Articulating tool for surgical use

Abstract

An articulating tool (10) for use with minimally invasive surgery includes a first articulating portion (20), a tube (50), and one or more pull wires (42) disposed through the first articulating portion (20) and the tube (50). The first articulating portion (20) includes a plurality of interlocking discs.(30). Each interlocking disc (30) of the plurality of interlocking discs (30) includes a flat portion (32) defining an inner aperture (34). A first end of the tube (50) connects to the first articulating portion (20). The one or more pull wires (42) are connected to at least one of the first articulating portion (20) or the tube (50). Providing tension to the one or more pull wires (42) bends the first articulating portion (20) in a radial direction or stiffens the first articulating portion (20).

Description

ARTICULATING TOOL FOR SURGICAL USECROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 647,690, filed May 15, 2024, the entire content of which is incorporated herein by reference.BACKGROUND

[0002] Various surgical instruments, such as catheters, endoscopic tools, and the like, must include articulable portions in order to navigate tortuous pathways of the body. For example, surgical tools for use in colonoscopies must have the ability to follow the sigmoid of the colon. To address these requirements, articulating catheters and other articulable tools may be formed from hypotubes which are placed over each other, and thin lines may be laser cut through each tube to form bendable sections. Pull wires are enclosed between the hypotubes to actuate articulation. However, this solution is accompanied by drawbacks regarding manufacturing costs, ease of manufacturing, durability, and maintenance.

[0003] One such limitation of hypotubes is the need for the tubing which forms the articulating device to be tightly toleranced, as any deviation may result in a change in performance, durability, or reliability, or may even cause malfunction. Because of this, all tubing for an articulating device must feature consistency in surface roughness, dimensional tolerances, and mechanical properties as much as technically possible against feasible economic cost. This technical consistency is crucial and difficult to achieve for bulk production. Further, the tubing is cold worked to achieve sufficient rigidity, forming stress. When the tubing is laser cut, stress reliefs may form and cause deformation which may lead to inconsistent performance or malfunction and economic lost for rejected product. Similar to deviations in tolerance from lot to lot of tubing, stress may be inconsistent from lot to lot, or even from tube to tube. Moreover, the single-piece construction of stacked hypotubes to form an articulating device poses a significant risk, as any failure during the cutting process necessitates scrapping the entire device, resulting in substantial financial losses.

[0004] Furthermore, the cost and complexity associated with laser cutting present significant challenges. The hypotubes must be cut precisely, increasing risk of failure during the production process. Specialized and highly sophisticated dimensional measurementequipment is required to confirm the dimensional specifications for tubing material and laser cut design, as well as the mechanical properties of the tubing material. High-volume production necessitates capital, multiple lasers, specialized maintenance, specific operating gasses, and safety precautions, making it costly and resource-intensive. Laser-cut hypotubes also must be cleaned using hazardous acids. Regular monitoring and maintenance are required to manage acid saturation and debris buildup, and after acid treatment, loose cut material may still remain and must be removed manually. Manual debris removal poses risks of oversight and patient harm if not executed meticulously.

[0005] Articulating devices formed from hypotubes may also experience decreased longevity and require more frequent replacement. Enclosed pull wires within the tubing contribute to friction and wear, compromising the durability and performance of the device, especially during articulation and induced force to the deflected tip of the device. Laser-cut joints are additionally susceptible to deformation under radial and longitudinal forces, undermining device reliability and performance. This design may also be inadequate for certain applications, for example, those requiring varying tubing diameters along the length of the device. Thus, a tapered design is not possible using hypotubes.

[0006] Accordingly, a need exists for a surgical tool capable of intricate articulation which is durable, easily maintained, and cost-effective.SUMMARY

[0007] This disclosure provides an articulating tool for use with minimally invasive surgery. The articulating tool includes a first articulating portion, a tube, and one or more pull wires disposed through the first articulating portion and the tube. The first articulating portion includes a plurality of interlocking discs. Each interlocking disc of the plurality of interlocking discs includes a flat portion defining an inner aperture. A first end of the tube connects to the first articulating portion. The one or more pull wires are connected to at least one of the first articulating portion or the tube. Providing tension to the one or more pull wires bends the first articulating portion in a radial direction or stiffens the first articulating portion.

