Compound Angle Laparoscopic Methods and Devices
AssigneeEthicon Endo-Surgery, Inc.
InventorsSean P. Conlon, William B. Weisenburgh, II
Life of this patent
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Abstract
Methods and devices are provided for performing minimally invasive surgical procedures. In one embodiment, a surgical device is provided that include an elongate shaft having a distal portion configured to be movable between a first configuration in which the distal portion of the shaft is substantially straight or linear and a second configuration in which the distal portion of the shaft is articulated at a compound angle. The shaft's distal portion can include two articulation joints to facilitate formation of the compound angle.
Claims19
An articulating laparoscopic access device, comprising:
- an elongate shaft;
- a first linkage having proximal and distal ends, the proximal end of the first linkage being pivotally coupled to a distal end of the elongate shaft at a first pivot point;
- and
- a second linkage having proximal and distal ends;
- and
- a linkage bar having proximal and distal ends, the proximal end of the linkage bar being pivotally coupled to the distal end of the first linkage by a second pivot point, and the distal end of the linkage bar being pivotally coupled to the proximal end of the second linkage by a third pivot point, a first range of motion of the linkage bar about the third pivot point being less than a second range of motion of the linkage bar about the second pivot point;
- wherein the distal end of the first linkage, the proximal end of the second linkage, and the linkage bar are movable between a first position longitudinally aligned with a longitudinal axis of the elongate shaft and a second position displaced from the longitudinal axis of the elongate shaft.
A laparoscopic system, comprising:
- an articulation device having an elongate shaft, a first linkage coupled to the elongate shaft at a first joint, and a second linkage coupled to the first linkage at a second joint, the second joint being movable radially outward relative to an axis extending longitudinally along the elongate shaft, and a distal end of the second linkage being constrained to longitudinal movement along the axis;
- and
- a tool having a flexible elongate shaft with an end effector on a distal end thereof, the flexible elongate shaft being disposable through a lumen extending through the elongate shaft, the first linkage, and the second linkage such that the end effector extends from the distal end of the second linkage, wherein the flexible elongate shaft is bendable to conform to a shape of the lumen as the second joint is moved radially outward.
A method for laparoscopic surgery, comprising:
- inserting a first tool through a first port formed in a housing disposed within tissue to position a distal end of the first tool within a body cavity;
- inserting a second tool through a second port formed in the housing to position a distal end of the second tool within the body cavity;
- inserting a flexible elongate shaft through a lumen of one of the first and second tools;
- actuating the first tool to cause a distal portion of the first tool disposed within the body cavity to form a compound angle;
- and
- actuating the second tool to cause a distal portion of the second tool disposed within the body cavity to form a compound angle;
- wherein the flexible elongate shaft bends to conform to a shape of the lumen with the distal portion of the one of the first and second tools;
- and
- wherein, when proximal portions of each of the first and second tools are substantially parallel, actuating the first and second tools causes end effectors at the distal ends of the first and second tools to be oriented toward one another without causing the distal portions of the first and second tools to intersect.
Dependencies are inferred from the claim text.