Articulating forceps

Abstract

A device includes a linear actuator (80A), a lower jaw (65A), and an upper jaw (66A). The linear actuator is configured for movement in an axial direction in response to an applied force. The lower jaw and the upper jaw are coupled to the actuator. The upper jaw is coupled to the lower jaw by a first joint (31A).The lower jaw and upper jaw are configured to articulate about the first joint in response to a position of the linear actuator. The lower jaw includes a lower face having a projection radiating from the first joint. The upper jaw includes an upper face having a thrust surface (70A) aligned tangential to the first joint.

Description

[0001] ARTICULATING FORCEPS

[0002] STATEMENT REGARDING FEDERALLY

[0003] SPONSORED RESEARCH OR DEVELOPMENT

[0004] This invention was made with government support under EY030819 awarded by National Institutes of Health NATIONAL EYE INSTITUTE. The government has certain rights in the invention.

[0005] TECHNICAL FIELD

[0006] This document pertains generally, but not by way of limitation, to a tool configured for grasping and manipulating a surgical implant.

[0007] BACKGROUND

[0008] Pliers are a hand tool for holding an object. Forceps are a specialized version of pliers commonly associated with the medical field. Forceps can include opposing jaws that can be manipulated to converge and exert a compressive force on an object or diverge and release an object. The jaws of a forceps are arranged to travel in an arc as a function of user manipulation.

[0009] SUMMARY

[0010] Some medical procedures include insertion, manipulation, and placement of an implantable device. A suitable device for grasping and manipulating some devices has remained elusive. The present subject matter include a jaw configuration that allows for angulation of an object commensurate with an applied grasping force. In one example, the device includes an aspect to exert a forward thrust and an aspect to exert a rearward withdrawal force.

[0011] One example includes jaws coupled by a jointed linkage configured to angulate with manipulation of an actuator. A first surface of the device is configured for exerting a forward direction thrust and a second surface of the device is configured to exert a rearward direction thrust. One example of a device includes an actuator configured to couple with a shaft of a tool. Axial movement of the shaft is coupled with the articulation of the jaws of a forceps. The jaws can be manipulated to exert an opening force and closing force on an object.

[0012] One example of a device includes cantilevered arms configured to deflect in a manner to exert a grasping force on an object or opening to release the object. Cantilevered arms can be configured to articulate in opposing directions.

[0013] Each of these non-limiting examples can stand on its own or can be combined in various permutations or combinations with one or more of the other examples.

[0014] This overview is intended to provide an overview of subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The detailed description is included to provide further information about the present patent application.

[0015] BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.

[0017] FIGS. 1 A, IB, 1C, and ID illustrate a forceps and a portion of an object, according to one example.

[0018] FIGS. 2 A and 2B illustrate a forceps, according to one example.

[0019] FIGS. 3 A and 3B illustrate views of a tool associated with a forceps, according to one example.

[0020] FIG. 4 illustrates a view a tool associated with a forceps, according to one example.

[0021] FIGS. 5 A and 5B illustrate a forceps, according to one example.

[0022] FIG. 5C illustrates a forceps and a portion of an object, according to one example.

[0023] FIG. 6 illustrates a flow chart of a method associated with an example of a forceps, according to one example. DETAILED DESCRIPTION

[0024] FIGS. 1 A, IB, 1C, and ID illustrate a forceps and a portion of an object, according to one example.

[0025] FIG. 1A depicts system 40A including forceps 100A and object 50, shown together in spaced-apart relative alignment. In this view, the figure can be construed to show an example at a time before engagement of forceps 100 A and object 50 or the figure can be construed to show an example at a time after disengagement of forceps 100A and object 50.

[0026] In some examples, object 50 includes a pair of ring-shaped support scaffolds coupled by a joint at an edge. In the example shown, object 50 includes first leaf 52 A coupled to second leaf 52B.

