U.S. patent application number 11/056021 was filed with the patent office on 2005-08-25 for ergonomic handle and articulating laparoscopic tool.
Invention is credited to DiMartino, Allison, Done', Kathryn, Hallbeck, M. Susan, Judkins, Tim, Morse, Jonathan, Oleynikov, Dmitry, Verner, Lawton N..
Application Number | 20050187575 11/056021 |
Document ID | / |
Family ID | 34886015 |
Filed Date | 2005-08-25 |
United States Patent
Application |
20050187575 |
Kind Code |
A1 |
Hallbeck, M. Susan ; et
al. |
August 25, 2005 |
Ergonomic handle and articulating laparoscopic tool
Abstract
The present invention relates to a laparoscopic apparatus. The
apparatus comprises a handle having a body portion, a top surface,
opposite bottom surface, a proximal and distal end. The top surface
of the base is contoured to compliment the natural curve of the
palm. The apparatus further includes a shaft projecting from the
distal end of the handle. The shaft has a proximal and distal end.
A control sphere is located on the handle. The control sphere can
be moved by one or more of a user's fingers to indicate direction.
An end effector is located at the distal end of the shaft. The end
effector is connected to the control sphere such that movements
made to the control sphere control cause movement (articulation) of
the end effector.
Inventors: |
Hallbeck, M. Susan;
(Lincoln, NE) ; Oleynikov, Dmitry; (Omaha, NE)
; Done', Kathryn; (Lincoln, NE) ; Judkins,
Tim; (Lincoln, NE) ; DiMartino, Allison;
(Alexandria, VA) ; Morse, Jonathan; (Lincoln,
NE) ; Verner, Lawton N.; (Towson, MD) |
Correspondence
Address: |
SHOOK, HARDY & BACON LLP
2555 GRAND BLVD
KANSAS CITY,
MO
64108
US
|
Family ID: |
34886015 |
Appl. No.: |
11/056021 |
Filed: |
February 11, 2005 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60544286 |
Feb 12, 2004 |
|
|
|
Current U.S.
Class: |
606/205 |
Current CPC
Class: |
A61B 2017/2927 20130101;
A61B 2017/2912 20130101; A61B 2017/2902 20130101; A61B 2017/2947
20130101; A61B 17/2909 20130101; A61B 17/29 20130101 |
Class at
Publication: |
606/205 |
International
Class: |
A61B 017/28 |
Claims
The invention claimed is:
1. A laparoscopic apparatus, the apparatus comprising: a handle
having a body portion, a top surface, opposite bottom surface, a
proximal and distal end; a shaft projecting from the distal end of
the handle, the shaft having a proximal and distal end; a control
sphere located on the handle; and an end effector located at the
distal end of the shaft, wherein the end effector is connected to
the control sphere such that movements made to the control sphere
control move the end effector.
2. The apparatus of claim 1, wherein the end effector is spherical
and further comprises two wings holding graspers.
3. The apparatus of claim 2, wherein the graspers are jawed end
effectors, cutting forceps or are powered for cauterizing.
4. The apparatus of claim 1, further comprising: a collet mechanism
located at the distal end of the handle, wherein the collet
mechanism allows rotation of the shaft and end effector.
5. The apparatus of claim 1, further comprising: a tactile element
at the top of the control sphere that aligns the control sphere
with the shaft.
6. The apparatus of claim 5, wherein if the tactile element on the
control sphere is moved upward, the end effector is moved
upward.
7. The apparatus of claim 5, wherein if the tactile element on the
control sphere is moved downward, the end effector is moved
downward.
8. The apparatus of claim 5, wherein if the tactile element on the
control sphere is moved to the right, the end effector is moved to
the right.
9. The apparatus of claim 5, wherein if the tactile element on the
control sphere is moved to the left, the end effector is moved to
the left.
10. The apparatus of claim 4, wherein the control sphere is located
about 3 to 4 centimeters from the collet mechanism and is in line
with the shaft.
11. The apparatus of claim 1, wherein the control sphere is about
three times larger than the end effector.
