Endoscopic system with torque transmitting sheath
Inventors
Mitchell, Sean • Ewers, Richard C. • Maahs, Tracy D.
Assignees
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Publication Number
US-9504371-B2
Publication Date
2016-11-29
Expiration Date
Abstract
An endoluminal surgical instrument has first and second steering controls on a handle. A flexible shaft attached to the handle has a distal steerable end including a first link and a second link separated by a plurality of intermediate links. First and second steering elements, such as pairs of steering wires, are linked to first and second steering controls and to the first and second links. One or more of the links is pivotable through an angle of at least 30 degrees relative to an adjoining link. The set back position of the second steering elements from the first steering elements, and the pivoting capability of the links allows the steerable end to be steered into a small bend radius. This makes the instrument highly maneuverable for use in endoluminal surgery, such as incision-less surgery of the stomach.
Core Innovation
The invention relates to an endoscopic system including a flexible sheath body with a proximal non-steerable section adjoining a distal steerable section. The distal steerable section includes a distal link and a proximal link spaced proximally apart by intermediate links, where each intermediate link is pivotally attached to adjacent intermediate links and the proximal link is pivotally attached to a proximal intermediate link. The proximal non-steerable section has no links, and the distal link is pivotally attached to a distal intermediate link.
The system further includes a handle attached to the flexible sheath body and steering controls that drive steering elements via corresponding lockable pulleys. A first pulley is rotatably supported on the handle and includes first pulley lock projections adapted to rigidly engage into and withdraw from first recesses, so the first pulley is rotatable when disengaged and rigidly locked against rotation when engaged. A first steering wire is wrapped around the first pulley, extends past the proximal link, and is attached to the distal link. A second pulley is rotatably supported on the handle and similarly uses second pulley lock projections and second recesses to selectively rotate or rigidly lock the second pulley, with a second steering wire wrapped around the second pulley and terminating at the proximal link.
The flexible sheath body includes two or more lumens extending through the sheath, and the steerable distal section is configured for tight-radius steering using pivotally linked segments with steering elements. The sheath construction includes improved torque transmission using composite reinforcement layers formed from braided or woven reinforcement, and an alternative embodiment using outer/body/inner layers bonded around a coil body member using a bonding material.
Claims Coverage
The independent claim covers an endoscopic system that combines a flexible sheath having a proximal non-steerable section and a distal steerable section driven by first and second steering wires through corresponding lockable pulleys, with two or more lumens extending through the sheath. Dependent claims refine the steering-wire attachment and routing for the first and second steering wires.
Flexible sheath with proximal non-steerable section and distal steerable section links
A flexible sheath body having a proximal non-steerable section adjoining a distal steerable section, with the distal steerable section including a distal link and a proximal link spaced proximally apart from the distal link by a plurality of intermediate links, and with each intermediate link pivotally attached to at least one adjacent intermediate link, the proximal link pivotally attached to a proximal intermediate link, with the proximal link at a distal end of the proximal non-steerable section, and with the proximal non-steerable section having no links, and the distal link pivotally attached to a distal intermediate link.
Handle with steerable distal section controlled by lockable pulleys
A handle attached to the flexible sheath body; a first pulley rotatably supported on the handle, with a plurality of first pulley lock projections adapted to rigidly engage into and withdraw from a corresponding plurality of first recesses in the first pulley, with the first pulley rotatable on the handle when the plurality of first pulley lock projections are disengaged from the plurality of first recesses, and with the first pulley rigidly locked against rotation on the handle when the plurality of first pulley lock projections are engaged into the plurality of first recesses; and a plurality of second pulley lock projections adapted to rigidly engage into and withdraw from a corresponding plurality of second recesses in the second pulley, with the second pulley rotatable on the handle when the plurality of second pulley lock projections are disengaged from the plurality of second recesses, and with the second pulley rigidly locked against rotation on the handle when the plurality of second pulley lock projections are engaged with the second plurality of recesses.
First and second steering wires routed to distal and proximal links
A first steering wire wrapped around the first pulley and extending past the proximal link and attached to the distal link; and a second steering wire wrapped around the second pulley and terminating at the proximal link.
Two or more lumens through the flexible sheath body
Two or more lumens extending through the flexible sheath body.
Second steering wire attached only to the proximal link
The second steering wire attached only to the proximal link.
First steering wire passing through openings in the proximal link
The first steering wire passing through openings in the proximal link.
Across the independent claim and its refinements, the coverage centers on a linked distal steerable sheath segment with a proximal non-steerable section, steering-wire actuation through first and second lockable pulleys, steering-wire routing to the distal link and proximal link, and the presence of two or more lumens through the sheath. Dependent claims further constrain the second steering wire to attach only to the proximal link and require the first steering wire to pass through openings in the proximal link.
Stated Advantages
Documented Applications
Not explicitly described in patent.
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