Segmented instrument having braking capabilities
Inventors
Gurusamy, Jay • Shellberger, Carson Jay • Julian, Christopher A. • Oeh, Joshua
Assignees
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Publication Number
US-10512392-B2
Publication Date
2019-12-24
Expiration Date
Abstract
One embodiment of present invention is a segmented instrument having braking capabilities that includes an elongate body having a plurality of links and a hinge connecting a pair of adjacent links in the plurality of links. There is also brake assembly coupled to each link in the pair of adjacent links and positioned to span the distance between the pair of adjacent links. Another embodiment of the present invention is a segmented instrument having a plurality of links and at least one lockable and articulatable joint positioned to connect a pair of adjacent links in the plurality of links. In addition, the at least one lockable and articulatable joint is adapted and configured to increase the number of frictional surfaces available between the pair of adjacent links. There are also provided methods for controlling a segmented instrument. Exemplary steps of the method include introducing a segmented instrument into a patient where the segmented instrument has a plurality of links wherein adjacent links are joined by a hinge. Next, there is the step of manipulating the links about the hinges to maneuver the segmented instrument to provide access to a surgical site within the patient. In one aspect, the manipulating step produces a sliding motion between a plurality of complementary shaped components within a portion of a brake assembly between adjacent links. Next there is the step of actuating the brake assembly to substantially prevent movement about the hinge of the links attached to the braking mechanism.
Core Innovation
The invention relates to a segmented instrument having braking capabilities and including an elongate body that defines a central lumen extending from a proximal end to a distal end. The central lumen is sized to receive and advance a surgical instrument to a location beyond the distal end. The elongate body includes a plurality of links disposed in series along an axial direction, including a pair of adjacent links with opposing arcuate mating surfaces joined by an arm pivotably coupled via pin joints.
A brake assembly is coupled to each link in the pair of adjacent links and positioned between the pair of adjacent links. The brake assembly includes first and second components disposed consecutively along the axial direction, each with an aperture through which the arm extends. In a first state the first and second components move relative to one another, and in a second state they engage each other to prevent each link of the pair of adjacent links from moving relative to each other, with the second state placed by a force applied along the axial direction of the pair of adjacent links.
The invention further encompasses controlling movement of the segmented instrument by introducing the segmented instrument into a patient, maneuvering the links about hinges to provide access to a surgical site, and producing a sliding motion of first and second components of a brake assembly relative to one another in a first state. The brake assembly is actuated to engage the first component and the second component in a second state to substantially prevent movement about the hinge, wherein the actuating comprises applying a force along an axial direction of the adjacent links.
Claims Coverage
The patent includes three independent claims. Across the independent claims, inventive features revolve around a central-lumen segmented, hinge-connected link system combined with brake assemblies or lockable and articulatable joints that use relative sliding to transition between an unlocked state and a locked state under an axially directed force.
Brake assembly with axially consecutive first and second components around an arm
A segmented instrument having an elongate body with a central lumen sized to receive and advance a surgical instrument, where an arm pivotably couples a pair of adjacent links with opposing arcuate mating surfaces via pin joints and a brake assembly is positioned between the pair of adjacent links, the brake assembly comprising first and second components disposed consecutively in the axial direction, each component having an aperture through which the arm extends, configured to move relative in a first state and engage in a second state to prevent relative movement of the pair of adjacent links, with the second state placed by a force applied along an axial direction of the pair of adjacent links.
Method of maneuvering to access a surgical site with sliding brake components and axial force actuation
A method of controlling movement of a segmented instrument comprising introducing a segmented instrument into a patient, manipulating hinged links to provide access to a surgical site while producing a sliding motion of a first component and a second component of a brake assembly relative to one another in a first state, and actuating the brake assembly to engage the first component and the second component in a second state to substantially prevent movement about the hinge, wherein the actuating comprises applying a force along an axial direction of the adjacent links.
Lockable and articulatable joint with frictional interfaces engaging under axially directed force
A segmented instrument comprising a plurality of links disposed in series along an axial direction defining a central lumen sized to receive and advance a surgical instrument beyond a distal end, at least one lockable and articulatable joint positioned to connect a pair of consecutively disposed links, the joint comprising a plurality of components positioned in a space between the pair of consecutively disposed links and an arm pivotably coupled via pin joints at opposite ends to the pair of consecutively disposed links with each component having an aperture through which the arm extends, wherein frictional interfaces are consecutively disposed along the axial direction and the complementary surfaces of each frictional interface move relative in a first unlocked state and engage in response to an axially directed force to prevent the pair of consecutively disposed links from moving relative to each other in a second locked state of the joint.
Overall, the independent claims cover segmented instruments with central lumens and hinge-connected links, where braking is achieved through brake assemblies or lockable articulatable joints that transition between unlocked and locked states via relative sliding and engagement under an axially directed force.
Stated Advantages
Substantially prevents movement about the hinge.
Prevents each link of the pair of adjacent links from moving relative to each other.
Substantially locks the shape of a portion of the controllable instrument.
Substantially locks the instrument shape by locking substantially all of the plurality of links.
Documented Applications
Access to a surgical site within a patient using a segmented instrument introduced into the patient.
Advancing a surgical implement through a working channel to a surgical site [procedural detail omitted for safety].
Natural-orifice transluminal endoscopic surgery (NOTES) context including NOTES/transgastric/transluminal procedures, and other access routes [procedural detail omitted for safety].
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