US7708758B2
Active / In Force
US
⏱️ 0.1 years remaining
Surgical instrument
Assignee: Endobotics LLC
•
Filing: 2006-11-28
•
Granted: 2010-05-04
•
Expires: 2026-11-28
Abstract
Abstract The surgical instrument includes a distal tool, an elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal bendable member comprises a ball and socket assembly supported between the handle and instrument shaft and constructed and arranged for three dimensional motion.
Inventors
- 👤 Woojin Lee
- 👤 Andres Chamorro
- 👤 Richard Ross
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 21:53
CPC Classifications
A; A61; A61B; A61B17/00; A61B17/28; A61B17/29; A61B17/00234; A61B2017/00292; A61B2017/003; A61B2017/2901; A61B2017/2905; A61B17/2909; A61B2017/291; A61B2017/2912; A61B2017/2919; A61B2017/292
Claims Analysis
Total Claims: 98
Claim 1
Independent Claim
196 words
A medical instrument comprising: a proximal control handle; a distal work member; a proximal movable member controlled from said proximal control handle; a distal movable member controlled from said proximal movable member to provide controlled movement of said distal work member via said proximal and distal movable members; an instrument shaft that intercouples said proximal and distal movable members; and actuation means coupled between said movable members; a ball and socket assembly that includes a ball member pivotally retained by a socket defined in said proximal control handle and constructed and arranged for three dimensional motion relative to the socket; said proximal movable member controlled by the ball member for three dimensional motion therewith; said movable members both comprising bendable members and further including a rotation knob coupled to at least one of the proximal bendable member and the instrument shaft; said rotation knob controlling the rotation of the proximal bendable member and, in turn, the instrument shaft, distal bendable member and distal work member; wherein the internal cavity of the ball member comprises a conical cavity that provides a conical space in which the proximal bendable member is pivotable to enable the three dimensional motion.
Claim 2
Dependent Claim
196 words
A medical instrument comprising: a proximal control handle; a distal work member; a proximal movable member controlled from said proximal control handle; a distal movable member controlled from said proximal movable member to provide controlled movement of said distal work member via said proximal and distal movable members; an instrument shaft that intercouples said proximal and distal movable members; and actuation means coupled between said movable members; a ball and socket assembly that includes a ball member pivotally retained by a socket defined in said proximal control handle and constructed and arranged for three dimensional motion relative to the socket; said proximal movable member controlled by the ball member for three dimensional motion therewith; said movable members both comprising bendable members and further including a rotation knob coupled to at least one of the proximal bendable member and the instrument shaft; said rotation knob controlling the rotation of the proximal bendable member and, in turn, the instrument shaft, distal bendable member and distal work member; wherein the internal cavity of the ball member comprises a conical cavity that provides a conical space in which the proximal bendable member is pivotable to enable the three dimensional motion.
Claim 3
Dependent Claim
59 words
The medical instrument of claim 1 further including a locking member supported from said proximal control handle and having locked and unlocked states; said locking member in said unlocked state enabling control of said distal work member from said proximal bendable member; and said locking member, in said locked state, holding said bendable members in a desired fixed position.
Claim 4
Dependent Claim
30 words
The medical instrument of claim 2 wherein said locking member, in the locked state, fixes the position of the proximal bendable member by locking the ball member in the socket.
Claim 5
Dependent Claim
25 words
The medical instrument of claim 1 wherein both said distal and proximal bendable members comprise a uni-body structure forming respective distal and proximal bendable members.
Claim 6
Dependent Claim
26 words
The medical instrument of claim 1 including first bearing means for rotatably supporting a proximal end of the proximal bendable member relative to the ball member.
Claim 7
Dependent Claim
22 words
The medical instrument of claim 5 including second bearing means for rotatably supporting the instrument shaft relative to the proximal control handle.
Claim 8
Dependent Claim
24 words
The medical instrument of claim 5 wherein said rotation knob is secured to the proximal bendable member with the first bearing means disposed therebetween.
Claim 9
Dependent Claim
22 words
The medical instrument of claim 6 wherein said rotation knob is secured to said instrument shaft distally of the second bearing means.
