Medical devices having smoothly articulating multi-cluster joints

A medical device having an articulating multi-cluster joint, the device comprising:

• a tool shaft;
• an end-effector distal to a distal end of the elongate tool shaft;
• wherein the multi-cluster joint is between the tool shaft and the end-effector, and includes:
• a plurality of joint clusters wherein each joint cluster has a joint cluster axis in a non-articulated state, further wherein each joint cluster includes:
• a first half-gimbal guide, a second half-gimbal guide, and a gimbal having a first pair of collinear gimbal spindles and a second pair of collinear gimbal spindles, wherein the two pairs are orthogonal and lie in a joint cluster plane, further wherein the gimbal is positioned between the first half-gimbal guide and the second half-gimbal guide;
• a central opening passing through the joint cluster along the joint cluster axis;
• a pair of end-effector transmission cable lengths extending through the opening of each joint cluster of the multi-cluster joint, wherein the end-effector transmission lengths are compliant in bending and configured to actuate the end-effector;
• and
• a cable management guide routed through the central openings of a plurality of the joint clusters and spanning between the plurality of joint clusters so that there is a lateral gap between the openings of the plurality of the joint clusters and the cable management guide, the cable management guide comprising an elongate, tubular body having a longitudinal axis and a pair of lumens, each lumen guiding one of the end-effector transmission cable lengths, wherein the cable management guide is configured to limit lateral movement of the end-effector transmission cable lengths within the central openings of the joint clusters while permitting the end-effector transmission cable lengths to move axially along the longitudinal axis of the cable management guide,
• wherein the cable management guide is secured to one or more of the plurality of joint clusters to prevent rotation of the cable management guide relative to the multi-cluster joint about the longitudinal axis of the cable management guide.

A medical device having an articulating multi-cluster joint, the device comprising:

• a tool shaft;
• an end-effector distal to a distal end of the tool shaft, the end-effector having an open position and a closed position;
• wherein the multi-cluster joint is between the distal end of the tool shaft and the end-effector, and includes:
• a plurality of joint clusters wherein each joint cluster has a joint cluster axis in a non-articulated state, and wherein each joint cluster provides two orthogonal degrees of rotational freedom, further wherein each joint cluster includes an opening passing through the joint cluster along the joint cluster axis;
• a pair of end-effector transmission cable lengths extending through the opening of each joint cluster of the multi-cluster joint configured to actuate the end-effector between the open position and the closed position;
• and
• a cable management guide routed through the openings of a plurality of the joint clusters so that there is a lateral gap between the openings of the plurality of the joint clusters and the cable management guide, the cable management guide comprising an elongate, tubular body having a longitudinal axis and a first lumen within which a first end-effector transmission cable length extends and a second lumen within which the second end-effector transmission cable length extends, wherein the cable management guide is configured to limit lateral movement of the end-effector transmission cable lengths within the central openings of the joint clusters while permitting the pair of end-effector transmission cable lengths to move axially along the longitudinal axis of the cable management guide,
• wherein an outer surface of the cable management guide is keyed relative to the openings of the plurality of the joint clusters to prevent rotation of the cable management guide relative to the multi-cluster joint about the longitudinal axis of the cable management guide.

A medical device having an articulating multi-cluster joint, the device comprising:

• a tool shaft;
• an end-effector distal to a distal end of the tool shaft;
• wherein the multi-cluster joint is between the tool shaft and the end-effector, and includes a plurality of joint clusters wherein each joint cluster has a joint cluster axis in a non-articulated state, and wherein each joint cluster provides two orthogonal degrees of rotational freedom, further wherein each joint cluster includes an opening passing through the joint cluster;
• a first length of end-effector transmission cable and a second length of end-effector transmission cable;
• and
• a cable management guide routed through the openings of a plurality of the joint clusters so that there is a lateral gap between the openings of the plurality of the joint clusters and the cable management guide, the cable management guide having a longitudinal axis, the cable management guide further having a first lumen within which the first length of end-effector transmission cable extends and a second lumen within which the second length of end-effector transmission cable extends, wherein the cable management guide is configured to prevent lateral movement of the first length of end-effector transmission cable and the second length of end-effector transmission cable, while permitting the first length of end-effector transmission cable and the second length of end-effector transmission cable to move axially along the longitudinal axis of the cable management guide,
• further wherein the cable management guide is keyed to the plurality of joint clusters to prevent rotation of the cable management guide relative to the multi-cluster joint about the longitudinal axis of the cable management guide.