[0008] In an aspect of this disclosure, the inner aperture of each interlocking disc of the plurality of interlocking discs within the first articulating portion may be axially aligned.

[0009] In another aspect of this disclosure, the flat portion of each interlocking disc of the plurality of interlocking discs may further define one or more holes configured to permit passage of the one or more pull wires.

[0010] In yet another aspect of this disclosure, the one or more holes of adjacent interlocking discs of the plurality of interlocking discs within the first articulating portion may be axially aligned.

[0011] In a further aspect of this disclosure, each disc of the plurality of interlocking discs may include one or more arms extending outward from the flat portion.

[0012] In an aspect of this disclosure, for each disc of the plurality of interlocking discs, a space may be formed between a first arm of the one or more arms and a second arm of the one or more arms.

[0013] In another aspect of this disclosure, the plurality of interlocking discs of the first articulating portion may include a first interlocking disc and a second interlocking disc. The flat portion of the second interlocking disc may be seated atop the flat portion of the first interlocking disc. The first arm of the first interlocking disc may be accommodated between the first arm and the second arm of the second interlocking disc such that the first interlocking disc and the second interlocking disc are held together.

[0014] In yet another aspect of this disclosure, the first arm of the first interlocking disc may be bent to rest on the flat portion of the second interlocking disc.

[0015] In a further aspect of this disclosure, the articulating tool may include a guide bracket including a flat plate section and defining an inner aperture through the flat plate section.

[0016] In an aspect of this disclosure, the articulating tool may include an inner tubing disposed on the inner aperture of each interlocking disc of the plurality of interlocking discs of the first articulating portion and the inner aperture of the guide bracket.

[0017] In another aspect of this disclosure, the inner tubing may form a watertight lumen.

[0018] In yet another aspect of this disclosure, the flat plate section of the guide bracket may further define one or more holes configured to permit passage of the one or more pull wires.

[0019] In a further aspect of this disclosure, the guide bracket may be disposed within the tube, substantially parallel to an opening of the tube.

[0020] In an aspect of this disclosure, a diameter of the inner aperture of an interlocking disc of the plurality of interlocking discs may be equivalent to a diameter of the inner aperture of the guide bracket.

[0021] In another aspect of this disclosure, the articulating tool may include a second articulating portion connected to a second end of the tube.

[0022] In yet another aspect of this disclosure, the flat portion of each interlocking disc of the plurality of interlocking discs of the first articulating portion may have a first outer diameter. The flat portion of each interlocking disc of the plurality of interlocking discs of the second articulating portion may have a second outer diameter different from the first diameter.

[0023] In a further aspect of this disclosure, the first end of the tube may have a diameter corresponding to the first diameter, and the second end of the tube may have a diameter corresponding to the second diameter, such that the tube is tapered.

[0024] In an aspect of this disclosure, the articulating tool may include an outer tubing disposed over the first articulating portion and the tube.

[0025] In another aspect of this disclosure, the articulating tool may include a release mechanism configured to control release of tension from the one or more pull wires.

[0026] In another aspect, this disclosure provides an articulating tool for use with minimally invasive surgery. The articulating tool includes a first articulating portion, a second articulating portion, a tube, and one or more pull wires disposed through first articulating portion, the tube, and the second articulating portion. The first articulating portion includes a plurality of first interlocking discs. Each disc of the plurality of first interlocking discs includes a flat portion defining an inner aperture. The second articulating portion includes a plurality of second interlocking discs. Each disc of the plurality of second interlocking discs includes a flat portion defining an inner aperture. A first end of the tube connects to the first articulatingportion, and a second end of the tube connects to the second articulating portion. The one or more pull wires are connected to at least one of the first articulating portion, the tube, or the second articulating portion. Providing tension to the one or more pull wires bends at least one of the first articulating portion or the second articulating portion in a radial direction or stiffens at least one of the first articulating portion or the second articulating portion.BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other aspects, features, and advantages of the present disclosure will become more apparent in light of the following detailed description when taken in conjunction with the accompanying drawings in which:

[0028] FIG. 1 shows a side view of an articulating tool for minimally invasive surgery or other procedures in accordance with aspects of this disclosure including pull wires (shown in dashed lines) connected to guide brackets and including stacked, interlocking discs which are articulated by the pull wires;

[0029] FIG. 2A is a perspective view of a disc of the articulating tool of FIG. 1, including a plurality of bendable arms extending outward from an outside edge, in accordance with aspects of this disclosure;

[0030] FIG. 2B is a perspective view of the disc of FIG. 2A showing a first portion of each arm of the plurality of arms bent upwards, in accordance with aspects of this disclosure;

[0031] FIG. 2C is a perspective view of the disc of FIG. 2B showing a second portion of each arm of the plurality of arms bent upwards, in accordance with aspects of this disclosure;

[0032] FIG. 2D is a perspective view of the discs of the articulating tool of FIG. 1 stacked atop one another to form an articulating portion, in accordance with aspects of this disclosure;

[0033] FIG. 3 is a perspective view of a guide bracket of the articulating tool of FIG. 1, in accordance with aspects of this disclosure;

[0034] FIG. 4 is a perspective view of an articulating tool for minimally invasive surgery or other procedures in accordance with other aspects of this disclosure, the articulating tool being tapered toward a distal end;

[0035] FIG. 5 shows an articulating tool for minimally invasive surgery or other procedures in accordance with yet other aspects of this disclosure, including pull wires connected to a tensioning mechanism; and

[0036] FIG. 6 is a schematic view of a robotic surgical system for use with an articulating tool for minimally invasive surgery or other procedures.

[0037] Other features of the present disclosure will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the present application.DETAILED DESCRIPTION

[0038] Embodiments of the presently disclosed surgical assemblies are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term “distal” refers to that portion of the surgical assemblies, or components thereof, farther from the user, while the term “proximal” refers to that portion of the surgical assemblies, or components thereof, closer to the user.

[0039] Referring to FIG. 1, an articulating tool 10 for minimally invasive surgery is shown. Articulating tool 10 generally includes an articulating portion 20 (FIG. 5) formed from one or more interlocking discs 30, pull wire(s) 42, a tube 50 (FIG. 5), and a guide bracket 60. Articulating tool 10 may, for example, be an articulating catheter, and may include a proximal end 12 and a distal end 14. Distal end 14 of articulating tool 10 may connect to a surgical instrument 44, for example, a pair of graspers or an endoscopic camera. Articulating portion 20 may be sufficiently pliant to follow pathways within the body of a patient while tube 50 may have increased rigidity to provide structural integrity to articulating tool 10. In aspects, one or more flexible sections may be located along tube 50, and may permit tube 50 to bend at the flexible locations. Tube 50 may be hollow, and may accommodate guide bracket 60.

[0040] In aspects, articulating tool 10 may include a proximal tube 50a, a central tube 50b, and a distal tube 50c. Proximal tube 50a and central tube 50b may be connected by a first articulating portion 20a, and central tube 50b and distal tube 50c may be connected by a second articulating portion 20b. Proximal tube 50a, central tube 50b, distal tube 50c, first articulatingportion 20a, and second articulating portion 20b may all have the same length, different lengths, or variable lengths.

[0041] Pull wires 42 may be fed through each of proximal tube 50a, first articulating portion 20a, central tube 50b, second articulating portion 20b, and distal tube 50c. Guide bracket 60 may be within any of proximal tube 50a, central tube 50b, or distal tube 50c and may provide a structure to which pull wires 42 may attach, as will be described in greater detail regarding FIG. 3. Within first and second articulating portions 20a, 20b, pull wires 42 may pass through interlocking discs 30 to actuate flexion. Depending upon the number of interlocking discs 30 within first articulating section 20a, and therefore, depending upon a length of first articulating section 20a, first articulating section 20a may have a first bend radius "Rl". That is, the amount that first articulating section 20a may flex may be limited to first bend radius "Rl " in any direction. Similarly, second articulating portion 20b may have a second bend radius "R2". While a single bend radius is shown for each of first and second articulating portions 20a, 20b, it is contemplated that first and second articulating portions 20a, 20b may include multiple bend radii, and that first and second articulating portions 20a, 20b may be flexed in any direction. In aspects, it is contemplated that pull wires 42 may only be disposed through as much of articulating tool 10 as necessary to articulate a specified portion of articulating tool 10. For example, in aspects, pull wires 42 may only articulate first articulating portion 20a, and therefore may be disposed through proximal tube 50a and first articulating portion 20a, and may terminate within first articulating portion 20a. In further aspects, different pull wires 42 may actuate first articulating portion 20a and second articulating portion 20b.