12. The apparatus of claim 2, further comprising: an actuator rod
for opening and closing the graspers.
13. The apparatus of claim 12, further comprising: a pull cylinder
connected to the actuator rod, wherein the pull cylinder moves the
actuator rod back and forth.
14. The apparatus of claim 13, wherein if the pull cylinder is
moved toward the control sphere, the graspers are opened.
15. The apparatus of claim 13, wherein if the pull cylinder is
moved away from the control sphere, the graspers are opened.
16. The apparatus of claim 1, further comprising: one or more
control cables within the shaft connecting the control sphere and
end effector.
17. The apparatus of claim 1, wherein the one or more control
cables control the pitch and yaw of the end effector.
18. The apparatus of claim 17, wherein the one or more control
cables are fed through one or more wire guides to prevent the end
effector and the control sphere from having shaft-independent
rotation.
19. The apparatus of claim 18, wherein the one or more control
cables are rotated about 180 degrees between the control sphere and
the end effector.
20. The apparatus of claim 2, further comprising: a lever
projecting from the bottom of the handle, wherein the lever can be
actuated by the user.
21. The apparatus of claim 20, wherein the lever is a squeeze
grip.
22. The apparatus of claim 21, wherein when the squeeze grip is
actuated by the user, the graspers close.
23. The apparatus of claim 21, wherein when the squeeze group is
opened, the graspers open.
24. The apparatus of claim 22, further comprising: a slip lock to
prevent the raspers from opening when the squeeze grip is actuated
by the user.
25. The apparatus of claim 1, wherein the control sphere is located
near the distal end of the top surface of the handle.
26. An ergonomic handle apparatus for use with a tool, the handle
comprising: a base having a body portion, a top surface, opposite
bottom surface, a proximal and a distal end, the top surface of the
base being contoured to compliment the natural curve of the palm; a
control sphere located on the base, wherein the control sphere can
be moved by one or more of a user's fingers to indicate direction;
and at least one lever projecting from the bottom surface, wherein
the lever may be actuated by a user.
27. The handle apparatus of claim 26, wherein the at least one
lever has a pivot point located toward the distal end of the
handle.
28. The handle apparatus of claim 26, wherein the handle
circumference is between about 4 cm and about 6.5 cm.
29. The handle apparatus of claim 28, wherein the handle length is
between about 150 and 165 mm.
30. The handle apparatus of claim 29, wherein the handle with is
between about 40 and 50 mm.
31. The handle apparatus of claim 26, further comprising: a tool
shaft projecting from the distal end of the handle.
32. The handle apparatus of claim 31, wherein the distal end of the
base is curved such that the tool shaft is angled at about 135
degrees from the longitudinal axis of the base.
33. The handle apparatus of claim 26, wherein the at least one
projecting lever is a squeeze grip.
34. The handle apparatus of claim 33, wherein the squeeze grip is
open about 4 to 18 degrees from the bottom surface of the base when
it is not actuated by a user.
35. The handle apparatus of claim 33, wherein the squeeze grip is
open 0 degrees from the bottom surface of the base when actuated by
a user.
36. The handle apparatus of claim 26, wherein the base is shaped
such that a user's thumb controls the control sphere.
37. The handle apparatus of claim 36, wherein a user's fingers wrap
around the base of the handle and the at least one lever such that
the fingers are able to actuate the lever.
38. The handle apparatus of claim 26, wherein the base is shaped
such that a user's fingers wrap across the top surface of the base
such that a user's index finger controls the control sphere.
39. The handle apparatus of claim 38, wherein the user's thumb is
positioned to squeeze the at least one projecting lever.
40. The handle apparatus of claim 26, wherein the control sphere is
located near the distal end of the top surface of the base.
41. A laparoscopic apparatus, the apparatus comprising: a handle
having a body portion, a top surface, opposite bottom surface, a
proximal and distal end; the top surface of the base being
contoured to compliment the natural curve of the palm; a shaft
projecting from the distal end of the handle, the shaft having a
proximal and distal end; a control sphere located on the handle,
wherein the control sphere can be moved by one or more of a user's
fingers to indicate direction; and an end effector located at the
distal end of the shaft, wherein the end effector is connected to
the control sphere such that movements made to the control sphere
control cause movement of the end effector.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of priority to U.S.