[0027] Forceps 100A includes a structure configured to engage object 50. Forceps 100A includes elongate sheath 20A having a first end, shown here, coupled to a mechanism configured to grasp and to release object 50 and configured to manipulate object 50 in a manner to control the jointed deflection of first leaf 52A relative to second leaf 52B. A second end of forceps 100A is configured to engage with a tool, as described elsewhere in this document.

[0028] Sheath 20A, in the example shown, is tubular and includes structural details to carry jointed segments that engage with the corresponding aspects of object 50. For example, sheath 20A is coupled to first arm 61 A by third joint 33 and sheath 20A is coupled to second arm 62A by second joint 32. In addition, first arm 61 A and second arm 62 A are coupled together by first joint 31 A. First joint 31 A and second joint 32 allow rotary motion and are configured to preclude relative movement of the jointed components in other directions. In contrast, third joint 33 allows for rotary motion as to sheath 20 A and first arm 61 A and also allows linear motion aligned with an axis of sheath 20A. Joint guide 22, in the example shown, includes an elongate aperture to allow third joint 33 to shift in an axial direction.

[0029] First joint 31 A, second joint 32, and third joint 33 can include a pin or shaft in a bore. Other configurations for a rotary joint are also contemplated.

[0030] As described and illustrated herein, first arm 61 A and second arm 62 A are coupled by first joint 31 A. First joint 31 A can be viewed as a fulcrum with first arm 61 A and second arm 62 A driven by forces exerted by a combination of third joint 33 and second joint 32, respectively. The applied forces are reflected as movement of upper jaw 66 (coupled fixedly to second arm 62 A) and movement of lower jaw 65 (coupled fixedly to first arm 61A). In the example shown, upper jaw 66 and lower jaw 65 are flatted segments projecting beyond the fulcrum of first joint 31 A. Upper jaw 66 includes upper jaw face 68 and lower jaw 65 includes lower jaw face 67 (see FIG. 2A). In addition, upper jaw 66 includes thrust surface 70A. Thrust surface 70A is configured to engage with a corresponding aspect of object 50. In the example shown, thrust surface 70A includes a radiused portion, however other configurations are also contemplated, including a flat surface or angular surfaces. In one example, thrust surface 70A is aligned tangential to the first joint, that is, at least a portion of surface 70 A lies in a plane normal to a radial of the first joint.

[0031] FIG. IB depicts forceps 100A engaged with object 50. In this view, the figure can be construed to show an example at a time before upper leaf 52A and lower leaf 52B of object 50 are rotated apart at a hinge element of object 50, thus creating a separation of upper leaf 52A and lower leaf 52B and exerting a spreading force.

[0032] In the example shown, second arm 62 A and first arm 61 A are aligned substantially parallel and thus, first arm 61 A is largely obscured from view. Thrust surface 70A abuts a corresponding curvature of object 50. A longitudinal force applied in the direction of forceps 100 A will be carried forward by thrust surface 70 A.

[0033] In the figure, lower jaw 65 is in contact with lower leaf 52B. Upper leaf 52A and lower leaf 52B are substantially parallel in this view, and thus, forceps 100A is in a substantially in-line configuration as shown in FIG. 1 A, and thus, the upper jaw face 66 and lower jaw face 65 remain substantially parallel with little or no spreading forces exerted on object 50.

[0034] In one example, forceps 100 A has dimensions suitable for passage through a diameter of 9 French.

[0035] FIG. 1C depicts forceps 100A engaged with object 50. In this view, the figure can be construed to show an example at a time when a spreading force is applied to upper leaf 52A and lower leaf 52B of object 50. As illustrated, upper leaf 52A and lower leaf 52B are not parallel. Forceps 100A is displaced in a manner wherein first arm 61 A and second arm 62 A are angulated about first joint 31 A. In this configuration, upper jaw face 66 and lower jaw face 65 exert a spreading force on object 50.