Claim 10
Dependent Claim
33 words
The medical instrument of claim 1 wherein a said proximal bendable member has a distal end connected to the instrument shaft and a proximal end rotatably and pivotally supported by the ball member.
Claim 11
Dependent Claim
42 words
The medical instrument of claim 9 including an actuation lever for controlling the distal work member mounted at the proximal control handle and an actuation cable controlled from the actuation lever and extending through at least the instrument shaft and bendable members.
Claim 12
Dependent Claim
33 words
The medical instrument of claim 10 including a bell crank mechanism that couples between the actuation lever and the actuation cable, responsive to operation of the actuation lever to control the actuation cable.
Claim 13
Dependent Claim
37 words
The medical instrument of claim 1 including a locking member and wherein the rotation knob and proximal bendable member are rotatably supported in the proximal control handle to enable rotation even when the instrument position is locked.
Claim 14
Dependent Claim
36 words
The medical instrument of claim 1 wherein said actuation means comprises a set of cables that couple between said bendable members, said cables terminate at one end at the proximal end of the proximal bendable member.
Claim 15
Dependent Claim
51 words
The medical instrument of claim 1 wherein said handle comprises a pistol grip handle that includes a base and a top section in which is defined the socket, said socket being a spherical socket that supports the ball member, said ball member supporting the proximal end of the proximal bendable member.
Claim 16
Dependent Claim
43 words
The medical instrument of claim 1 wherein said rotation knob is controlled for rotating the proximal bendable member and, in turn, the instrument shaft, distal bendable member and distal work member and for controlling the pivoting of the ball member in the socket.
Claim 17
Dependent Claim
135 words
A medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal bendable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, and a pivot ball, said control handle comprising a base and a top section that defines an at least partially spherical socket that supports the pivot ball for three dimensional pivoting therein, said proximal bendable member constructed and arranged for mounting in the pivot ball, said pivot ball being supported relative to the socket for three dimensional pivoting in the socket.
Claim 18
Dependent Claim
135 words
A medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal bendable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, and a pivot ball, said control handle comprising a base and a top section that defines an at least partially spherical socket that supports the pivot ball for three dimensional pivoting therein, said proximal bendable member constructed and arranged for mounting in the pivot ball, said pivot ball being supported relative to the socket for three dimensional pivoting in the socket.
Claim 19
Dependent Claim
23 words
The medical instrument of claim 16 including a control element connected to the pivot ball for manipulating the pivot ball in the socket.
Claim 20
Dependent Claim
28 words
The medical instrument of claim 17 wherein the control element comprises a rotation knob supported in line with said proximal bendable member for controlling the three dimensional pivoting.
Claim 21
Dependent Claim
49 words
The medical instrument of claim 18 wherein said rotation knob controls the three dimensional pivoting, as well as a rotation relative to the pivot ball about a longitudinal axis of said proximal bendable member so as to control the rotation of said distal tool about a distal tool axis.
Claim 22
Dependent Claim
37 words
The medical instrument of claim 17 further including bearing means for rotatably supporting the control element in the pivot ball, a proximal end of said proximal bendable member rotatably supported in a cavity of the pivot ball.
Claim 23
Dependent Claim
36 words
The medical instrument of claim 20 wherein said bearing means has the control element connected thereto and the proximal end of the proximal bendable member is supported opposite to the control element from the bearing means.
Claim 24
Dependent Claim
25 words
The medical instrument of claim 17 including a locking means that is manually operable by a user and that locks the ball in the socket.
Claim 25
Dependent Claim
158 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal bendable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the tool from the handle by means of a control element comprising; pivoting the control element in three dimensions to control the positioning of the tool in three dimensions, rotating the control element to control the rotational orientation of the tool by rotating the instrument shaft and mounting the proximal bendable member at least partially in a ball that is supported for three dimensional pivoting by means of the control element in a socket in the control handle.
Claim 26
Dependent Claim
158 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal bendable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the tool from the handle by means of a control element comprising; pivoting the control element in three dimensions to control the positioning of the tool in three dimensions, rotating the control element to control the rotational orientation of the tool by rotating the instrument shaft and mounting the proximal bendable member at least partially in a ball that is supported for three dimensional pivoting by means of the control element in a socket in the control handle.
