# US 9,517,059 B2 · Articulating surgical instruments and method of deploying the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,059 B2 - Document ID: US9517059B2 - Status: Granted - Kind: B2 - Application number: 14/888,541 - Filed: 2014-05-20 - Published: 2016-03-17 - Granted: 2016-12-13 - Earliest claimed: 2013-05-20 - Assignees: Medrobotics Corporation - Applicants: Michael Salvatore Castro - Inventors: Michael Salvatore Castro - Web page: https://patentgrep.com/patent/US9517059B2 ## CPC - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 17/2909: {Handles} - A61B 18/1442: {Probes having pivoting end effectors, e.g. forceps} - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 2017/00314: {Separate linked members} - A61B 2017/00327: {with actuating members moving in opposite directions} - A61B 2017/291: {the position of the handle being adjustable with respect to the shaft} - A61B 2017/2923: {Toothed members, e.g. rack and pinion} - A61B 2017/2929: {with a head rotatable about the longitudinal axis of the shaft} - A61B 2017/2946: {Locking means} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical instrument comprises a steering mechanism. The steering mechanism comprises a handle at a proximal end of the surgical instrument. The handle includes a plurality of controls for controlling a movement of the surgical instrument. The steering mechanism also comprises a hub that rotatably mates with the handle and a housing positioned about the hub. The handle, the housing, and the hub communicate with each other to provide at least a first degree of freedom and a second degree of freedom. An articulation region is at a distal end of the surgical instrument. A movement of the steering mechanism handle in one and only one of the first or second degrees of freedom relative to at least one of the housing or the hub translates to a movement of the articulation region in a single plane of motion. ## Claims ### Claim 1 A surgical instrument comprising: a steering mechanism, comprising: a handle at a proximal end of the surgical instrument, the handle including a plurality of controls for controlling a movement of the surgical instrument; and a hub that rotatably mates with the handle; and a housing positioned about the hub, wherein the handle, the housing, and the hub communicate with each other to provide at least a first degree of freedom and a second degree of freedom, the surgical instrument further comprising an articulation region at a distal end of the surgical instrument, wherein a movement of the steering mechanism handle in one and only one of the first or second degrees of freedom relative to at least one of the housing or the hub translates to a movement of the articulation region in a single plane of motion, wherein the steering mechanism further comprises a locking mechanism controlled by at least one locking control of the plurality of controls of the handle, the locking mechanism constructed and arranged to disable one of the first and second degrees of freedom to limit a movement of the articulation region in the single plane of motion, and wherein the locking mechanism includes a first lock that prevents the steering mechanism from articulating with the first degree of freedom and a second lock that prevents the steering mechanism from articulating with the second degree of freedom wherein the hub includes a first post and a second post along a first articulating axis, and wherein the first lock includes a first locking ring and a first cam clamp that applies a force to the first locking ring, which prevents the housing from rotating about the first articulating axis wherein the hub includes a third post and a fourth post along a second articulating axis orthogonal to the first articulating axis, and wherein the second lock includes a second locking ring and a second cam clamp that applies a force to the second locking ring, which prevents the housing from rotating about the second articulating axis. ### Claim 2 (depends on 1) The surgical instrument of claim 1, wherein the locking mechanism comprises two locking mechanisms controlled by the at least one locking control, and wherein the two locking mechanisms, when activated, are constructed and arranged to disable one or both of the first and second degrees of freedom to prevent steering of the articulation region. ### Claim 3 (depends on 1) The surgical instrument of claim 1, further comprising a set of first interdigitating teeth between the first locking ring and the housing, wherein the first locking ring applies a force at the first interdigitating teeth to prevent a rotation of the housing about the first articulating axis. ### Claim 4 (depends on 3) The surgical instrument of claim 3, further comprising a set of second interdigitating teeth between the second locking ring and the housing, wherein the second locking ring applies a force at the second interdigitating teeth to prevent a rotation of the handle about the second articulating axis. ### Claim 5 (depends on 1) The surgical instrument of claim 1, wherein the first articulating axis is a vertical axis, and wherein a rotation of the hub about the vertical axis provides a horizontal control of the steerable portion. ### Claim 6 (depends on 1) The surgical instrument of claim 1, wherein the second articulating axis is a horizontal axis, and wherein a rotation of the handle about the horizontal axis of the hub provides a vertical control of the articulation region. ### Claim 7 (depends on 1) The surgical instrument of claim 1, wherein an activation of either the first lock or the second lock limits movement of the articulation region to the single plane of motion. ### Claim 8 (depends on 1) The surgical instrument of claim 1, wherein an activation of both the first lock and the second lock prevents steering of the instrument, and maintains a tool at a distal end of the instrument tool in a current position. ### Claim 9 (depends on 1) The surgical instrument of claim 1, wherein the first lock and the second lock are disengaged, and the articulation region articulates in multiple planes of motion. ### Claim 10 (depends on 1) The surgical instrument of claim 1, wherein the instrument comprises an end effector coupled to the articulation region, and wherein an articulation of the handle in