Provisional Application No. 60/544,286 filed on Feb. 12, 2004,
which is hereby incorporated by reference in its entirety.
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
[0002] Not applicable.
BACKGROUND
[0003] Surgeons have identified and studies have shown,
laparoscopic techniques require greater concentration and place
greater mental and physical stress on surgeons than open surgery.
The tools that laparoscopic surgeons must use are difficult to use
and because of suboptimal design, they may actually be doing harm
to the highly trained physician. Additionally, poor laparoscopic
tools increase physician fatigue, creating potential for errors
that may harm the patient.
[0004] Specialized instruments are required for laparoscopic
surgery due to the small ports. The design of these instruments is
critical to the result of the surgery. Current laparoscopic
instruments have been found to be very poorly designed
ergonomically and it is likely that ergonomics were not considered
at all. Some practicing laparoscopic surgeons frequently experience
post operation pain or numbness. This is generally attributable to
pressure points on the laparoscopic tool handle. Furthermore, four
different handle designs used on laparoscopic tools (shank, pistol,
axial, and ring handle) have been found to result in either painful
pressure spots or caused extreme ulnar deviation.
[0005] Compared to general surgery, laparoscopic surgery is a new
practice. Therefore, the tools available to perform the procedures
are not yet perfected. Limited work has been done by others to
improve both the tools and procedures used in laparoscopy; however,
an optimized tool, based on task analysis of laparoscopic surgery
and sound ergonomic principles has not been prototyped and tested
fully to date.
[0006] Furthermore, non-ergonomic tool handles often cause pain and
discomfort and also result in painful pressure spots. It would be
beneficial to have a laparoscopic tool with an ergonomic handle, an
intuitive hand/tool interface, such as a control sphere, and an
articulating end effector. It would also be beneficial to have an
ergonomic tool handle with an intuitive hand/tool interface for use
with other types of tools.
SUMMARY
[0007] In one embodiment, the present invention relates to a
laparoscopic apparatus. The apparatus comprises a handle having a
body portion, a top surface, opposite bottom surface, a proximal
and distal end and a shaft projecting from the distal end of the
handle, the shaft having a proximal and distal end. The apparatus
further comprises a control sphere located on the handle and an end
effector located at the distal end of the shaft, wherein the end
effector is connected to the control sphere such that movements
made to the control sphere control movement of the end
effector.
[0008] In another embodiment, the present invention relates to an
ergonomic handle apparatus for use with a tool. The handle
apparatus comprises a base having a body portion, a top surface,
opposite bottom surface, a proximal and a distal end, where the top
surface of the base being contoured to compliment the natural curve
of the palm. The handle apparatus further comprises a control
sphere located on the base, wherein the control sphere can be moved
by one or more of a user's fingers to indicate direction and at
least one lever projecting from the bottom surface, wherein the
lever may be actuated by a user.
