushing (not shown) may also be formed as a single, unitary piece.
• FIGS. 12A-12B and13A-13C show details of aconcave link member560 that may be used in the articulating devices described above. For example,members560 may be used in a similar manner toproximal links108 and110 shown inFIG. 3, and/or in the distal articulating mechanism of a grasper instrument as shown inFIGS. 15 and 16.
• Concave member560 is constructed and operates in a manner similar to that ofconcave component502 described above. In particular, a centralaxial bore506 may be provided throughmember560. A recess having a concavespherical surface508 is provided at each end ofconcave member560. In this embodiment, eachspherical surface508 is bounded on the outside by acastellated rim surface562 or564, and on the inside by astop surface566 or568. Rim surfaces562 and564 are castellated in order to provide clearance for thetension members522 when the device is articulated. Stop surfaces566 and568 function in a manner similar to previously describedstop surface512. Each concavespherical surface508 is interrupted by the openings of eightchannels570 that travel axially throughconcave member560 and in this embodiment are evenly spaced around the centralaxial bore506.
• The recess andspherical surface508 located on theproximal end572 of member560 (as shown inFIGS. 12A and 13A) are configured to pivotably engage with the convexspherical surfaces518′ formed on one end of aconvex bushing component550′ (shown inFIGS. 10A-10B and11A-11B). Similarly, the recess andspherical surface508 located on thedistal end574 of member560 (as shown inFIGS. 12B and 13C) are configured to pivotably engage with the convexspherical surfaces518 formed on one end of a convex bushing component550 (shown inFIGS. 7-9).
• As shown inFIG. 13C, the recess located on thedistal end574 ofmember560 is provided with twocross channels576 that interconnect the distal ends of everyother channel570. This allows a tension member522 (not shown inFIG. 13) to pass through onechannel570 from theproximal end572 to thedistal end574 ofmember560, cross over to anotherchannel570, and return to theproximal end572 through theother channel570. Surface friction (or in some embodiments, adhesive, solder, crimping, or the like) keepstension members522 from sliding incross channels576. In this manner, the four tension member portions that extend through the fourchannels570 connected to crosschannels576 can be used to control the pivoting motion ofconcave link member560, while fourother tension members522 can pass throughmember560 in the remaining fourchannels570 to control another link located distal tomember560, as will be more fully described below.
• FIGS. 14A-14C show details of aconcave link member560′.Member560′ is similar in construction and operation to that ofmember560, exceptmember560′ has only fouraxial channels570 through it instead of eight.
• FIGS. 15 and 16 show details of the distal end of an articulating instrument, similar toinstrument100 shown inFIGS. 1-3 and having a distal articulatingmechanism578 similar to the articulating mechanism shown inFIG. 2B. The distal end of the instrument includes a pair ofgraspers580 that may be operated by an actuator (not shown) located at the proximal end of the instrument.
• Distal articulatingmechanism578 includes a double-endedconvex bushing556, aconcave link member560, and a double-endedconvex bushing556″, all as previously described. Adistal link582, constructed in a similar manner to one half ofconcave link member560 shown inFIGS. 14A-14C, may be formed ongrasper housing584. Similarly, arecess586, constructed in a similar manner to theproximal end572 ofconcave member560 shown inFIGS. 12-13, may be provided on the distal end ofinstrument shaft588. With this arrangement, concavedistal link582 may pivot relative toconcave link member560 about the centers of the two spherical ends of double-endedconvex bushing556. Similarly,concave link member560 may pivot relative to recess586 about the centers of the two spherical ends of double-endedconvex bushing556″.
• An articulating mechanism similar to distal articulatingmechanism578 may be used at the proximal end of the instrument, although its relative size may be larger or smaller to provide scaling of movement. In this exemplary embodiment, one set of fourtension members522 interconnects the innermost links (i.e.distal link560 and the proximal link (not shown inFIG. 15 or16) closest to shaft588). A separate set of fourmore tension members522 interconnects the outermost links (i.e.distal link582 and the proximal link (not shown inFIG. 15 or16) farthest from shaft588). With this arrangement, movement of the instrument handle (not shown) causes movement of the two proximal links which in turn drive corresponding movement of their respectivedistal links560 and582 directly through movement of the associatedtension members522.
• FIGS. 17-20 show details of an alternative embodiment of articulatingmechanism600. The construction and operation ofmechanism600 is similar to previously described articulatingmechanism578, but the convex and concave portions have been reversed. In other words, theconvex components602 are located on thelinks604, and theconcave components606 are located on thebushings608. As previously described, each of the components may be provided with a centralaxial bore610 and612, respectively, which may be tapered at one or both ends. Additionally,axial channels614 inlinks604 andaxial channels616 inbushing608 for receivingtension members522 may be tapered at one or both ends. As best seen inFIGS. 18A and18B, thetension member channels616 inbushing608 may be elongated such that they form a single cross-shaped opening withcentral bore612.
• As with the previous embodiments described, articulatingmechanism600 is able to transmit torque between thelinks604 andbushings608 throughtension members522 without the use of other torque transmitting features on the components. In other embodiments (not shown), articulating joints may be configured such that torque is not readily transmitted between the components bytension members522, but other advantages are nonetheless conferred by locating the tension members through one or more mating spherical surfaces of the joints.
• While the inventive surgical instruments and devices with improved articulating mechanisms have been described in some detail by way of illustration, such illustration is for purposes of clarity of understanding only. It will be readily apparent to those of ordinary skill and in the art in light of the teachings herein that certain changes and modifications may be made thereto without departing from the spirit and scope of the appended claims. For example, while the tool embodiments described in here have typically been in the context of tools with an articulating mechanism comprising at least two links, the tension member guide system may be used in an instrument comprising only a single link, a multiplicity of links, and with any number of tension members such as cables, or numbers of cable sets operably connecting the links. Further, the tension member guide system may be used in tools that are absent various features that may be associated with some articulatable instruments, such as handles, rotatability features, and dedicated end effectors. Finally, while the context of the invention may be considered to be surgical or medical diagnostic procedures, devices having such an articulation system may have utility in other non-medical contexts as well.