[0036] FIG. ID depicts forceps 100A disengaged with object 50. In this view, the figure can be construed to show an example at a time after a spreading force has been applied to upper leaf 52A and lower leaf 52B of object 50. Upper leaf 52 A and lower leaf 52B are not parallel. As with the view of FIG. 1C, forceps 100A is displaced in a manner wherein first arm 61 A and second arm 62A are angulated about first joint 31 A. Object 50 includes tab 53 extending from lower leaf 52B in the example shown. Tab 53 includes aperture 54. Lower jaw 65 includes a corresponding projection having a surface configured to engage with aperture 54. Aperture 54, in conjunction with the projection of forceps 100 A, allows for exertion of a tensile force drawing object 50 in a leftward direction in the figure. In contrast, thrust surface 70A allows application of a compressive force to urge object 50 in a rightward direction. As shown herein, upper jaw 66 and lower jaw 65 engage with interior surfaces of object 50 corresponding with upper leaf 52 A and lower leaf 52B.

[0037] FIGS. 2 A and 2B illustrate a forceps, according to one example. As shown in FIG. 2A, forceps 100A includes sheath 20A. First arm 61 A is coupled to sheath 20 A by third joint 33 and coupled to second arm 62 A by first joint 31 A. In addition, second arm 62A is coupled to sheath 20A at second joint 32. In the example shown, third joint 33 is displaced to one end of joint guide 22. In the position shown, second arm 62A is angulated relative to sheath 20A by angle a, and upper jaw 66 and lower jaw 65 are spread open, having pivoted on the fulcrum of first joint 31 A. FIG. 2A also illustrates thrust surface 70A, carried by second arm 62 A, and having a radius that aligns with the curvature of an object. In addition, the figure illustrates projection 69 below first arm 61 A. Projection 69 can be described as radiating from first joint 31 A.

[0038] FIG. 2B illustrates a partial sectional view of forceps 100A. In this view, sheath 20A has a lumen that carries shaft 80A. Shaft 80A can be described as a linear actuator configured for axial movement in a longitudinal direction aligned parallel with arrow 14. Shaft 80A can include a rigid rod configured for exerting a pushing force or a pulling force. In one example, shaft 80 includes a flexible wire. A terminus of shaft 80A is coupled to link 12. Link 12 provides a coupling to third joint 33. Axial movement of shaft 80 A in a longitudinal direction displaces link 12 which carries third joint 33 in joint guide 22.

[0039] Unlike third joint 33, second joint 32 maintains a fixed position relative to sheath 20A. Second joint 32 allows rotary movement of second arm 62 A relative to sheath 20A.

[0040] As noted elsewhere in this document, first joint 31 A allows rotary movement of first arm 61 A relative to second arm 62 A.

[0041] First joint 31A is aligned with first joint rotation axis 41 A, second joint 32A is aligned with second joint rotation axis 42, and third joint 33 is aligned with third joint rotation axis 43.

[0042] Axial movement of shaft 80 A in the direction indicated by arrow 14A displaces third joint 33 toward the left end of joint guide 22. Displacement of third joint 33 in the manner shown causes distal end 61B of first arm 61 A to increase a separation distance between second joint 32 and third joint 33. Distal end 62B of second arm 62A remains fixed at second joint 32. With axial displacement of third joint 33, in the manner shown, second arm 62A angulates about second joint 32, as shown by arrow 18. Rotary movement about first joint 31 A results in spreading of upper jaw 66 A relative to lower jaw 65 A, as shown by arrow 16. Upper jaw face 68 A and lower jaw face 67A hinge apart at first joint 31 A.

[0043] As indicated in the figure, first joint 31 A, second joint 32, and third joint 33 are aligned on rotary axes, here denoted as first joint rotation axis 41A, second joint rotation axis 42, and third joint rotation axis 43, each of which are in substantially parallel alignment. Axial movement of shaft 80A results in relative movement as to a first plane (in which second joint rotation axis 42 and third joint rotation axis 43 lie) and a second plane (in which first joint rotation axis 41 A and second joint rotation axis 42 lie). In one example, the forceps can be manipulated to cause the first plane and the second plane to form an angle between approximately 0 degrees (parallel) and 120 degrees.

