Articulating surgical tools and tool sheaths, and methods of deploying the same

Abstract

A system for performing a medical procedure includes an articulating probe including inner and outer sleeves, and a surgical tool including a functional element positioned at a distal end of a tool shaft, the tool shaft having an articulation region. The articulating probe and the surgical tool are independently controllable.

What is claimed is: 
     
         1 . A surgical tool comprising:
 a functional element positioned at a distal end of a tool shaft; and   a tool handle positioned at a proximal end of the tool shaft,   wherein the tool shaft includes an articulation region, wherein the articulation region includes a plurality of segment links, and wherein each segment link of the plurality of segment links is constructed and arranged to provide 12° to 15° of articulation between the functional element and an axis of the tool shaft.   
     
     
         2 . A surgical tool comprising:
 a functional element positioned at a distal end of a tool shaft; and   a tool handle positioned at a proximal end of the tool shaft,   wherein the tool shaft includes an articulation region, wherein the articulation region includes a plurality of segment links, and wherein a first segment link of the plurality of segment links is coupled to a first portion of the tool shaft and a second segment of the plurality of segment links is coupled to the functional element.   
     
     
         3 . The tool of  claim 2 , wherein the first segment link includes a body having a first portion and a second portion, wherein the second portion includes a semi-spherical body portion. 
     
     
         4 . The tool of  claim 3 , wherein the first portion includes a cylindrical body portion. 
     
     
         5 . The tool of  claim 3 , wherein the second segment link includes a body having a first portion and a second portion, wherein the second portion includes a semi-spherical body portion. 
     
     
         6 . The tool of  claim 5 , wherein the first portion includes a cylindrical body portion. 
     
     
         7 . The tool of  claim 5 , wherein the semi-spherical body portion of the first segment link mates with a semi-spherical cavity portion of the first portion of the tool shaft and wherein the semi-spherical body portion of the second segment link mates with a semi-spherical cavity portion of the first segment link. 
     
     
         8 . The tool of  claim 7 , wherein the functional element includes a connection link having a semi-spherical body portion that mates with a semi-spherical cavity portion the second segment link. 
     
     
         9 . A surgical tool comprising:
 a functional element positioned at a distal end of a tool shaft; and   a tool handle positioned at a proximal end of the tool shaft,   wherein the tool shaft includes an articulation region, wherein the articulation region includes a plurality of segment links, wherein each of the plurality of segment links include a body having a first portion and a second portion, wherein the second portion includes a semi-spherical body portion, and wherein each of the plurality of segment links includes at least one articulation cable channel and an actuating cable channel.   
     
     
         10 . The tool of  claim 9 , wherein the first portion includes a cylindrical body portion. 
     
     
         11 . The tool of  claim 9  further comprising at least one articulation cable positioned within the at least one articulation cable channel. 
     
     
         12 . The tool of  claim 11 , wherein the at least one articulation cable is secured to a distal segment link of the plurality of segment links. 
     
     
         13 . The tool of  claim 11 , wherein a tension applied to the at least one articulation cable causes the functional element to articulate with respect to the tool shaft. 
     
     
         14 . The tool of  claim 9  further comprising an actuating cable positioned within the actuating cable channel. 
     
     
         15 . The tool of  claim 14 , wherein a tension applied to the actuating cable causes the functional element to change state. 
     
     
         16 . A surgical tool comprising:
 a functional element positioned at a distal end of a tool shaft; and   a tool handle positioned at a proximal end of the tool shaft,   wherein the tool shaft includes an articulation region, wherein the articulation region includes a plurality of segment links, and wherein a first segment link of the plurality of segment links includes a body having first and second concave cavities formed at opposite end surfaces of the body.   
     
     
         17 . The tool of  claim 16 , wherein the first concave cavity is at least one of a semi-spherical cavity or a semi-ellipsoidal cavity, and wherein the second concave cavity is at least one of a semi-spherical cavity or a semi-ellipsoidal cavity. 
     
     
         18 . The tool of  claim 16 , wherein a second segment link of the plurality of segment links includes a body having first and second convex body portions formed at opposite end surfaces of a center body portion. 
     
     
         19 . The tool of  claim 18 , wherein the first convex body portion is at least one of a semi-spherical body portion or a semi-ellipsoidal body portion, and wherein the second convex body portion is at least one of a semi-spherical body portion or a semi-ellipsoidal body portion. 
     
     
         20 . The tool of  claim 18 , wherein the center body portion is cylindrical. 
     
     
         21 . The tool of  claim 18 , wherein one of the first and second convex body portions of the second segment link mates with one of the first and second concave cavities of the first segment link. 
     
     
         22 . The tool of  claim 21 , wherein the other of the first and second convex body portions of the second segment link mates with a concave cavity of the tool shaft. 
     
     
         23 . The tool of  claim 21 , wherein the other of the first and second concave cavities of the first segment link mates with a convex body portion of a third segment link of the plurality of segment links. 
     
     
         24 . The tool of  claim 23 , wherein the third segment link is coupled to the functional element.