Claim 27
Dependent Claim
41 words
The method of claim 23 including having the control element, not only pivot the ball in the socket, but also rotate the ball and, in turn, the instrument shaft, distal bendable member and distal tool about a longitudinal distal tool axis.
Claim 28
Dependent Claim
21 words
The method of claim 23 including constructing the control element as a single control knob that is attached to the ball.
Claim 29
Dependent Claim
28 words
The method of claim 23 including connecting the control element to the instrument shaft for rotating the instrument shaft and, in turn, the distal bendable member and tool.
Claim 30
Dependent Claim
29 words
The method of claim 25 including connecting the control element to the proximal bendable member for rotating the instrument shaft and, in turn, the distal bendable member and tool.
Claim 31
Dependent Claim
29 words
The method of claim 25 wherein the step of pivoting the control element in three dimensions includes pivoting a proximal end of the proximal bendable member in three dimensions.
Claim 32
Dependent Claim
60 words
The method of claim 28 including mounting a proximal end of the proximal bendable member in the ball so that the control element pivots the ball in the socket to bend the proximal bendable member while enabling a rotation of the proximal bendable member relative to the ball to, in turn, rotate the instrument shaft about a longitudinal axis thereof.
Claim 33
Dependent Claim
49 words
The method of claim 26 including using the control element as a rotation knob with the dual purpose of being able to firstly rotate the rotation knob to, in turn, rotate the instrument shaft and tool and to secondly pivot the rotation knob to enable the three dimensional positioning.
Claim 34
Dependent Claim
36 words
The method of claim 26 including using the control element as a rotation knob attached to the instrument shaft for the purpose of rotating the instrument shaft and, in turn, the distal bendable member and tool.
Claim 35
Dependent Claim
44 words
The method of claim 24 wherein the step of rotating the control element includes rotating the instrument shaft relative to the control handle to, in turn, rotate the distal bendable member to, in turn, rotate the tool about the longitudinal distal tool axis [P].
Claim 36
Dependent Claim
12 words
The method of claim 23 including locking the ball to the socket.
Claim 37
Dependent Claim
196 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal bendable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the tool from the handle by means of a control element comprising; pivoting the control element in three dimensions to control the positioning of the tool in three dimensions, rotating the control element to control the rotational orientation of the tool by rotating the instrument shaft, constructing the control element as a single control knob, wherein the step of pivoting the control element in three dimensions includes pivoting a proximal end of the proximal bendable member in three dimensions, mounting the proximal end of the proximal bendable member in a rotation ball that is supported for three dimensional pivoting in a socket in the control handle and rotatably supporting the proximal bendable member in the ball.
Claim 38
Dependent Claim
196 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal bendable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the tool from the handle by means of a control element comprising; pivoting the control element in three dimensions to control the positioning of the tool in three dimensions, rotating the control element to control the rotational orientation of the tool by rotating the instrument shaft, constructing the control element as a single control knob, wherein the step of pivoting the control element in three dimensions includes pivoting a proximal end of the proximal bendable member in three dimensions, mounting the proximal end of the proximal bendable member in a rotation ball that is supported for three dimensional pivoting in a socket in the control handle and rotatably supporting the proximal bendable member in the ball.
Claim 39
Dependent Claim
15 words
The method of claim 34 including rotatably supporting the instrument shaft in the control handle.
Claim 40
Dependent Claim
204 words
A surgical instrument comprising: an elongated instrument shaft having proximal and distal ends; a tool disposed from the distal end of the instrument shaft; a control handle disposed at the proximal end of the instrument shaft; a distal bendable member for coupling the distal end of the elongated instrument shaft to the tool and including proximal and distal ends; a proximal bendable member for coupling the proximal end of the elongated instrument shaft with the handle and including proximal and distal ends; and actuation means extending between said distal and proximal bendable members so that any bending of the proximal bendable member causes a corresponding bending of the distal bendable member for controlling the positioning of the tool; said control handle including first means for rotatably supporting the instrument shaft relative to the control handle and second means for pivotally supporting the proximal end of the proximal bendable member relative to the control handle and in three dimensions; said second means comprising a ball member mounted in an at least partially spherical socket defined in the control handle; said ball member defining a conical cavity that provides a conical space in which the proximal bendable member is pivotable to enable the three dimensional motion.