[0042] With reference to FIGS. 2A through 2D, interlocking disc 30, and the manner by which interlocking discs 30 connect to one another, are shown. As shown in FIG. 2A, each interlocking disc may begin as a flat disc. Interlocking disc may be manufactured from metals such as steel or aluminum, among others, from a polymer, or from any other suitable material. As will be appreciated, each interlocking disc 30 may conveniently be stamped, die-cut, or otherwise cut from any plate of material. In aspects, the material may be 3D-printed, casted, or molded. Interlocking disc 30 may generally include a flat plate section 32, an inner aperture 34, one or more pull wire holes 36, and one or more arms 38. Flat plate section 32 may remain flat, and may provide a surface on which additional interlocking discs may be seated to form articulating portion 20.

[0043] In aspects, flat plate section 32 may be generally circular to provide equal flexibility and mechanical properties in any direction for articulating portion 20. Other shapes of flat plate section 32 are contemplated as well. For example, flat plate section 32 may have an ellipsoid, a polygonal or rectangular shape. In the case that flat plate section 32 is circular, flat plate section 32 may have a diameter "D". In other cases, diameter "D" may correspond to a maximum width of flat plate section 32. In aspects, diameter “D” may be approximately equivalent to an outer diameter of tube 50.

[0044] Flat plate section 32 may define inner aperture 34 therethrough. Though inner aperture 34 is shown centered on flat plate section 32, it is contemplated that inner aperture 34 may be offset. Inner aperture 34 is shown as a circle having a diameter "d", however, other shapes are contemplated. When multiple interlocking discs 30 are stacked to form articulating portion 20, inner apertures 34 of interlocking discs 30 collectively form a pathway or lumen through which a surgical instrument 44, wires thereof, or any suitable tools or implements may pass.

[0045] One or more holes 36 may border inner aperture 34, and each hole 36 may be dimensioned to permit passage of one or more pull wires 42 therethrough. Holes 36 may be circular and accommodate pull wires 42 having a circular cross-section, may be rectangular or slot-shaped to accommodate flat pull wires 42, or may be any shape suitable for the crosssection of the pull wires 42 used in articulating tool 10. In aspects, a select number of pull wires 42 may be welded, soldered, or connected to certain holes 36 or certain portions of flat plate 32 to encourage bending of articulating portion 20 upon tensioning of the select number of pull wires 42. The one or more holes 36 may be evenly spaced about or arrayed about inner aperture 34, or may be varying distances apart. Each interlocking disc 30 within articulating portion 20 may include a flat plate section 32 of the same diameter "D", an inner aperture 34 of the same diameter "d", and holes 36 of the same dimension and placement.

[0046] One or more arms 38 may extend radially outward from flat plate 32. The one or more arms 38 may generally have the same shape and dimensions, and may be evenly spaced from one another. Spacing between the one or more arms 38 may be equal to or greater than the width of an arm 38. That is, spacing between the one or more arms 38 may be sufficiently wide such that a space formed between each of the one or more arms 38 is sufficiently wide to accommodate an arm 38 of an adjacent disc. Arms 38 having different shapes and dimensions, or having uneven spacing, are contemplated as well. The one or more arms 38 may be anyshape suitable for bending and interacting with arms of an adjacent interlocking disc 30. The one or more arms 38 may be flexible, thus the interlocking disc 30 may be formed from a malleable material such that bending of the one or more arms 38 does not cause the one or more arms 38 to crack or sever from the flat plate section 32, or to return to an un-bent configuration following removal of the bending force.

