US7090637B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Articulating mechanism for remote manipulation of a surgical or diagnostic tool
Assignee: Intuitive Surgical Operations Inc
•
Filing: 2003-05-23
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Granted: 2006-08-15
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Expires: 2023-05-23
Abstract
Abstract 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.
Inventors
- 👤 David J. Danitz
- 👤 Adam Gold
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 17:28
CPC Classifications
A; A61; A61B; A61B1/00; A61B1/005; A61B1/0051; A61B1/0055; A61B17/00; A61B17/068; A61B17/072; A61B17/07207; A61B34/00; A61B34/70; A61B34/71; A61B34/77; A61M; A61M25/00; A61M25/01; A61M25/0105; A61M25/0133; A61M25/0138; A61M25/0147; A61B17/02; A61B18/00; A61B18/04; A61B18/12; A61B18/14; A61B18/1492; A61B17/28; A61B17/29; A61B2017/2901; A61B2017/2905; A61B2017/2926; A61B2017/2927; A61B34/30; A61B2034/305; A61B2034/306; A61B90/00; A61B90/50; A61B2090/508; A61M2025/015; A61M2025/0161
Claims Analysis
Total Claims: 29
Claim 1
Independent Claim
84 words
An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprising: multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair, and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair.
Claim 2
Dependent Claim
84 words
An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprising: multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair, and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair.
Claim 3
Dependent Claim
44 words
The articulating mechanism of claim 1 wherein the links form proximal and distal ends with links of corresponding pairs being located on the proximal and distal ends respectively and where movement of the proximal end results in corresponding relative movement of the distal end.
Claim 4
Dependent Claim
24 words
The articulating mechanism of claim 2 wherein said corresponding relative movement of the distal end is reciprocal to the movement of the proximal end.
Claim 5
Dependent Claim
22 words
The articulating mechanism of claim 2 wherein said corresponding relative movement of the distal end mirrors the movement of the proximal end.
Claim 6
Dependent Claim
18 words
The articulating mechanism of claim 2 wherein a surgical or diagnostic tool is attached to the distal end.
Claim 7
Dependent Claim
17 words
The articulating mechanism of claim 2 wherein the surgical or diagnostic tool extends from the distal end.
Claim 8
Dependent Claim
16 words
The articulating mechanism of claim 5 wherein the surgical or diagnostic tool is an ablation element.
Claim 9
Dependent Claim
17 words
The articulating mechanism of claim 2 wherein said distal end further comprises a surgical or diagnostic tool.
Claim 10
Dependent Claim
16 words
The articulating mechanism of claim 8 wherein said distal end further comprises a tissue retracting surface.
Claim 11
Dependent Claim
28 words
The articulating mechanism of claim 1 further comprising a spacer element disposed between the pairs of links to maintain the pairs of links in a spaced apart relationship.
Claim 12
Dependent Claim
18 words
The articulating mechanism of claim 10 wherein the spacer element is hollow and accommodates the sets of cables.
Claim 13
Dependent Claim
27 words
The articulating mechanism of claim 1 , wherein pairs of links include channels for receipt and passage of sets of cables associated with adjacent pairs of links.
Claim 14
Dependent Claim
34 words
The articulating mechanism of claim 1 further comprising additional pairs of spacer links, wherein said pairs of spacer links are not connected by discrete sets of cables that terminate at the paired spacer links.
Claim 15
Dependent Claim
29 words
The articulating mechanism of claim 1 wherein one or more links includes a stem portion that extends from the link and engages a corresponding recess in an adjacent link.
Claim 16
Dependent Claim
34 words
The articulating mechanism of claim 5 wherein one or more links further include a channel for receiving elements of the attached surgical or diagnostic tool that extend to the proximal end of the mechanism.
Claim 17
Dependent Claim
18 words
The articulating mechanism of claim 15 wherein such surgical or diagnostic tool elements are capable of transmitting energy.
Claim 18
Dependent Claim
19 words
The articulating mechanism at claim 15 wherein such surgical or diagnostic tool elements are capable of actuating the tool.
Claim 19
Dependent Claim
35 words
The articulating mechanism of claim 2 wherein one or more links further include a channel for receiving a locking rod that can secure and retain the proximal end of the mechanism in a fixed position.
Claim 20
Dependent Claim
30 words
The articulating mechanism of claim 2 further comprising a locking sleeve fitted over the proximal end of the mechanism to secure and retain the proximal end in a fixed position.
Claim 21
Dependent Claim
23 words
A kit comprising: the articulating mechanism according to claim 1 and a surgical or diagnostic tool configured for attachment to the articulating mechanism.
Claim 22
Dependent Claim
113 words
An articulating mechanism comprising: multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair such that the links form proximal and distal ends with links of corresponding pairs being located on the proximal and distal ends, respectively; and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair, and movement of the proximal end results in corresponding relative movement of the distal end.
Claim 23
Dependent Claim
113 words
An articulating mechanism comprising: multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair such that the links form proximal and distal ends with links of corresponding pairs being located on the proximal and distal ends, respectively; and multiple sets of cables, with each set connecting the links of a discrete pair to one another and terminating at the links of each discrete pair, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair, and movement of the proximal end results in corresponding relative movement of the distal end.
Claim 24
Dependent Claim
28 words
The articulating mechanism of claim 21 further comprising a spacer element disposed between the pairs of links to maintain the pairs of links in a spaced apart relationship.
Claim 25
Dependent Claim
18 words
The articulating mechanism of claim 22 wherein the spacer element is hollow and accommodates the sets of cables.
Claim 26
Dependent Claim
27 words
The articulating mechanism of claim 21 wherein the pairs of links include channels for receipt and passage of sets of cables associated with adjacent pairs of links.
Claim 27
Dependent Claim
34 words
The articulating mechanism of claim 21 further comprising additional pairs of spacer links, wherein said pairs of spacer links are not connected by discrete sets of cables that terminate at the paired spacer links.
Claim 28
Dependent Claim
15 words
The articulating mechanism of claim 21 wherein a tool is attached to the distal end.
Claim 29
Dependent Claim
23 words
The articulating mechanism of claim 26 wherein wherein one or more links further include a channel for receiving elements of the attached tool.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2009-08-14 | 2010-02-13 | 2010-08-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2013-08-14 | 2014-02-13 | 2014-08-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2017-08-14 | 2018-02-13 | 2018-08-15 | $7700.00 | Window Closed / Lapsed |