accordance with two degrees of freedom permits the articulation region to be manipulated to reach anywhere on a surface of at least a partial sphere. ### Claim 11 (depends on 10) The surgical instrument of claim 10, wherein the plurality of controls at the handle includes a ratcheting trigger for incrementally ratcheting the end effector at the distal end of the instrument. ### Claim 12 (depends on 1) The surgical instrument of claim 1, further comprising a plurality of steering cables coupled between the housing and the articulation region, wherein articulation of the handle relative to the housing advances and retracts the plurality of steering cables, which move the articulation region in the single plane of motion or in multiple planes of motion. ### Claim 13 (depends on 12) The surgical instrument of claim 12, wherein the plurality of steering cables comprise first and second steering cables that extend from the handle to the articulation region, the first and second steering cables constructed and arranged to move the articulation region relative to a first axis about the single plane of motion when the handle articulates at the first degree of freedom relative to the housing. ### Claim 14 (depends on 13) The surgical instrument of claim 13, wherein the articulation region moves in the single plane of motion in response to a movement of at least one of the first or second steering cables in an axial direction between the handle and the articulation region. ### Claim 15 (depends on 14) The surgical instrument of claim 14, wherein the movement of the at least one of the first or second steering cables in the axial direction is in response to a movement by the handle relative to the housing at the first degree of freedom. ### Claim 16 (depends on 13) The surgical instrument of claim 13, wherein the hub includes first and second cable fastening locations that couple proximal ends of the first and second steering cables to the hub. ### Claim 17 (depends on 13) The surgical instrument of claim 13, further comprising third and fourth steering cables that extend from the handle to the articulation region, the third and fourth steering cables constructed and arranged to move the articulation region about a second axis orthogonal to the first axis. ### Claim 18 (depends on 17) The surgical instrument of claim 17, wherein the articulation region moves in the single plane of motion in response to a movement of at least one of the third or fourth steering cables in an axial direction between the handle and the articulation region. ### Claim 19 (depends on 18) The surgical instrument of claim 18, wherein the movement of the at least one of the third or fourth steering cables in the axial direction is in response to a movement by the handle relative to the hub in the second degree of freedom orthogonal to the first degree of freedom. ### Claim 20 (depends on 17) The surgical instrument of claim 17, wherein the hub includes first and second cable pass-through holes and the handle includes first and second fastening locations, wherein the third and fourth steering cables extend through the first and second pass-through holes, respectively, and wherein proximal ends of the third and fourth steering cables are coupled to the handle. ### Claim 21 (depends on 17) The surgical instrument of claim 17, wherein the handle includes a cable tensioning mechanism that adjusts a tension of the third and fourth steering cables at the proximal ends. ### Claim 22 (depends on 21) The surgical instrument of claim 21, wherein the cable tensioning mechanism comprises a set screw movably positioned in a threaded socket in the housing, the set screw including an opening for receiving an end of at least one of the third or fourth steering cables, which is secured to the set screw. ### Claim 23 (depends on 22) The surgical instrument of claim 22, wherein the cable tensioning mechanism further comprising a tightening tool that adjusts the position of the set screw relative to the socket to achieve a desired tension of the at least one of the third or fourth steering cables. ### Claim 24 (depends on 1) The surgical instrument of claim 1, further comprising a support element having a proximal end coupled to the handle, a portion of the support element extending through the articulation region, the support element constructed and arranged to rotate independently of the movement of the articulation region in the single plane of motion. ### Claim 25 (depends on 24) The surgical instrument of claim 24, wherein the support element is constructed and arranged as a coil. ### Claim 26 (depends on 24) The surgical instrument of claim 24, wherein the support element is constructed and arranged as a hollow tube. ### Claim 27 (depends on 24) The surgical instrument of claim 24, further comprising a clevis between an end effector coupled to the articulation region and a distal end of the support element. ### Claim 28 (depends on 1) The surgical instrument of claim 1, wherein the steering mechanism further comprises a ratchet mechanism, a gearing mechanism, a trigger assembly, and a translating assembly, wherein the ratchet mechanism is configured to maintain the translating assembly in a series of linear positions. ### Claim 29 (depends on 1) The surgical instrument of claim 1, further comprising an end effector coupled to the articulation region at the distal end of the surgical instrument. ### Claim 30 (depends on 29) The surgical instrument of claim 29, wherein the end effector includes a housing and at least one tool. ### Claim 31 (depends on 30) The surgical instrument of claim 30, wherein the at least one tool comprises at least one of: a grasper; a scissor; a cutter; a claw; or a knife. ### Claim 32 (depends on 30) The surgical instrument of claim 30, wherein the at least one tool comprises at least one of: an ablator, a drug delivery apparatus, a radiation source, an EKG electrode, a pressure sensor, a blood sensor, a camera, a magnet, a heating element, an energy delivery element, and a cryogenic element. ### Claim 33 (depends on 30) The surgical instrument of claim 30, further comprising a support element that extends along at least a portion of the instrument, through a central working channel of the articulation region, and terminates at the end effector housing.