[0009] In yet another embodiment, the present invention relates to
a laparoscopic apparatus. The apparatus comprises a handle having a
body portion, a top surface, opposite bottom surface, a proximal
and distal end, where the top surface of the base is contoured to
compliment the natural curve of the palm. The apparatus further
includes a shaft projecting from the distal end of the handle, the
shaft having a proximal and distal end and a control sphere located
on the handle. The control sphere can be moved by one or more of a
user's fingers to indicate direction. An end effector is located at
the distal end of the shaft and the end effector is connected to
the control sphere such that movements made to the control sphere
control movement of the end effector.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] FIG. 1 is a perspective view of a laparoscopic apparatus in
accordance with an embodiment of the present invention;
[0011] FIG. 2 is a side perspective view of an ergonomic handle in
the closed position in accordance with an embodiment of the present
invention;
[0012] FIG. 3 is a side perspective view of an ergonomic handle in
the open position in accordance with an embodiment of the present
invention;
[0013] FIG. 4 is a longitudinal cross sectional view of an
ergonomic handle with a slip lock in accordance with an embodiment
of the present invention;
[0014] FIG. 5 is an enlarged side perspective view of an ergonomic
handle in accordance with an embodiment of the present
invention;
[0015] FIG. 6 is an enlarged perspective view of a portion of a
laparoscopic apparatus in accordance with an embodiment of the
present invention;
[0016] FIG. 7 is top perspective view of a control sphere of an
ergonomic handle in accordance with an embodiment of the present
invention;
[0017] FIG. 8 an enlarged perspective view of graspers of a
laparoscopic apparatus in accordance with an embodiment of the
present invention;
[0018] FIG. 9 is a perspective view of an ergonomic handle used
with a laparoscopic apparatus displaying the internal components in
accordance with an embodiment of the present invention;
[0019] FIG. 10 is side perspective view of a laparoscopic apparatus
with a cutaway showing the internal control cables in accordance
with an embodiment of the present invention;
[0020] FIG. 11 is a view of a reverse use position of a
laparoscopic apparatus in accordance with an embodiment of the
present invention;
[0021] FIG. 12 is an exploded perspective view of an end effector
and graspers of a laparoscopic apparatus in accordance with an
embodiment of the present invention;
[0022] FIG. 13 is a side perspective view of an internal portion of
the ergonomic handle in accordance with an embodiment of the
present invention; and
[0023] FIG. 14 is a side perspective view of the internal portion
of a left half of an ergonomic handle in accordance with an
embodiment of the present invention.
DETAILED DESCRIPTION
[0024] With reference to FIG. 1, an ergonomic laparoscopic tool
(10) is shown. Laparoscopic tool (10) comprises of five main
components: an ergonomic handle (12), several controls, a shaft
(14), an articulating end effector (16), and graspers (18). The
graspers (18) may be any effectors such as cutting forceps and
jawed end effectors or may be powered for cauterizing. The
cauterizing may include electrosurgical cutting and coagulation of
tissue.
[0025] In one embodiment, the shaft (14) is a 10 mm shaft. In this
embodiment, the shaft is about 10 mm in diameter and about 40 cm
long. The shaft houses the wire guides and actuation cables,
described later. However, one of skill in the art will appreciate
that the shaft, wire guides and actuation cables are scalable and
may be any size, including, but not limited to, about 3 mm and
about 5 mm in diameter and about 35-55 cm long.
[0026] With reference next to FIG. 2, the tool handle (12) is a
smooth, contoured shape. It is designed ergonomically for comfort
and usability. In one embodiment, the handle (12) is about 155 mm
(length) by about 35 mm (height) by about 45 mm (width). In another
embodiment, the handle (12) may be about 150-165 mm in length,
about 30-40 mm in height and about 40-50 mm in width. The handle
has a top and bottom surface and a proximal and distal end. The
proximal end of the handle is located nearest a user and the distal
end is the end located farthest from a user. The top surface of the
handle is contoured to compliment the natural curve of the
palm.
[0027] In one embodiment, the handle circumference is about 5 cm
and tapered in shape. A preferred range of handle circumference is
from about 4 cm to 6.5 cm. The distal end of the handle is also
curved such that the tool shaft (14) is angled at about 135 degrees
to increase the accuracy of pointing with the tool. However, the
distal end of the handle may be curved to at any variety of angles
depending on the tool that the handle is used with. The handle is
designed to fit hand sizes ranging from about the 5th percentile
female to about the 95th percentile male. The tool handle is
described in relation to a laparoscopic instrument, however, it
will be appreciated that the ergonomic tool handle (12) may be used
with any variety of tools including a homeland security device,
such as a sensing device, or a laser pointer for presentations.