[0044] FIGS. 3 A and 3B illustrate views of a tool associated with a forceps, according to one example. FIG. 3 A illustrates tool 310A having shaft 82A passing through sheath 20B. Sheath 20B is coupled to tool nose 312A on a first end. Sheath 20B and nose 312A allow for axial movement of shaft 82 A in a direction parallel with arrow 14B. Elastic ribs 316 allow for deflection in radial directions with respect to a longitudinal axis of shaft 82A. Deflection of ribs 316 effectively draws shaft 82 A in the direction indicated by arrow 14B.

[0045] FIG. 3B illustrates a partial section view of tool 310A as indicated along cut line 3B-3B denoted in FIG. 3 A. As shown, an end of shaft 82A is fixedly terminated at anchor 314A and slidably coupled to nose 312A and sheath 20B. Shaft 82A can be coupled to shaft 80A (FIG. 2B).

[0046] FIG. 4 illustrates a view of a tool associated with a forceps, according to one example. The figure illustrates tool 310B having shaft 82B passing through sheath 20C. Sheath 20C is coupled to tool nose 312B on a first end. Sheath 20C and nose 312B allow for axial movement of shaft 82B in a direction parallel with arrow 14C. Shaft 82B is fixedly coupled to tool anchor 314B at a second end. Handle 410A and handle 41 OB are pivotally coupled at fulcrum 420 and rotation about fulcrum 420 angulates first lever 421 relative to second lever 422. Deflection of handles 410A and 41 OB in a direction of convergence effectively draws shaft 82B in the direction indicated by arrow 14C. Shaft 82B can be coupled to shaft 80A (FIG. 2B).

[0047] FIGS. 5A and 5B illustrate a forceps, according to one example. Forceps 100B, in the example shown includes sheath 20C having dual lumens. Sheath 20C is coupled to first jaw 66B and second jaw 65B. First jaw 66B and second jaw 65B are coupled to sheath 20C by first joint 3 IB having first rotation axis 41B. First jaw 66B is coupled to first jaw actuator 76. Second jaw 65B is coupled to second jaw actuator 75. First jaw 66B and second jaw 65B are cantilevered in that one end is supported and a second end projects from the supported end.

[0048] First jaw 66B includes a first jaw face 68B at a lower surface. Second jaw 65B includes a second jaw face 67B at an upper surface. In addition, first jaw 66B includes radiused thrust surface 71 and second jaw 65B includes radiused thrust surface 72. First jaw actuator 76 and second jaw actuator 75 can include a cable, a flexible wire, a shaft, a polymer filament, or other elongate linkage. First jaw actuator 76 and second jaw actuator 75 can include a looped cable or other element that allows for actuation by directional forces.

[0049] FIG. 5 A illustrates a linear configuration in which first jaw 66B and second jaw 65B are aligned longitudinally. FIG. 5B illustrates an angulated configuration in which first jaw 66B and second jaw 65B are displaced at an angle rotated about first axis 31B. As shown, both first jaw 66B and second jaw 65B are deflected in a common direction about axis 41B. In other configurations, first jaw 66B and second jaw 65B can be deflected in opposing directions about axis 41B.

[0050] FIG. 5C illustrates a forceps and a portion of an object, according to one example. In the example shown, forceps 100B is engaged with object 50. As shown, first jaw 66B is deflected off-axis and first jaw face 68B abuts an inner surface of lower leaf 52B. In addition, second jaw 65B is also deflected off-axis and second jaw face 67B abuts an inner surface of upper leaf 52 A. As shown, forceps 100B is manipulated to spread the upper leaf 52A relative to the lower leaf 52B.

[0051] FIG. 6 illustrates a flow chart of method 600 associated with a forceps, according to one example. At 610, method 600 includes displacing a shaft relative to a sheath. The shaft can be disposed in a lumen of the sheath and the shaft can be displaced by axial movement in a manner to exert a push force or a pull force at a distal terminus of the sheath. Mechanically jointed elements coupled to the sheath can be configured for movement in directions to facilitate grasping, releasing, manipulating and placement of an object. The object can include a surgical device or implantable device.