[0047] Referring to FIGS. 2B through 2D, a means of connecting the interlocking discs 30 to form articulating portion 20 is shown and described. To begin, a first segment 38a of each arm 38 of a first interlocking disc 30a may be bent upward at an angle, for example, at a ninetydegree angle. The first segment 38a of each arm 38 may be a portion of the arm 38 which is furthest out from flat plate section 32, and may be shaped to indicate a location at which first segment 38a should be bent. For example, as shown, each arm 38 may be generally rectangular, while first portion 38a may flare outward before coming to a point. The location at which first portion 38a flares outward may be the location at which first segment 38a is bent upwards. The arm may be fully rectangular or may be of any suitable shape. In aspects, first segment 38a may be shaped for other purposes, such as to create different mechanical behavior.

[0048] Once first segment 38a is bent upwards, a second interlocking disc 30b may be placed atop flat plate section 32 of first interlocking disc 30a. First segment 38a of each arm 38 of second interlocking disc 30b may be bent prior to or after stacking second interlocking disc 30b on first interlocking disc 30a. Second interlocking disc 30b may be seated on first interlocking disc 30a such that the one or more arms 38 of first interlocking disc occupy spaces between the one or more arms 38 of second interlocking disc 30b. A second segment 38b of each arm 38 of first interlocking disc 30a may then be bent upwards. Second segments 38b may be bent at a ninety-degree angle as well, such that first segment 38a of each arm 38 of first interlocking disc 30a may rest on flat plate section 32 of second interlocking disc 30b. Second segments 38b may be bent at any angle sufficient to capture second interlocking disc 30b against first interlocking disc 30a, thus holding first and second interlocking discs 30a, 30b together.

[0049] In aspects, particularly if interlocking disc 30a and / or 30b is formed from a flexible material, cast, molded, or 3D-printed, all arms 38 of each may initially be bent at first segment 38a and second segment 38b. In this case, all arms 38 of first interlocking disc 30a may next be bent outwards, that is, flexibly deformed, and held away from flat plate section 32. Second interlocking disc 30b may then be placed atop first interlocking disc 30a, and arms 38 of firstinterlocking disc 30a may be released, returning arms 38 to their original bent state and holding first and second interlocking discs 30a, 30b together.

[0050] The degree to which first articulating section 20a may flex or define the first bend radius "Rl", and the degree to which second articulating portion 20b may flex or define the second bend radius "R2", is a function of a length of second segments 38b of each arm 38 of interlocking discs 30, a thickness of interlocking discs, and the number of interlocking discs 30 provided.

[0051] By the same means, additional interlocking discs 30 may be stacked and locked together on top of second interlocking disc 30b until a desired length of articulating portion 20 is achieved. Articulating portion 20 may then be passed over a die or anvil, such that all arms 38 of interlocking discs 30 bend inward and no sharp edges are exposed in inner apertures 34 of interlocking discs 30.

[0052] Articulating section 20, and thus interlocking discs 30, may be covered with an outer tubing 70 to ensure that articulating portion 20 has a smooth outer surface and will not cause any trauma or inadvertent friction within the pathways of a patient's body. An inner tubing 80 may also be used within articulating portion 20 and the entire length of articulating tool 10, in particular, covering inner apertures 34 of interlocking discs 30 to provide a uniform pathway for instruments, wires, or the like to pass through.

[0053] Turning to FIG. 3, guide bracket 60 is shown, and generally includes a flat plate section 62, an inner aperture 64, and one or more holes 66. One or more guide brackets 60 may be placed within tube 50 to provide anchor and / or guide points for pull wires 42. For longer sections of tube 50, more guide brackets 60 may be utilized. For example, as seen in FIG. 1, central tube 50b is longer than both proximal tube 50a and distal tube 50c, and therefore includes three guide brackets 60. Guide brackets 60 may be composed of the same or similar material as interlocking discs 30, for example, metals such as steel or aluminum, or any other suitable material including polymers or ceramics. Advantageously, guide brackets 60 may be stamped, die-cut, or otherwise formed from plate or sheet material, simplifying manufacturing. Guide brackets 60 may be 3D-printed, casted, or molded as well.