[0028] The handle (12) is designed for comfortable use with three
different hand orientations. The first hand position is such that
the thumb controls the sphere, and the fingers are wrapped around
the handle and squeeze the grip (20). The second hand position uses
the thumb to squeeze the grip (20), and the fingers are wrapped
across the top of the handle (12) with the index finger controlling
the sphere (26). The third is a reverse grip shown in FIG. 11. In
the reverse position, the fingers are wrapped around the handle
(12) so that the index finger squeezes the grip (20), the control
sphere (26) is moved with the user's thumb and the collet mechanism
(24) is controlled with the user's pinky finger. The collet
mechanism (24) may include a swivel collet or rotating grip. The
first two positions allow comfortable control of the tool without
straining a user's arm, wrist, or fingers. And the third reduces
the reach and awkward postures that many users, such as surgeons,
encounter while performing their tasks, especially from a reverse
position.
[0029] Referring next to FIG. 3, there are six controls located on
the tool handle (12) including a squeeze grip (20), slip lock
trigger (22), a collet mechanism (24), a control sphere (26), and
sphere lock (28). In one embodiment, the controls are placed so
they are reachable by the thumb or index finger. However, it will
be appreciate that the tool handle (12) may be used in a variety of
ways such that the controls can be reached by other fingers.
[0030] The squeeze grip (20) actuates the graspers (18) at the end
of the tool (10). When the grip (20) is squeezed closed, the
graspers (18) close (the closed position is shown in FIG. 2). The
grip (20) is sprung such that when released the graspers (18) will
open if the slip lock is disengaged (the open position is shown in
FIG. 3). In one embodiment, the grip pivots (46) are located toward
the distal end of the handle such that the stronger, more dexterous
index and middle fingers can squeeze the grip in some of the grip
positions. In one embodiment, the pivot angle between the body of
the handle and the squeeze grip (20) when the squeeze grip is open
is about 4-18 degrees, preferably about 17 degrees and the pivot
angle when the squeeze grip is closed is about 0 degrees.
[0031] With reference to FIGS. 4 and 5, in one embodiment, when the
squeeze grip (20) is closed (as shown in FIG. 2), a slip lock (48)
prevents the squeeze grip (20) from opening. A ratcheting mechanism
is used to perform this action. However, one of skill in the art
will appreciate that any variety of mechanisms or methods may be
used to prevent the squeeze grip (20) from opening. The slip lock
(48) allows smooth motion while still preventing the squeeze grip
(20) from reopening. The slip lock trigger (22) will disengage the
slip lock (48), allowing the squeeze grip (20) to open. The slip
lock trigger (22) locks in position when pulled back disengaging
contact between the slip lock (48) and squeeze grip (20). In one
embodiment, the slip lock (48) is located about 2-3 cm, preferable,
about 2.7 cm, from the collet mechanism (24) and is substantially
centered along the lateral axis of the handle (12). In this
embodiment, the actuation force needed to for the sliplock (48) to
rotate the shaft (14) is between about 0.5 and 1.0 lbs, preferably
about 0.6 lbs.
[0032] With reference to FIG. 6, a collet mechanism (24) is located
on the front of the handle (12). When rotated, a collet mechanism
(24) turns the end effector (16) about the axis of the tool shaft
(14). The collet mechanism (24) is free to rotate 360 degrees. In
one gripping position, the collet mechanism (24) is reached with
the index finger for one-handed operation. However, depending on
the grip position, the collet mechanism (24) may be reached with a
user's thumb or other finger.
[0033] With reference to FIGS. 1, 7 and 8, the control sphere (26)
actuates the pitch and yaw of the end effector (16). The control
sphere (26) can also be used to rotate to end effector (16) in the
same manner as the collet mechanism (24). A small tactile element
(50) on the top the sphere (26) aligns with the tool shaft (14)
when the end effector (16) is aligned with the shaft (14). The
tactile element (50) provides a sense of touch for location of the
end effector (16). The tactile element (50) is an inward element or
an outward bump to orient a user as to the position of
articulation. Control is intuitive where moving the tactile element
(50) forward/up (52) moves the tip of the end effector up (60), and
moving the tactile element (50) backward/down (54) moves the end
effector down (62). Likewise, moving the tactile element (50) left
(56) or right (58) moves the end effector left (64) or right (66),
respectively.
