US 12,419,658 B2
Medical instruments for performing minimally-invasive procedures
Jonathan O'Keefe, North Attleboro, MA (US); Amos Cruz, Wrentham, MA (US); Jonathan E. Wilson, Mattapoisett, MA (US); Niklas Helmick, Allston, MA (US); and Yukio Nakajima, Westport, CT (US)
Assigned to Lumendi AG, (CH)
Filed by Lumendi Ltd., Maidenhead (GB)
Filed on Feb. 25, 2022, as Appl. No. 17/680,793.
Application 17/680,793 is a continuation in part of application No. 16/846,695, filed on Apr. 13, 2020, granted, now 11,376,031.
Application 16/846,695 is a continuation of application No. 15/298,605, filed on Oct. 20, 2016, granted, now 10,617,438, issued on Apr. 14, 2020.
Claims priority of provisional application 63/153,819, filed on Feb. 25, 2021.
Claims priority of provisional application 62/400,759, filed on Sep. 28, 2016.
Claims priority of provisional application 62/244,026, filed on Oct. 20, 2015.
Prior Publication US 2022/0175409 A1, Jun. 9, 2022
Int. Cl. A61B 17/29 (2006.01); A61B 17/00 (2006.01); A61B 17/28 (2006.01); A61B 90/50 (2016.01)
CPC A61B 17/29 (2013.01) [A61B 17/00234 (2013.01); A61B 17/282 (2013.01); A61B 17/2909 (2013.01); A61B 2017/00305 (2013.01); A61B 2017/00309 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00353 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 17/2841 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2908 (2013.01); A61B 2017/2925 (2013.01); A61B 2017/2932 (2013.01); A61B 90/50 (2016.02)] 19 Claims
OG exemplary drawing
 
1. Apparatus for performing a minimally-invasive procedure, the apparatus comprising:
a shaft having a distal end, a proximal end and a longitudinal axis extending between the distal end and the proximal end, wherein the shaft comprises a flexible portion and an articulating portion, wherein the articulating portion is disposed distal to the flexible portion;
an end effector disposed at the distal end of the shaft;
an articulation ball comprising a distal end and a proximal end, wherein the distal end of the articulation ball is mounted to the proximal end of the shaft;
a handle assembly comprising a socket and an articulation cable plate, wherein the articulation cable plate is disposed proximal to the proximal end of the articulation ball;
a plurality of articulation cables for articulating the articulating portion of the shaft relative to the flexible portion of the shaft, wherein the plurality of articulation cables each comprise a distal end and a proximal end, wherein the distal ends of the plurality of articulation cables are attached to the articulating portion of the shaft and the proximal ends of the plurality of articulation cables are attached to the articulation cable plate of the handle assembly;
wherein the articulation ball comprises a plurality of openings, wherein each one of the plurality of articulation cables passes through one of the plurality of openings in the articulation ball;
wherein when the socket and the articulation plate of the handle assembly are rotated around the articulation ball, tension is applied to at least one of the plurality of articulation cables, whereby to articulate the articulating portion relative to the flexible portion of the shaft.