[0052] At 620, method 600 includes drawing, rotating, and separating selected elements coupled to the sheath. For example, displacement of the shaft relative to the sheath can be configured to draw a joint in an axial direction in which the axial direction is aligned with the shaft. The joint can be disposed at a distal end of a first arm and slidably coupled to the sheath by a track or slot. In addition, displacement of the shaft relative to the sheath can be configured to rotate a distal end of a second arm about a second joint in which the second joint is coupled to the sheath. Furthermore, displacement of the shaft relative to the sheath can be configured to rotate the first arm and the second arm about a third joint. In addition, displacement of the shaft relative to the sheath can be configured to separate an upper jaw and a lower jaw in which the upper jaw is coupled to the second arm and the lower jaw is coupled to the first arm. Displacing can include increasing a separation distance between the first joint and the second joint. In addition, displacing can include forming an angle of approximately 120 degrees between the second arm and the shaft.

[0053] Various Notes

[0054] A device as described herein can be fabricated of metal (such as stainless steel or titanium) or non-metal (such as a polymer or carbon -based) material.

[0055] In another example, a forceps can be configured in which a first jaw and a second jaw are cantilevered and mechanically coupled such that the direction of movement is in opposition. For example, when a first jaw is raised, a friction coupling or geared coupling rotates the second jaw in a downward (opposite) direction. This configuration can be manipulated with a single actuator rather than dual actuator.

[0056] In one example, two cantilevered arms are configured for movement in a first common direction and one or more cantilevered arms are configured for movement in a second direction. The cantilevered arms can be configured for independent movement or coordinated movement.

[0057] Example 1 can includes or use subject matter such as an apparatus or a device that can include or use a linear actuator configured for movement in an axial direction in response to an applied force; a lower jaw coupled to the linear actuator; and an upper jaw coupled to the linear actuator, the upper jaw coupled to the lower jaw by a first joint, wherein the lower jaw and upper jaw are configured to articulate about the first joint in response to a position of the linear actuator, and further wherein the lower jaw includes a lower face having a projection radiating from the first joint and wherein the upper jaw includes an upper face having a thrust surface aligned tangential to the first joint.

[0058] Example 2 can include or use, or can optionally be combined with, the subject matter of Example 1, to include or use wherein the thrust surface includes a radius. Example 3 can include or use, or can optionally be combined with, the subject matter of one or any combination of Examples 1 or 2 to include or use wherein at least one of the upper face and the lower face includes a smooth surface.

[0059] Example 4 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 3 to include or use a lower jaw secondary joint and an upper jaw secondary joint, wherein the lower jaw secondary joint and the upper jaw secondary joint are coupled to a sheath of the linear actuator.

[0060] Example 5 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 4 to include or use wherein the lower jaw secondary joint is configured to articulate in the axial direction.

[0061] Example 6 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 4 or 5 to include or use wherein the lower jaw secondary joint is aligned parallel with the first joint.

[0062] Example 7 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 4 through 6 to include or use wherein the lower jaw secondary joint is coupled to the linear actuator by a link.

[0063] Example 8 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 4 through 7 to include or use wherein the upper jaw secondary joint is aligned parallel with the first joint.

[0064] Example 9 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 4 through 8 to include or use wherein the upper jaw secondary joint is fixedly coupled to the sheath.

[0065] Example 10 can include or use subject matter such as an apparatus or a device and include or use a joint; and a first arm coupled to the joint and a second arm coupled to the joint, the first arm and the second arm configured for movement about an axis of the joint, wherein the first arm includes an upper face and includes a thrust surface tangential to the axis and wherein the second arm includes a lower face and includes a projection radiating from the joint. Example 11 can include or use, or can optionally be combined with the subject matter of Example 10, to include or use wherein the first arm is configured for movement independent of movement of the second arm.

[0066] Example 12 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 10 or 11 to include or use wherein the joint is coupled to a shaft.