[0034] In one embodiment, the control sphere is located in at or
near the center of the lateral axis of the handle and about 3-4 cm
from the collet mechanism (24). In one embodiment, the control
sphere is located about 3.6 cm from the collet mechanism (24) and
is substantially inline with the shaft (14). In this embodiment,
the actuation force needed to move the control sphere such that it
moves the end effector properly between about 2 and 5 lbs,
preferably about 3 lbs.
[0035] With reference to FIG. 4, the sphere lock (28) is an
internal mechanism involving a wave spring (82). When in the
released position, the wave spring (82) pushes the control sphere
(26) into contact with the inside of the handle shell (68) which
locks the sphere (26) in place which in turn prevents articulation
of the end effector (16). Also, because the sphere (26) and collet
mechanism (24) both rotate the shaft (14), the sphere lock (28)
prevents rotation of the end effector (16) but allows independent
rotation of the shaft while the end effector remains in the locked
position. When the control sphere (26) is depressed, the wave
spring (82) is flattened and the control sphere (26) is released,
leaving it free to move. The sphere lock (28) allows the
articulating end effector (16) to be placed in one position and the
digit (thumb or finger) removed from the sphere (26) which locks
the articulation in place. To move the articulating end effector
(16), pressure from the digits is required. Thus, the articulation
is stationary once the sphere (26) is not under digital pressure
and can move freely once unlocked, after the digit (thumb or
finger) engages the control sphere (26).
[0036] With reference to FIG. 12, in one embodiment the actuating
end effector (16) is based on a spherical shape. It will be
appreciated that the articulating end effector may take any shape,
however. The spherical end effector (16) may be of any size
proportional to the graspers (18) and shaft (14). In one
embodiment, the end effector (16) is approximately about 10 mm in
diameter, scaled to the size of the shaft (14). Attached to the
front of the spherical end effector (16) is a protrusion with two
wings (36) that hold the graspers (18) via a pin (37). Small wings
(36), similar to those found on the current rigid tools, are
attached to the spherical end effector (16) to hold the graspers'
(18) pivot point from the end effector's (16) center. A slot (38)
between the wings (36) is also used to allow grasper movement.
[0037] In one embodiment, a portion of the spherical end effector
(16) is removed leaving approximately 1/2-3/4 of a sphere. However,
it can be appreciated that different amounts of a spherical end
effector may be removed. A small hole (40) extends through the end
effector to allow the grasper cable to pass. In the embodiment
having a spherical end effector (16) that is approximately about 10
mm in diameter, the small hole (40) is approximately about 2 mm in
diameter. The spherical end effector (16) is split across the
equator for attachment of control cables (42) described in more
detail below. Four attachment mechanisms, such as screws, hold the
end effector (16) together and secure the control cables (42) to
the end effector (16).
[0038] With reference to FIG. 10, the pitch and yaw of the end
effector (16) are actuated by the control sphere (26). In one
embodiment, four inextensible control cables (42) connect the
control sphere through the shaft (14) to the end effector (16). It
will be appreciated that the control cables may be wires or the
like and that any number of control cables may be used to connect
the control sphere (26) to the end effector (16). The control
cables are fed through four wire guides (44) internal to the shaft
(14) to prevent end-effector (16) and control sphere (26) from
having shaft-independent rotation.
[0039] In one embodiment, the control sphere (26) is about three
times larger than the end effector (16). For example, if the
spherical end effector (16) is about 10 mm in diameter, the control
sphere (26) is about 30 mm diameter. The difference in size enables
the user to have more precise control over the end effector (16).
Also, in one embodiment, the control sphere (26) is in-line with
the actuating effector (16).
[0040] In one embodiment, the control cables (42) running through
the shaft (14) are rotated a total of about 180.degree. when passed
through the wire guides (44). This rotation ensures that when the
control sphere (26) is moved left, the end effector (16) will move
left, and when the control sphere (26) is moved forward, the end
effector (16) will move up.
