Endoluminal surgical tool with small bend radius steering section

Abstract

An endoluminal surgical instrument has first and second steering controls on a handle. A flexible shaft attached to the handle has a distal steerable end including a first link and a second link separated by a plurality of intermediate links. First and second steering elements, such as pairs of steering wires, are linked to first and second steering controls and to the first and, second links. One or more of the links is pivotable through an angle of at least 30 degrees relative to an adjoining link. The set back position of the second steering elements from the first steering elements, and the pivoting capability of the links allows the steerable end to be steered into a small bend radius. This makes the instrument highly maneuverable for use in endoluminal surgery, such as incision-less surgery of the stomach.

1 . An endoluminal surgical instrument, comprising:
 a handle;   first and second steering controls on the handle;   a flexible shaft attached to the handle;   the flexible shaft having a distal steerable end including a first link and a second link separated by a plurality of intermediate links; and   first and second pairs of steering wires attached respectively to the first and second steering controls and the first and second links.   
     
     
         2 . The system of  claim 1  further comprising an end tip on a distal end of the flexible shaft and with first link adjacent to the end tip. 
     
     
         3 . The system of  claim 2  with the end tip attached onto the first link. 
     
     
         4 . The system of  claim 1  comprising 2-10 intermediate links. 
     
     
         5 . The system of  claim 1  with the steerable end having a length L and with the first and second links separated by a dimension equal to 0.3 L to 0.7 L. 
     
     
         6 . The system of  claim 1  with the first pair of steering wires angularly offset from the second pair of steering wires by 80-110 degrees. 
     
     
         7 . The system of  claim 6  with the steering wires angularly spaced apart equally. 
     
     
         8 . The system of  claim 1  with the first, second and intermediate links substantially the same. 
     
     
         9 . The system of  claim 1  with one or more of the links pivotal through an angle of at least 30 degrees relative to an adjoining pivotally attached link. 
     
     
         10 . The system of  claim 1  with one or more of the links pivotal through an angle of at least 40 degrees relative to an adjoining pivotally attached link. 
     
     
         11 . The system of  claim 1  with each of the links pivotal through an angle of at least 30 degrees relative to an adjoining pivotally attached link. 
     
     
         12 . An endoluminal surgical instrument, comprising:
 a handle;   left/right and up/down steering controls on the handle;   a flexible shaft, with a proximal end of the flexible shaft attached to the handle;   the flexible shaft having a distal steerable end including a first link and a second link separated by a plurality of intermediate links; and   left and right steering wires extending from the left/right steering control to the first link, with the left steering wire attached to a left side of the first link and with the right steering wire attached to a right side of the first link; and   up and down steering wires extending from the up/down steering control to the second link, with the up steering wire attached to a top of the second link and with the down steering wire attached to a bottom of the second link.