Claims (18)

1. An articulating mechanism comprising:

at least one pair of longitudinally spaced apart spherical joints, each joint comprising a convex component and a mating concave component configured to receive at least a portion of the convex component, both components having spherical surfaces adapted to slide relative to one another; and

at least one set of tension members interconnecting one component of one of the joints of a pair to one component of the other joint of the pair such that movement of one of the interconnected components causes corresponding relative movement of the other interconnected component directly through tension member movement, wherein each of the convex and concave components includes a plurality of channels, each channel sized to receive one of the tension members and the channels in at least one of the components having an opening located on the spherical surface of the component, wherein the channels located in mating convex and concave components form pairs of opposing channels, at least one of the pairs of opposing channels cooperating with a common tension member received therein to transmit torque between the mating components.

2. The articulating mechanism ofclaim 1 further comprising at least two of the pairs of longitudinally spaced apart spherical joints, each of the pairs having a discrete set of tension members associated with it.

3. The articulating mechanism ofclaim 2 further comprising an intermediate member such that each pair of joints has one joint on one side of the member and one joint on the other side of the member.

4. The articulating mechanism ofclaim 3 wherein the intermediate member comprises a rigid tube configured for receiving the tension members therethrough.

5. The articulating mechanism ofclaim 2 wherein the convex component of one of the joints is integrally formed as a single part with the concave component of another of the joints.

6. The articulating mechanism ofclaim 2 wherein the convex component of one of the joints is integrally formed as a single part with the convex component of another of the joints.

7. The articulating mechanism ofclaim 2 wherein the concave component of one of the joints is integrally formed as a single part with the concave component of another of the joints.

8. The articulating mechanism ofclaim 1 wherein at least one of the convex members comprises a truncated sphere.

9. The articulating mechanism ofclaim 1 wherein at least one of the convex members comprises a frusto-sphere.

10. The articulating mechanism ofclaim 1 wherein at least one of the channels opens radially outward through a circumferential edge of the component.

11. The articulating mechanism ofclaim 1 wherein each of the convex and concave components comprises a central axial bore therethrough.

12. The articulating mechanism ofclaim 1 wherein at least one mating pair of convex and concave components has exactly 4 tension member channels running through each component.

13. The articulating mechanism ofclaim 1 wherein at least one mating pair of convex and concave components has exactly 8 tension member channels running through each component.

14. The articulating mechanism ofclaim 1 wherein the channels in at least one concave component are radially interconnected to form a cross-pattern.

15. A spherical joint comprising:

a ball member;

a socket member configured to pivotably receive at least a portion of the ball member; and

at least one tension member extending through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint.

16. 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 tension members, with each set connecting the links of a discrete pair to one another, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair, wherein each link is part of a spherical joint having mating convex and concave surfaces, and wherein the tension members extend through channels in the mating surfaces.

17. The articulating mechanism ofclaim 16 wherein the links form proximal and distal ends with links of corresponding pairs being located adjacent to the proximal and distal ends respectively and where movement of the proximal end results in corresponding relative movement of the distal end.

18. The articulating mechanism ofclaim 17 further comprising a handle located at the proximal end and a grasper at the distal end.

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