| 摘要 |
The present invention provides an articulating retractor including: a plurality of distal segments, a distal segment of the plurality of distal segments being movable relative to others of the plurality of distal segments; a plurality of proximal segments, a proximal segment of the plurality of proximal segments being movable relative to others of the plurality of proximal segments, the proximal segment corresponding to the distal segment; and multiple sets of cables, the proximal segment connected to its corresponding unit of the distal segment, by a set of cables, such that movement of the proximal segment causes corresponding reciprocal movement of the distal segment. The mechanisms of the articulating retractor may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue. |
| 主权项 |
1. An articulating retractor comprising:
a retractor comprising a plurality of linearly aligned distal segments linked by a plurality of distal link pivots, each distal segment including a plurality of channels arranged in a radial channel pattern and each distal segment being movable in multiple planes relative to an adjacent distal segment about a distal link pivot of the adjacent distal segment, each distal link pivot being disposed between adjacent distal segments; a plurality of proximal segments linked by a plurality of proximal link pivots, each proximal segment of the plurality of proximal segments being movable in multiple planes relative to an adjacent proximal segment about a proximal link pivot of the plurality of proximal link pivots, each proximal link pivot being disposed between adjacent proximal segments, each proximal segment including a plurality of channels arranged in a radial channel pattern and each proximal segment forming a pair with a corresponding distal segment of the plurality of distal segments, each proximal segment being maintained in a spaced apart relationship relative to the distal segment of the pair, wherein the radial channel pattern of the distal segments is the same as the radial channel pattern of the proximal segments; a first pair of segments comprising a first proximal segment of the plurality of proximal segments and a first distal segment of the plurality of distal segments connected to one another by a first set of cables extending through a first set of the plurality of channels in each of a first set of intervening proximal and distal segments that extend between the first distal segment and first proximal segment, wherein ends of the first set of cables terminate at the first proximal segment and first distal segments; and a second pair of segments comprising a second proximal segment of the plurality of proximal segments, different than the first proximal segment, and a second distal segment of the plurality of distal segments, different than the first distal segment, connected to one another by a second set of cables, different than the first set of cables, extending through a second set of the plurality of channels, different than the first set of the plurality of channels, in each of a second set of intervening proximal and distal segments that extend between the second distal segment and second proximal segment, wherein ends of the second set of cables terminate at the second proximal segment and second distal segments, wherein each channel of the first set of channels is linearly aligned along each segment of the first set of intervening proximal and distal segments and each channel of the second set of channels is linearly aligned along each segment of the second set of intervening proximal and distal segments, wherein for at least one pair of the distal and proximal segments, each segment has a first set of the plurality of channels occupied by one set of terminating cables, a second set of the plurality of channels occupied by one set of slip-fit cables, and a third set of the plurality of channels unoccupied by cables, and wherein the retractor has a reconfigurable locked configuration. |