Claim 41
Dependent Claim
204 words
A surgical instrument comprising: an elongated instrument shaft having proximal and distal ends; a tool disposed from the distal end of the instrument shaft; a control handle disposed at the proximal end of the instrument shaft; a distal bendable member for coupling the distal end of the elongated instrument shaft to the tool and including proximal and distal ends; a proximal bendable member for coupling the proximal end of the elongated instrument shaft with the handle and including proximal and distal ends; and actuation means extending between said distal and proximal bendable members so that any bending of the proximal bendable member causes a corresponding bending of the distal bendable member for controlling the positioning of the tool; said control handle including first means for rotatably supporting the instrument shaft relative to the control handle and second means for pivotally supporting the proximal end of the proximal bendable member relative to the control handle and in three dimensions; said second means comprising a ball member mounted in an at least partially spherical socket defined in the control handle; said ball member defining a conical cavity that provides a conical space in which the proximal bendable member is pivotable to enable the three dimensional motion.
Claim 42
Dependent Claim
44 words
The surgical instrument of claim 36 wherein at least one of said bendable members comprise a single unitary slotted structure that is readily capable of bending in any direction and wherein said slotted structure is comprised of a plurality of separately disposed noncontiguous slots.
Claim 43
Dependent Claim
28 words
The surgical instrument of claim 36 wherein the first means comprises first bearing means supported at a flange of the control handle and rotatably engaging the instrument shaft.
Claim 44
Dependent Claim
25 words
The surgical instrument of claim 38 wherein the second means comprises second bearing means for rotatably supporting the proximal bendable member in the ball member.
Claim 45
Dependent Claim
28 words
The surgical instrument of claim 39 including a control element connected to the second bearing means and for controlling the pivoting of the ball member in the socket.
Claim 46
Dependent Claim
36 words
The surgical instrument of claim 40 wherein the proximal end of the proximal bendable member is supported at the second bearing means so as to be rotatably with both the second bearing means and control element.
Claim 47
Dependent Claim
29 words
The surgical instrument of claim 41 including an actuator cable at the control handle and a tool actuation assembly at the second bearing means for controlling the actuator cable.
Claim 48
Dependent Claim
35 words
The surgical instrument of claim 36 wherein a proximal end of the proximal bendable member is supported in the ball member with the distal end of the proximal bendable member extending into the conical cavity.
Claim 49
Dependent Claim
31 words
The surgical instrument of claim 43 including a rotation knob rotatably attached to the ball member to control the positioning of the ball member and, in turn, the proximal bendable member.
Claim 50
Dependent Claim
19 words
The surgical instrument of claim 43 including a rotation knob attached to the instrument shaft for enabling rotation thereof.
Claim 51
Dependent Claim
18 words
The surgical instrument of claim 36 including rotation means adjacent the control handle for rotating the instrument shaft.
Claim 52
Dependent Claim
55 words
The surgical instrument of claim 46 wherein the rotation means comprises a rotation knob with the dual purpose of being able to firstly rotate the rotation knob to, in turn, rotate the instrument shaft and tool and to secondly pivot the rotation knob in three dimensions to enable the three dimensional positioning of the tool.
Claim 53
Dependent Claim
39 words
The surgical instrument of claim 36 including an actuation lever for controlling the tool mounted at the control handle and an actuation cable controlled from the actuation lever and extending through at least the instrument shaft and bendable members.
Claim 54
Dependent Claim
38 words
The surgical instrument of claim 48 including a bell crank mechanism that couples between the actuation lever and the actuation cable, responsive to operation of the actuation lever to control the actuation cable and, in turn, the tool.
Claim 55
Dependent Claim
24 words
The surgical instrument of claim 36 including a lock means for fixing the position of the proximal bendable member relative to the control handle.
Claim 56
Dependent Claim
23 words
The surgical instrument of claim 50 including a bearing means for supporting the proximal bendable member in the socket in the control handle.