[0041] The four control cables (42) have swaged balls attached to
each end. In the embodiment with an end effector (16) having a
diameter of about 10 mm, the swaged balls and each end of the four
control cables (42) are approximately about 2 mm. Both the end
effector and control sphere are split along their equators. The
swaged ends of the control cables (42) seed into depressions (39)
in each hemisphere of the end effector (16). Four attachment
mechanisms, such as screws, hold the two hemispheres of the end
effector (16) together and secure the control cables (42). The
control cables (42) connect to the control sphere (26) also seed
into depressions (37) in the control sphere (26). One attachment
mechanism, such as a screw, holds the top half of the control
sphere (26) in place and secures the control cables (42). A screw
cover may be used to hide the screw and has a small tactile element
for tactile feedback.
[0042] The tool shaft (14) is able to rotate 360.degree.. Normally,
rotation of the control ball would cause the control cables to
become tangled; consequently, control of the end effector (16)
would be lost. The tool (10) allows the shaft (14) and actuating
end effector (16) (along with the cables (42)) to rotate about the
tool handle (12) without becoming entangled.
[0043] With continued reference to FIG. 10, the graspers (18) are
opened and closed by the movement of an actuator rod (70) located
within shaft (14). The internal mechanism was designed to allow an
external forward and backward movement to control the graspers
(18), while allowing rotation that does not twist or bind the
internal control cables (42). The actuator rod (70) extends through
the shaft (14) and wire guides (44). At the control sphere (26)
end, two halves of a pull cylinder (72) are connected to the
actuator rod (70) by two pins that extend through the actuator rod
(70) perpendicular the axis of the actuator rod (70). The pull
cylinder (72) is free to move forward and backward along the shaft
(14) . At the actuating end, a flexible cable (not shown) extends
from the shaft and connects to an eyelet that opens and closes the
graspers (18) when the actuator rod (70) moves forward and
backward. When the pull cylinder (72) is moved back toward the
control sphere (26), the graspers (18) close. When the pull
cylinder (72) is pushed forward, the graspers (18) open.
[0044] With reference to FIG. 9, four-piece assembly of cylinder
(72) allows the pull cylinder (72) to rotate with the shaft (14)
while the outer covers (74) are stationary. A rotary cylinder (76)
slides over the outer covers (74) such that the posts on the outer
covers (74) feed through inclined tracks on the rotary cylinder
(76). When the rotary cylinder (76) is turned, the outer covers
(74) are forced forward and backward actuating the graspers (18).
The control sphere (26) rests in a cradle (78) that has four ball
bearings embedded in it for smooth operation. Extending from the
bottom of the cradle (78) is a short shaft (not shown) that mates
with the shaft (14) of the tool (10). This maintains the rotation
of the control sphere (26) with the end effector (16) so the
control cables (42) do not become tangled. A TEFLON bearing (80)
allows the cradle (78) to rotate smoothly with the shaft (14) and a
wave spring (82) for the sphere lock (28).
[0045] With reference to FIG. 13, rotary cylinder (76) is connected
to the squeeze grip (20) by an actuating cable (not shown). It will
be appreciated that the actuating cable may be any type of cable
including a pull cable and push-pull cable. The cable has two
swaged ball ends that fit into a protrusion (86) on the squeeze
grip (20) and a recess on the rotary cylinder (76). The cable runs
through a groove (84) in the left side of the handle (90). The
squeeze grip (20) is spring-loaded such that the graspers (18) open
when the squeeze grip (20) is released.
[0046] The handle (12) can comprise multiple components or may be
one component. In one embodiment, the handle (12) comprises a right
half of handle (88), left half of handle (90) and a handle grip
(90). One of skill in the art will appreciate that the handle (12)
may be made up of any number of components or may be a unitary
handle.
[0047] From the foregoing, it will be seen that this invention is
one well adapted to attain all the ends and objects hereinabove set
forth together with other advantages which are obvious and which
are inherent in the structure. It will be understood that certain
features and subcombinations are of utility and may be employed
without reference to other features and subcombinations. This is
contemplated by and is within the scope of the claims. Since many
possible embodiments may be made of the invention without departing
from the scope thereof, it is to be understood that all matter
herein set forth or shown in the accompanying drawings is to be
interpreted as illustrative and not in a limiting sense.
* * * * *