Articulating mechanisms with actuatable elements

摘要

The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms 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. A medical instrument comprising:
a distal articulation mechanism including a plurality of distal segments movable relative to each other; an actuatable element coupled to the distal articulation mechanism; a proximal articulation mechanism including a plurality of proximal segments, each proximal segment forming a pair with a corresponding distal segment from the plurality of distal segments; a user interface coupled to the proximal articulation mechanism, wherein the user interface manipulates the actuatable element; and multiple sets of cables, each set connecting the proximal segment and the corresponding distal segment of one of the pairs and terminating at the segments of the pair, such that movement of the proximal segment causes corresponding relative movement of the corresponding distal segment of the pair.