Claim 57
Dependent Claim
27 words
The surgical instrument of claim 51 wherein the lock means comprises a locking lever mounted in the control handle and for selective engagement with the ball member.
Claim 58
Dependent Claim
224 words
A surgical instrument comprising: a control handle; an instrument shaft that extends from the control handle; a tool disposed from the distal end of the instrument shaft and controlled from the handle as to actuation and positioning thereof; said control handle having a first section for supporting an actuation element for controlling the actuation of the tool, and a second section for supporting a positioning element for controlling the positioning of the tool; a distal bendable member for coupling the distal end of the instrument shaft to the tool; a proximal bendable member for coupling the proximal end of the instrument shaft to the control handle; cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable members; said actuation element including actuation means extending at least between the distal and proximal bendable members for controlling the actuation of the tool; said positioning element including a manually manipulated control element that is both pivotal in three dimensions to control the positioning of the tool in three dimensions and rotatable to control the rotational orientation of the tool by rotating the instrument shaft; and means for mounting a proximal end of the proximal bendable member in a rotation ball that is supported for three dimensional pivoting in a socket in the control handle.
Claim 59
Dependent Claim
224 words
A surgical instrument comprising: a control handle; an instrument shaft that extends from the control handle; a tool disposed from the distal end of the instrument shaft and controlled from the handle as to actuation and positioning thereof; said control handle having a first section for supporting an actuation element for controlling the actuation of the tool, and a second section for supporting a positioning element for controlling the positioning of the tool; a distal bendable member for coupling the distal end of the instrument shaft to the tool; a proximal bendable member for coupling the proximal end of the instrument shaft to the control handle; cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable members; said actuation element including actuation means extending at least between the distal and proximal bendable members for controlling the actuation of the tool; said positioning element including a manually manipulated control element that is both pivotal in three dimensions to control the positioning of the tool in three dimensions and rotatable to control the rotational orientation of the tool by rotating the instrument shaft; and means for mounting a proximal end of the proximal bendable member in a rotation ball that is supported for three dimensional pivoting in a socket in the control handle.
Claim 60
Dependent Claim
14 words
The surgical instrument of claim 53 wherein said means for mounting includes bearing means.
Claim 61
Dependent Claim
38 words
The surgical instrument of claim 53 wherein the positioning element comprises a first control knob extending from the control handle and capable of both rotation about an axis and pivoting relative to the control handle in three dimensions.
Claim 62
Dependent Claim
33 words
The surgical instrument of claim 55 including a second control knob and means for connecting the second control knob to the instrument shaft for rotating the instrument shaft and, in turn, the tool.
Claim 63
Dependent Claim
22 words
The surgical instrument of claim 53 including means for locking the ball to the socket to hold the position of the tool.
Claim 64
Dependent Claim
18 words
The surgical instrument of claim 53 including means for rotatably supporting the proximal bendable member in the ball.
Claim 65
Dependent Claim
19 words
The surgical instrument of claim 58 including bearing means for rotatably supporting the instrument shaft in the control handle.
Claim 66
Dependent Claim
61 words
The surgical instrument of claim 53 wherein the positioning element comprises a single control knob extending from the control handle and further using the rotation knob with the dual purpose of being able to firstly rotate the rotation knob to, in turn, rotate the instrument shaft and tool and to secondly pivot the rotation knob to enable the three dimensional positioning.
Claim 67
Dependent Claim
176 words
A surgical instrument comprising: a control handle; an instrument shaft that extends from the control handle; a tool disposed from the distal end of the instrument shaft and controlled from the handle as to actuation and positioning thereof; a distal bendable member for coupling the distal end of the instrument shaft to the tool; a proximal bendable member for coupling the proximal end of the instrument shaft to the control handle; cable actuation means extending between the distal and proximal bendable members for coupling motion of the proximal bendable member to the distal bendable member for controlling the positioning of the tool; and a pivot element mounted by the handle; a proximal end of the proximal bendable member being mounted to the pivot element for movement therewith; wherein the pivot element comprises a ball member arranged in an at least partial spherical shaped socket in the handle and capable of three dimensional pivoting therein; and wherein the socket defines a conical cavity in which the proximal bendable member is pivotable to enable the three dimensional motion.