[0054] Flat plate section 62 may have an outer diameter “DI”, and inner aperture 64 may have a diameter “di”. In aspects, outer diameter “DI” of guide bracket 60 may equal outer diameter “D” of interlocking disc 30. Similarly, inner diameter “di” of guide bracket 60 mayequal inner diameter “d” of interlocking disc 30. In aspects, at least one of outer diameter “DI” or inner diameter “di” of guide bracket may be unique. Holes 66 are of a size and shape to permit passage of pull wires 42 through guide bracket 60, and may additionally be aligned to holes 36 of interlocking disc 30 such that pull wires 42 may be passed through both guide bracket 60 and interlocking disc 30. The dimensions and shape of holes 66 may correspond to the dimensions and shape of holes 36, or may be any other suitable size and shape. Also similar to interlocking disc 30, holes 66 may be evenly spaced about inner aperture 64, or may be any other suitable configuration.

[0055] To assemble articulating tool 10, articulating portion 20 is manufactured as previously described. One or more guide brackets 60 may then be inserted into tube 50 and welded, adhered, or otherwise held in place. Guide brackets 60 may be parallel or substantially parallel to an opening of tube 50. Articulating portion 20 may be welded, adhered, or connected to tube 50, and pull wires 42 may be inserted into tube 50 through holes 66 of guide brackets, then through holes 36 of interlocking discs 30. Pull wires 42 may be welded at an end of tube 50, or may be connected to and operated by a robotic system, such that tensioning select pull wires 42 results in articulating portion 20 bending accordingly. Outer tubing 70 may cover both tube 50 and articulating portion 20, and may be a shrink tubing or the like. Inner tubing 80 may be inserted into inner apertures 34, 64, of interlocking disc 30 and guide bracket 60. Inner tubing 80 may be made from a polymer or the like. In aspects, inner tubing 80 may form a watertight lumen through articulating tool 10. Outer tubing 70 and / or inner tubing 80 may be formed from stainless steel hypodermic tube, or any material capable of relative rigidity and fixation to interlocking discs 30 and guide brackets 60. In aspects, rather than articulating portion 20 being formed from interlocking discs 30, articulating portion may be made from a woven metal structure, such as metallic braid.

[0056] In embodiments, as shown in FIG. 4, articulating tool 10 may taper from one end to another, for example, from proximal end 12 to distal end 14. Guide brackets 60 within proximal tube 50a may have an outer diameter “DI” corresponding to a first diameter “DI”. Interlocking discs 30 within first articulating portion 20a may have an outer diameter “D” corresponding to first diameter “DI” as well. Guide brackets 60 within distal tube 50c may have an outer diameter “DI” corresponding to a second diameter “D2,” and interlocking discs 30 within second articulating portion 20b may have an outer diameter “D” corresponding to second diameter “D2” as well. First diameter “DI” may be relatively larger than seconddiameter “D2”. Thus, central tube 50b may have a diameter “DI” at an end connected to first articulating portion 20a and may have a diameter “D2” at an end connected to second articulating portion 20b. Central tube 50b may therefore taper down from end to end. It is contemplated that, in addition to tubes 50a through 50c having the ability to taper, any of first articulating portion 20a or second articulating portion 20b may taper as well. For articulating portions 20a, 20b to taper, interlocking discs 30 having sequentially smaller outer diameters “D” may be connected to one another until a desired diameter is obtained. Although outer diameters “D” and “DI” of interlocking discs 30 and guide brackets 60, respectively, may vary between first diameter “DI” and second diameter “D2”, inner diameters “d” and “di” may remain consistent. In aspects, inner diameters “d” and “di” may vary as well based on outer diameters “D” and “DI”.

[0057] As previously noted, in aspects, pull wires 42 may not be welded to an end of tube 50, and may instead be connected to a robotic system. One such robotic system may provide a release mechanism 90, shown in FIG. 5. Release mechanism 90 may connect to a distal end of each pull wire 42, and may manipulate certain pull wires 42 to adjust the stiffness and / or configuration of articulating portion 20. For example, release mechanism 90 may grasp the distal end of each pull wire 42, and may tense all pull wires 42 on a left side of articulating portion 20 while slackening all pull wires 42 on a right side of articulating portion 20, thus bending articulating portion 20 to the left. Articulating portion 20 may take on any flexible configuration. For example, as shown, articulating portion 20 may include multiple bends in opposing directions. Release mechanism 90 may control the release of tension from pull wires 42, allowing articulating portion 20 to be in a relaxed state when navigating twisting pathways of the body of a patient. Once a target area is reached, or once rigidity is desired, release mechanism 90 may tension pull wires 42 to stiffen articulating portion 20 and enable precise steering of articulating tool 10.

