CN-122003212-A - Medical devices for steering, actuating, and/or controlling end effectors and related methods

Abstract

A medical device includes a handle, a shaft, an end effector, and a wire. The handle includes a rotatable knob and a longitudinally movable slider. The shaft extends from the distal end of the handle. An end effector is coupled to the distal end of the shaft. The wire extends from the handle, through the shaft, and to the end effector. Rotation of the knob rotates the wire independently of the shaft, thereby rotating the end effector. Distal movement of the sled moves the wire distally independent of the axial direction and transitions the end effector between at least a first configuration and a second configuration. Proximal movement of the slider causes the wire to move proximally. Causing the wire to move proximally deflects the deflectable portion of the shaft in one or more directions.

Inventors

• DEEPAK KUMAR SHARMA
• CHARLES A. GIBSON

Assignees

• 波士顿科学国际有限公司
• 波士顿科学医疗设备有限公司

Dates

Publication Date

20260508

Application Date

20240815

Priority Date

20230816

Claims (15)

1. 1. A medical device, comprising: a handle, wherein the handle comprises a rotatable knob and a longitudinally movable slider; A shaft extending from a distal end of the handle; An end effector coupled to the distal end of the shaft, and A wire extending from the handle, through the shaft, and to the end effector, Wherein rotation of the knob rotates the wire independently of the shaft, thereby rotating the end effector, Wherein distal movement of the slider moves the wire distally independent of the axial direction and transitions the end effector between at least a first configuration and a second configuration, and Wherein proximal movement of the slider causes the wire to move proximally, and wherein causing the wire to move proximally deflects the deflectable portion of the shaft in one or more directions.
2. 2. The medical device of claim 1, wherein the shaft comprises a deflectable portion comprising a plurality of openings arranged in one or more longitudinally extending rows.
3. 3. The medical device of claim 2, wherein the deflectable portion includes four longitudinally extending rows of openings that are circumferentially spaced around the deflectable portion.
4. 4. The medical device of claim 3, wherein a portion of the wire comprises an intermediate section having a planar surface.
5. 5. The medical device of claim 4, wherein the planar surface at least partially overlaps at least one row of the openings.
6. 6. The medical device of claim 5, wherein the planar surface is configured to overlap a respective one of the four longitudinally extending rows based on a rotational position of the wire so as to deflect the deflectable portion in four directions.
7. 7. The medical device of any one of the preceding claims, further comprising a biasing element positioned within a portion of the handle to bias distal movement of the slider.
8. 8. The medical device of any one of the preceding claims, further comprising a tube surrounding a proximal portion of the wire, wherein the tube comprises at least one flat outer surface to interact with an inner portion of the knob.
9. 9. The medical device of any one of the preceding claims, wherein the end effector comprises two pivotable jaws that are movable between a closed configuration and an open configuration.
10. 10. The medical device of claim 9, wherein the two pivotable jaws are coupled to a distal end of the wire via a respective end effector wire.
11. 11. The medical device of claim 10, wherein the proximal end of the end effector is coupled to a hub, and wherein the hub is rotatably coupled to the distal end of the shaft.
12. 12. The medical device of any one of the preceding claims, wherein the distal end of the wire includes a stepped diameter portion having a larger diameter than the proximal portion of the wire.
13. 13. The medical device of any of the preceding claims, wherein the handle comprises a handle body having a slot extending longitudinally through a portion of the handle body, wherein a portion of the slider is movable within the slot to control longitudinal movement of the wire, and wherein the slot comprises a narrow distal portion and a wide proximal portion.
14. 14. The medical device of any one of the preceding claims, wherein the handle includes one or more arms that partially surround the knob.
15. 15. The medical device of any one of the preceding claims, wherein the proximal end of the handle comprises a loop.

Description

Medical devices for steering, actuating, and/or controlling end effectors and related methods Cross Reference to Related Applications The present application claims the benefit of priority from U.S. provisional application No. 63/519,861 filed on day 16 of 8 of 2023 in 35u.s.c. ≡119, which application is incorporated herein by reference in its entirety. Technical Field The present disclosure relates generally to devices and methods for steering, articulating, and/or controlling an end effector. More particularly, aspects of the present disclosure relate to devices and/or related methods for steering, articulating, and/or controlling an end effector with a single pull wire. Background Medical procedures, such as electrosurgical dissection, for example, typically involve lifting tissue (e.g., with graspers) and tissue resection (e.g., with electrocautery knives or snares). In particular, such procedures may be performed by delivering an insertion device into a subject through a surgical incision or via a natural anatomic orifice (e.g., oral, vaginal, or rectal), and performing the procedure or operation at the treatment site with an auxiliary device inserted through the insertion device. The auxiliary device may be coupled to the tissue and may be used to lift the tissue, for example, by applying a proximal force to the tissue. The auxiliary device may comprise a single wire (e.g. a pull wire) for lifting the tissue. However, the size (e.g., transverse cross-section or diameter) of the auxiliary device may be limited, for example, by the size of the working channel of the insertion device. The auxiliary device may also comprise one or more other wires, cables or other components, for example for hinging. As a result, the size of the pull wire used to lift the tissue may be limited, limiting the lifting strength, durability, etc. of the pull wire, which may increase the duration of the procedure, the skill or technique required, the risk of breakage or other damage, or otherwise reduce the effectiveness/accuracy of the procedure. Accordingly, there is a need for devices and/or methods for steering and/or articulating an end effector. Disclosure of Invention The present disclosure includes medical devices and methods for steering, articulating, and/or controlling an end effector. Each aspect disclosed herein may include any one or more features associated with any other disclosed aspect. In one or more examples, a medical device can include a handle, a shaft, an end effector, and a wire. The handle may include a rotatable knob and a longitudinally movable slider. The shaft may extend from the distal end of the handle. An end effector is coupled to the distal end of the shaft. The wire may extend from the handle, through the shaft, and to the end effector. Rotation of the knob may rotate the wire independent of the shaft, thereby rotating the end effector. Distal movement of the sled can move the wire distally independent of the shaft and can transition the end effector between at least a first configuration and a second configuration. Proximal movement of the slider may cause the wire to move proximally. Causing the proximal movement may deflect the deflectable portion of the shaft in one or more directions. The medical device may include one or more of the following features. The shaft may include a deflectable portion including a plurality of openings arranged in one or more longitudinally extending rows. The deflectable portion may include four longitudinally extending rows of openings that are circumferentially spaced around the deflectable portion. A portion of the wire may include an intermediate section having a planar surface. The planar surface may at least partially overlap at least one row of openings. The planar surface may be configured to overlap a respective one of the four longitudinally extending rows based on the rotational position of the wire so as to deflect the deflectable portion in four directions. The medical device may also include a biasing element positioned within a portion of the handle to bias distal movement of the slider. The medical device may further include a tube surrounding the proximal portion of the wire. The tube may include at least one flat outer surface to interact with an inner portion of the knob. The end effector can include two pivotable jaws that are movable between a closed configuration and an open configuration. The two pivotable jaws may be coupled to the distal end of the wire via respective end effector wires. The proximal end of the end effector may be coupled to a hub, and the hub may be rotatably coupled to the distal end of the shaft. The distal end of the wire may include a stepped diameter portion having a larger diameter than the proximal portion of the wire. The handle may include a handle body having a slot extending longitudinally through a portion of the handle body. A portion of the slider is movable within the slot to control longitudinal movem