Claim 68
Dependent Claim
176 words
A surgical instrument comprising: a control handle; an instrument shaft that extends from the control handle; a tool disposed from the distal end of the instrument shaft and controlled from the handle as to actuation and positioning thereof; a distal bendable member for coupling the distal end of the instrument shaft to the tool; a proximal bendable member for coupling the proximal end of the instrument shaft to the control handle; cable actuation means extending between the distal and proximal bendable members for coupling motion of the proximal bendable member to the distal bendable member for controlling the positioning of the tool; and a pivot element mounted by the handle; a proximal end of the proximal bendable member being mounted to the pivot element for movement therewith; wherein the pivot element comprises a ball member arranged in an at least partial spherical shaped socket in the handle and capable of three dimensional pivoting therein; and wherein the socket defines a conical cavity in which the proximal bendable member is pivotable to enable the three dimensional motion.
Claim 69
Dependent Claim
43 words
The surgical instrument of claim 61 wherein said control handle has a first section for supporting an actuation element for controlling the actuation of the tool, and a second section for supporting the pivot element used for controlling the positioning of the tool.
Claim 70
Dependent Claim
49 words
The surgical instrument of claim 62 wherein the actuation element comprises an actuation lever, a handle control cable controlled from the actuation lever, a pivot mechanism controlled by the handle control cable and a tool actuation cable controlled by the pivot mechanism to control the actuation of the tool.
Claim 71
Dependent Claim
37 words
The surgical instrument of claim 63 wherein the pivot mechanism includes a bell crank mechanism and a transfer disc assembly controlled from the bell crank mechanism and for retaining a proximal end of the tool actuation cable.
Claim 72
Dependent Claim
31 words
The surgical instrument of claim 60 including a control element extending from the handle and attached to the pivot element for controlling the positioning of the pivot element in three dimensions.
Claim 73
Dependent Claim
21 words
The surgical instrument of claim 65 wherein the pivot element comprises a ball and the control element comprises a control knob.
Claim 74
Dependent Claim
54 words
The surgical instrument of claim 66 including an actuating lever mounted on the handle for controlling the actuation of the tool, a tool actuation cable and a transfer mechanism mounted between the control knob and the proximal end of the proximal bendable member controlled from the transfer mechanism for actuating the tool actuation cable.
Claim 75
Dependent Claim
34 words
The surgical instrument of claim 67 wherein the transfer mechanism comprises a pivot crank and a transfer disc, the actuation lever controlling the pivot crank and the transfer disc controlling the tool actuation cable.
Claim 76
Dependent Claim
44 words
The surgical instrument of claim 61 wherein at least one of said bendable members comprise a single unitary slotted structure that is readily capable of bending in any direction and wherein said slotted structure is comprised of a plurality of separately disposed non-contiguous slots.
Claim 77
Dependent Claim
40 words
The surgical instrument of claim 61 wherein the pivot element comprises a ball member that has an outer at least partially spherical shaped surface arranged in a spherical shaped socket in the handle and capable of three dimensional pivoting therein.
Claim 78
Dependent Claim
27 words
The surgical instrument of claim 70 wherein the socket defines a conical cavity in which the proximal bendable member is pivotable to enable the three dimensional motion.
Claim 79
Dependent Claim
47 words
The surgical instrument of claim 71 wherein the proximal end of the proximal bendable member is fixedly supported in the ball member with the distal end of the proximal bendable member extending into the conical cavity and bendable by pivoting of the ball member in the socket.
Claim 80
Dependent Claim
31 words
The surgical instrument of claim 72 including a rotation knob rotatably attached to the ball member to control the positioning of the ball member and, in turn, the proximal bendable member.
Claim 81
Dependent Claim
19 words
The surgical instrument of claim 72 including a rotation knob attached to the instrument shaft for enabling rotation thereof.
Claim 82
Dependent Claim
18 words
The surgical instrument of claim 61 including rotation means adjacent the control handle for rotating the instrument shaft.