[0067] Example 13 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 12 to include or use wherein the shaft is configured to carry a first actuator coupled to the first arm.

[0068] Example 14 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 12 or 13 to include or use wherein the shaft is configured to carry a second actuator coupled to the second arm.

[0069] Example 15 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 14 to include or use wherein at least one of the first actuator and the second actuator includes a flexible wire.

[0070] Example 16 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 14 or 15 to include or use wherein at least one of the first actuator and the second actuator includes a looped cable.

[0071] Example 17 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 13 to include or use wherein the first actuator is coupled to the first arm at a location configured to exert a rotational force about the joint.

[0072] Example 18 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 10 through 17 to include or use wherein the first arm and the second arm are configured for movement in opposing directions.

[0073] Example 19 can include or use subject matter such as an apparatus or a device, and include or use a shaft disposed in a sheath, the shaft configured for movement along a shaft axis within a lumen of the sheath; a first joint coupled to a distal end of the shaft, the first joint having a first rotation axis aligned transverse relative to the shaft axis, the first joint coupled to the sheath and configured for linear movement; a first arm having a distal end and a lower jaw end, the first arm distal end coupled to the first joint and configured for rotation about the first rotation axis and configured for linear movement in a direction parallel with the shaft axis; a second joint coupled to a distal end of the sheath, the second joint having a second rotation axis aligned parallel to the first rotation axis; a second arm having a distal end and an upper jaw end, the second arm distal end coupled to the second joint and configured for rotation about the second rotation axis; and a third joint coupling the first arm and the second arm proximate the lower jaw end and proximate the upper jaw end, the third joint having a third rotation axis aligned parallel to the first rotation axis.

[0074] Example 20 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 19 to include or use wherein the first rotation axis, the second rotation axis, and the third rotation axis are configured to lie in a common plane.

[0075] Example 21 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 19 or 20 to include or use wherein a first plane having the first rotation axis and the second rotation axis in common defines an angle of less than 120 degrees with respect to a second plane having the second rotation axis and the third rotation axis in common.

[0076] Example 22 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 19 through 21 to include or use further comprising a projection disposed proximate the lower jaw end.

[0077] Example 23 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 22 to include or use wherein the projection is positioned to engage a corresponding edge of an object.

[0078] Example 24 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 19 through 23 to include or use wherein the projection is shaped to engage a corresponding edge of an object.

[0079] Example 25 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 19 through 24 to include or use further comprising a thrust surface disposed proximate the upper jaw end. Example 26 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 25 to include or use wherein the thrust surface is positioned to engage a corresponding Example of an object.

[0080] Example 27 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 15 or 26 to include or use wherein the thrust surface is shaped to engage a corresponding Example of an object.

[0081] Example 28 can include or use subject matter such as a method, such as can include or use axially displacing a longitudinal shaft of a device, and in response to displacing, the method includes drawing a first joint in an axial direction, the axial direction aligned with the shaft, the shaft disposed in a lumen of a sheath, the first joint disposed at a distal end of a first arm and slidably coupled to the sheath; rotating a distal end of a second arm about a second joint, the second joint coupled to the sheath; rotating the first arm and the second arm about a third joint; and separating an upper jaw and a lower jaw, the upper jaw coupled to the second arm and the lower jaw coupled to the first arm.

[0082] Example 29 can include or use, or can optionally be combined with the subject matter of Example 28, to include or use wherein displacing includes increasing a separation distance between the first joint and the second joint.

[0083] Example 30 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 28 or 29 to include or use wherein displacing includes forming an angle of approximately 120 degrees between the second arm and the shaft.