[0058] It is contemplated, and within the scope of the present disclosure that the articulating tool 10 be configured for use with various electromechanical and / or electrosurgical instruments and systems. For example, as shown in FIG. 6, the articulating tool 10 may be utilized in robotic surgical systems, such as the robotic surgical system shown and described in U.S. Patent 8,828,023, the entire content of which is incorporated herein by reference.

[0059] Each of the embodiments described above are provided for illustrative purposes only and it is within the concept of the present disclosure to include modifications and varyingconfigurations without departing from the scope of the disclosure that is limited only by the claims included herewith.

[0060] The following examples are illustrative of the techniques described herein.

[0061] Example 1. An articulating tool for surgical use, comprising: a first articulating portion including a plurality of interlocking discs, wherein each interlocking disc of the plurality of interlocking discs includes a flat portion defining an inner aperture; a tube including a first end connected to the first articulating portion; and one or more pull wires disposed through the first articulating portion and the tube, and connected to at least one of the first articulating portion or the tube, wherein providing tension to the one or more pull wires bends the first articulating portion in a radial direction or stiffens the first articulating portion.

[0062] Example 2. The articulating tool of Example 1, wherein the inner aperture of each interlocking disc of the plurality of interlocking discs within the first articulating portion is axially aligned.

[0063] Example 3. The articulating tool of Example 1, wherein the flat portion of each interlocking disc of the plurality of interlocking discs further defines one or more holes configured to permit passage of the one or more pull wires.

[0064] Example 4. The articulating tool of Example 3, wherein the one or more holes of adjacent interlocking discs of the plurality of interlocking discs within the first articulating portion are axially aligned.

[0065] Example 5. The articulating tool of Example 1, wherein each interlocking disc of the plurality of interlocking discs includes one or more arms extending outward from the flat portion.

[0066] Example 6. The articulating tool of Example 5, wherein, for each interlocking disc of the plurality of interlocking discs, a space is formed between a first arm of the one or more arms and a second arm of the one or more arms.

[0067] Example 7. The articulating tool of Example 6, wherein the plurality of interlocking discs of the first articulating portion includes a first interlocking disc and a second interlocking disc, wherein the flat portion of the second interlocking disc is seated atop the flat portion of the first interlocking disc, wherein the first arm of the first interlocking disc isaccommodated between the first arm and the second arm of the second interlocking disc such that the first interlocking disc and the second interlocking disc are held together.

[0068] Example 8. The articulating tool of Example 7, wherein the first arm of the first interlocking disc is bent to rest on the flat portion of the second interlocking disc.

[0069] Example 9. The articulating tool of Example 1, further including a guide bracket including a flat plate section and defining an inner aperture through the flat plate section.

[0070] Example 10. The articulating tool of Example 9, further including an inner tubing disposed on the inner aperture of each interlocking disc of the plurality of interlocking discs of the first articulating portion and the inner aperture of the guide bracket.

[0071] Example 11. The articulating tool of Example 10, wherein the inner tubing forms a watertight lumen.

[0072] Example 12. The articulating tool of Example 9, wherein the flat plate section of the guide bracket further defines one or more holes configured to permit passage of the one or more pull wires.

[0073] Example 13. The articulating tool of Example 12, wherein the guide bracket is disposed within the tube, substantially parallel to an opening of the tube.

[0074] Example 14. The articulating tool of Example 13, wherein a diameter of the inner aperture of an interlocking disc of the plurality of interlocking discs is equivalent to a diameter of the inner aperture of the guide bracket.

[0075] Example 15. The articulating tool of Example 1, further including a second articulating portion connected to a second end of the tube.

[0076] Example 16. The articulating tool of Example 15, wherein the flat portion of each interlocking disc of the plurality of interlocking discs of the first articulating portion has a first outer diameter, and wherein the flat portion of each interlocking disc of the plurality of interlocking discs of the second articulating portion has a second outer diameter different from the first outer diameter.