Claim 83
Dependent Claim
55 words
The surgical instrument of claim 75 wherein the rotation means comprises a rotation knob with the dual purpose of being able to first rotate the rotation knob to, in turn, rotate the instrument shaft and tool and to second pivot the rotation knob in three dimensions to enable the three dimensional positioning of the tool.
Claim 84
Dependent Claim
24 words
The surgical instrument of claim 61 including a lock mechanism for fixing the position of the proximal bendable member relative to the control handle.
Claim 85
Dependent Claim
27 words
The surgical instrument of claim 77 wherein the lock mechanism comprises a locking lever mounted on the control handle and for selective engagement with the ball member.
Claim 86
Dependent Claim
162 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the position of the tool from the handle comprising; rotating a first control member to control the rotational position of the tool, actuating a second control member for locking the position of the tool at a fixed position, constructing the movable members as bendable members, supporting the proximal bendable member in a support member that is disposed within the handle and supporting the second control member between the support member and handle so as to selectively lock the position of the tool.
Claim 87
Dependent Claim
162 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the position of the tool from the handle comprising; rotating a first control member to control the rotational position of the tool, actuating a second control member for locking the position of the tool at a fixed position, constructing the movable members as bendable members, supporting the proximal bendable member in a support member that is disposed within the handle and supporting the second control member between the support member and handle so as to selectively lock the position of the tool.
Claim 88
Dependent Claim
45 words
The method of claim 79 including pivoting the first control member in three dimensions to control the positioning of the tool in three dimensions and wherein the rotating of the first control member controls the rotational orientation of the tool by rotating the instrument shaft.
Claim 89
Dependent Claim
41 words
The method of claim 79 wherein the step of supporting the proximal bendable member in a support member includes providing a ball and socket and controlling the position of the ball so as to pivot the ball relative to the socket.
Claim 90
Dependent Claim
16 words
The method of claim 80 including constructing the first control member as a single control knob.
Claim 91
Dependent Claim
26 words
The method of claim 80 including connecting the first control member with the proximal bendable member for rotating the instrument shaft and, in turn, the tool.
Claim 92
Dependent Claim
180 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the position of the tool from the handle comprising; rotating a first control member to control the rotational position of the tool, actuating a second control member for locking the position of the tool at a fixed position, providing a ball and socket and controlling the position of the ball so as to pivot the ball relative to the socket, constructing the movable members as bendable members, constructing the first control member as a single control knob and mounting a proximal end of the proximal bendable member in the ball that is supported for three dimensional pivoting in the socket.
Claim 93
Dependent Claim
180 words
In a medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple said proximal control handle and said distal tool with said instrument shaft, and cable actuation means extending through the proximal and distal bendable members for coupling motion of the proximal bendable member to the distal bendable member, a method of controlling the position of the tool from the handle comprising; rotating a first control member to control the rotational position of the tool, actuating a second control member for locking the position of the tool at a fixed position, providing a ball and socket and controlling the position of the ball so as to pivot the ball relative to the socket, constructing the movable members as bendable members, constructing the first control member as a single control knob and mounting a proximal end of the proximal bendable member in the ball that is supported for three dimensional pivoting in the socket.
Claim 94
Dependent Claim
26 words
The method of claim 84 including supporting the second control member between the ball and handle so as to selectively lock the position of the tool.
Claim 95
Dependent Claim
185 words
A surgical instrument comprising: a control handle; an instrument shaft that extends from the control handle; a tool disposed from the distal end of the instrument shaft and controlled from the handle as to actuation and positioning thereof; said control handle having a first section for supporting a first actuation element for controlling the actuation of the tool, and a second section for supporting a second actuation element for controlling the positioning of the tool between locked and unlocked positions; a distal bendable member for coupling the distal end of the instrument shaft to the tool; a proximal bendable member for coupling the proximal end of the instrument shaft to the control handle; cable actuation means extending between the distal and proximal bendable members for coupling motion of the proximal bendable member to the distal bendable member for controlling the positioning of the tool; a ball and socket structure supported by the control handle responsive to the second actuation element for locking the relative position between the ball and socket; and means for mounting the proximal end of the proximal bendable member in the ball.