[0084] Example 31 can include or use subject matter such as a system, such as can include or use a tool having a tool shaft and a tool sheath, the tool shaft disposed on a longitudinal axis of the tool sheath, the tool shaft configured for axial movement in response to manipulation; a forceps having a forceps sheath, a forceps shaft, a first jaw coupled to a second jaw by a first joint, the first jaw coupled to the forceps sheath by a second joint, and the second jaw coupled to the forceps shaft and to the forceps sheath by a third joint; wherein the tool shaft is coupled to the forceps shaft; and wherein the tool sheath is coupled to the forceps sheath. Example 32 can include or use, or can optionally be combined with the subject matter of Example 31, to include or use wherein the third joint is configured for axial movement relative to the forceps sheath.

[0085] Example 33 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 31 or 32 to include or use wherein at least one of the first joint, the second joint, and the third joint is a rotary joint.

[0086] Example 34 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 31 through 33 to include or use wherein angulation of the first jaw correlates with an axial position of the forceps shaft.

[0087] Example 35 can include or use, or can optionally be combined with the subject matter of one or any combination of Examples 31 through 34 to include or use wherein in a first configuration of the forceps shaft relative to the forceps sheath, the first jaw is substantially aligned with the second jaw.

[0088] Example 36 can include or use, or can optionally be combined with the subject matter of one or any combination of Example 35 to include or use wherein in a second configuration of the forceps shaft relative to the forceps sheath, the second configuration different than the first configuration, an angle between the longitudinal axis and the first jaw is approximately 120 degrees.

[0089] The above description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0090] In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.

[0091] In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0092] Geometric terms, such as “parallel”, “perpendicular”, “round”, or “square”, are not intended to require absolute mathematical precision, unless the context indicates otherwise. Instead, such geometric terms allow for variations due to manufacturing or equivalent functions. For example, if an element is described as “round” or “generally round,” a component that is not precisely circular (e.g., one that is slightly oblong or is a many-sided polygon) is still encompassed by this description.

[0093] The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

THE CLAIMED INVENTION IS:

1. A device comprising: a linear actuator configured for movement in an axial direction in response to an applied force; a lower jaw coupled to the linear actuator; and an upper jaw coupled to the linear actuator, the upper jaw coupled to the lower jaw by a first joint, wherein the lower jaw and upper jaw are configured to articulate about the first joint in response to a position of the linear actuator, and further wherein the lower jaw includes a lower face having a projection radiating from the first joint and wherein the upper jaw includes an upper face having a thrust surface aligned tangential to the first joint.

2. The device of claim 1 further comprising a lower jaw secondary joint and an upper jaw secondary j oint, wherein the lower jaw secondary joint and the upper jaw secondary joint are coupled to a sheath of the linear actuator.

3. The device of claim 2 wherein the lower j aw secondary j oint is configured to articulate in the axial direction.

4. The device of claim 2 wherein the lower jaw secondary joint is aligned parallel with the first joint.

5. The device of claim 2 wherein the upper jaw secondary joint is aligned parallel with the first joint.

6. The device of claim 2 wherein the upper jaw secondary joint is fixedly coupled to the sheath.

7. A system comprising: a tool having a tool shaft and a tool sheath, the tool shaft disposed on a longitudinal axis of the tool sheath, the tool shaft configured for axial movement in response to manipulation;a forceps having a forceps sheath, a forceps shaft, a first jaw coupled to a second jaw by a first joint, the first jaw coupled to the forceps sheath by a second joint, and the second jaw coupled to the forceps shaft and to the forceps sheath by a third joint; wherein the tool shaft is coupled to the forceps shaft; and wherein the tool sheath is coupled to the forceps sheath.

8. The system of claim 7 wherein the third joint is configured for axial movement relative to the forceps sheath.

9. The system of claim 7 wherein at least one of the first joint, the second joint, and the third joint is a rotary joint.

10. The system of claim 7 wherein angulation of the first jaw correlates with an axial position of the forceps shaft.

11. The system of claim 7 wherein in a first configuration of the forceps shaft relative to the forceps sheath, the first jaw is substantially aligned with the second jaw.

12. The system of claim 7 wherein in a second configuration of the forceps shaft relative to the forceps sheath, the second configuration different than the first configuration, an angle between the longitudinal axis and the first jaw is approximately 120 degrees.

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