[0077] Example 17. The articulating tool of Example 16, wherein the first end of the tube has a diameter corresponding to the first diameter, and the second end of the tube has a diameter corresponding to the second diameter, such that the tube is tapered.

[0078] Example 18. The articulating tool of Example 1 , further including outer tubing disposed over the first articulating portion and the tube.

[0079] Example 19. The articulating tool of Example 1, further including a release mechanism configured to control release of tension from the one or more pull wires.

[0080] Example 20. An articulating tool for surgical use, comprising: a first articulating portion including a first plurality of interlocking discs, wherein each interlocking disc of the first plurality of interlocking discs includes a flat portion defining an inner aperture; a second articulating portion including a second plurality of interlocking discs, wherein each interlocking disc of the second plurality of interlocking discs includes a flat portion defining an inner aperture; a tube, wherein a first end of the tube connects to the first articulating portion, and wherein a second end of the tube connects to the second articulating portion; and one or more pull wires disposed through first articulating portion, the tube, and the second articulating portion, wherein the one or more pull wires are connected to at least one of the first articulating portion, the tube, or the second articulating portion, wherein providing tension to the one or more pull wires bends at least one of the first articulating portion or the second articulating portion in a radial direction or stiffens at least one of the first articulating portion or the second articulating portion.

Claims

CLAIMS:

1. An articulating tool for surgical use, comprising: a first articulating portion including a plurality of interlocking discs, wherein each interlocking disc of the plurality of interlocking discs includes a flat portion defining an inner aperture; a tube including a first end connected to the first articulating portion; and one or more pull wires disposed through the first articulating portion and the tube, and connected to at least one of the first articulating portion or the tube, wherein providing tension to the one or more pull wires bends the first articulating portion in a radial direction or stiffens the first articulating portion.

2. The articulating tool according to claim 1, wherein the inner aperture of each interlocking disc of the plurality of interlocking discs within the first articulating portion is axially aligned.

3. The articulating tool according to any of the preceding claims, wherein the flat portion of each interlocking disc of the plurality of interlocking discs further defines one or more holes configured to permit passage of the one or more pull wires.

4. The articulating tool according to any of the preceding claims, wherein the one or more holes of adjacent interlocking discs of the plurality of interlocking discs within the first articulating portion are axially aligned.

5. The articulating tool according to any of the preceding claims, wherein each interlocking disc of the plurality of interlocking discs includes one or more arms extending outward from the flat portion.

6. The articulating tool according to any of the preceding claims, wherein, for each interlocking disc of the plurality of interlocking discs, a space is formed between a first arm of the one or more arms and a second arm of the one or more arms.

7. The articulating tool according to any of the preceding claims, wherein the plurality of interlocking discs of the first articulating portion includes a first interlocking disc and a second interlocking disc, wherein the flat portion of the second interlocking disc is seated atop the flat portion of the first interlocking disc, wherein the first arm of the first interlocking disc is accommodated between the first arm and the second arm of the second interlocking disc such that the first interlocking disc and the second interlocking disc are held together.

8. The articulating tool according to any of the preceding claims, wherein the first arm of the first interlocking disc is bent to rest on the flat portion of the second interlocking disc.

9. The articulating tool according to any of the preceding claims, further including a guide bracket including a flat plate section and defining an inner aperture through the flat plate section.

10. The articulating tool according to any of the preceding claims, further including an inner tubing disposed on the inner aperture of each interlocking disc of the plurality of interlocking discs of the first articulating portion and the inner aperture of the guide bracket.

11. The articulating tool according to any of the preceding claims, wherein the inner tubing forms a watertight lumen.

12. The articulating tool according to any of the preceding claims, wherein the flat plate section of the guide bracket further defines one or more holes configured to permit passage of the one or more pull wires.

13. The articulating tool according to any of the preceding claims, wherein the guide bracket is disposed within the tube, substantially parallel to an opening of the tube.

14. The articulating tool according to any of the preceding claims, wherein a diameter of the inner aperture of an interlocking disc of the plurality of interlocking discs is equivalent to a diameter of the inner aperture of the guide bracket.

15. The articulating tool according to any of the preceding claims, further including a second articulating portion connected to a second end of the tube.

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