Claim 96
Dependent Claim
185 words
A surgical instrument comprising: a control handle; an instrument shaft that extends from the control handle; a tool disposed from the distal end of the instrument shaft and controlled from the handle as to actuation and positioning thereof; said control handle having a first section for supporting a first actuation element for controlling the actuation of the tool, and a second section for supporting a second actuation element for controlling the positioning of the tool between locked and unlocked positions; a distal bendable member for coupling the distal end of the instrument shaft to the tool; a proximal bendable member for coupling the proximal end of the instrument shaft to the control handle; cable actuation means extending between the distal and proximal bendable members for coupling motion of the proximal bendable member to the distal bendable member for controlling the positioning of the tool; a ball and socket structure supported by the control handle responsive to the second actuation element for locking the relative position between the ball and socket; and means for mounting the proximal end of the proximal bendable member in the ball.
Claim 97
Dependent Claim
19 words
The surgical instrument of claim 86 including means for manually controlling the position of the ball in the socket.
Claim 98
Dependent Claim
29 words
The surgical instrument of claim 86 wherein said second actuation element includes a locking lever for locking the ball to the socket to hold the position of the tool.
References Cited (Backward Citations)
US2028635A
Cited
US2507710A
Cited
US2790437A
Cited
US3557780A
Cited
US3895636A
Cited
US3858577A
Cited
US4483562A
Cited
EP0095970A2
Cited
GB2143920B
Cited
US4728020A
Cited
US4763669A
Cited
US4688554A
Cited
US4944093A
Cited
US4872456A
Cited
US4945920A
Cited
US4880015A
Cited
US4944741A
Cited
EP0427949B1
Cited
EP0448284A2
Cited
US5002543A
Cited
US5042707A
Cited
US5209747A
Cited
US5275608A
Cited
US5271381A
Cited
US5433721A
Cited
US5383880A
Cited
US5944713A
Cited
US5273026A
Cited
US5314424A
Cited
US5254130A
Cited
US5395367A
Cited
US5330502A
Cited
US5643294A
Cited
US5599151A
Cited
US5344428A
Cited
US5386818A
Cited
EP0626604A2
Cited
US5501654A
Cited
US5441494A
Cited
US5405344A
Cited
US5520678A
Cited
US5618294A
Cited
US5454827A
Cited
US5766196A
Cited
US5759151A
Cited
US5772578A
Cited
US5916146A
Cited
US5855569A
Cited
US5823066A
Cited
US6210378B1
Cited
US6210377B1
Cited
US5702408A
Cited
US5904647A
Cited
US5851208A
Cited
US5827177A
Cited
US5899425A
Cited
US5873817A
Cited
US5899914A
Cited
US5938678A
Cited
US6126633A
Cited
US5916147A
Cited
US5921956A
Cited
US5928263A
Cited
US20020095175A1
Cited
US20020133173A1
Cited
US6752756B2
Cited
US6174280B1
Cited
US6270453B1
Cited
US20040111009A1
Cited
US6551238B2
Cited
US20050228440A1
Cited
US6666854B1
Cited
US6641316B1
Cited
US20030109898A1
Cited
US6761717B2
Cited
US20030149338A1
Cited
US6638214B2
Cited
US20020045803A1
Cited
US6623424B2
Cited
US6656195B2
Cited
US20020177750A1
Cited
US20040193146A1
Cited
US20030135204A1
Cited
US20020177847A1
Cited
US20020156497A1
Cited
US20030065359A1
Cited
US20030216618A1
Cited
US20040176751A1
Cited
US20040049205A1
Cited
US7320700B2
Cited
US20040138529A1
Cited
US20040236316A1
Cited
US20050107667A1
Cited
US20050251112A1
Cited
US7090637B2
Cited
US20050049580A1
Cited
US20060206101A1
Cited
US7147650B2
Cited
US20050273084A1
Cited
US20050273085A1
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2013-05-03 | 2013-11-02 | 2014-05-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2017-05-03 | 2017-11-02 | 2018-05-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2021-05-03 | 2021-11-02 | 2022-05-04 | $7700.00 | Window Closed / Lapsed |