Medical articulation movement device and method of using the same

Abstract

To provide a system, a device, and a method for treating a target treated region by using articulation movement device bringing an advanced-level of maneuverability.SOLUTION: A first actuator is configured to (1) articulate a shaft in response to translating the first actuator in a first direction relative to a handle and a second actuator and (2) actuate an end effector in response to translating the first actuator in a second direction relative to the handle and the second actuator. The second actuator is configured to (1) articulate the shaft in response to translating the second actuator in the first direction relative to the handle and the first actuator and (2) actuate the end effector in response to translating the second actuator in the second direction relative to the handle and the first actuator.SELECTED DRAWING: Figure 1B

Description

Technical Field

[0001] Various aspects of the present disclosure generally relate to medical joint movement systems, devices, and related methods. Examples of the present disclosure relate, among other things, to systems, devices, and related methods for causing a medical tool to perform joint movement on a subject.

Background Art

[0002] Endoscopic and surgical procedures of the gastrointestinal (GI) tract include, among others, submucosal dissection, colectomy, bariatric surgery, esophagectomy, gastric bypass, and sleeve gastrectomy. These procedures may involve lifting and / or removing tissue from a patient's body. Accessory devices for performing such procedures may include complex interfaces for operating the device. Additionally, the interface may impose limitations on the ability to perform joint movement to maneuver the device within the patient's body, thereby requiring the use of additional devices or multiple hands to operate the device.

Summary of the Invention

[0003] Among other things, aspects of the present disclosure relate to systems, devices, and methods for treating a target treatment site using a joint movement device that provides, among other things, a high degree of maneuverability. Each of the aspects disclosed herein can include one or more of the features described in relation to any of the other disclosed aspects.

[0004] According to one example, a medical device includes a handle, a shaft extending distally from the handle, an end effector extending distally from the shaft, a first actuator movably coupled to the handle, and a second actuator movably coupled to the handle. The first actuator is configured to (1) articulate the shaft in response to translating the first actuator in a first direction relative to the handle and the second actuator, and (2) operate the end effector in response to translating the first actuator in a second direction relative to the handle and the second actuator. The second actuator is configured to (1) articulate the shaft in response to translating the second actuator in a first direction relative to the handle and the first actuator, and (2) operate the end effector in response to translating the second actuator in a second direction relative to the handle and the first actuator.

[0005] Any of the medical devices described in this specification can include any of the following features. The handle includes a first track that extends along the body of the handle. A first actuator is received within the first track and is configured to translate along the first track. The first track has a longitudinal length corresponding to (1) the degree of the first articulation movement of the shaft and (2) the first operating range of the end effector. The handle includes a second track that extends along the body of the handle. A second actuator is received within the second track and is configured to translate along the second track. The second track has a longitudinal length corresponding to (1) the degree of the second articulation movement of the shaft and (2) the second operating range of the end effector. The handle further includes a first wire and a second wire disposed within the handle and the shaft. The first wire is coupled to the first actuator and a first portion of the end effector. The second wire is coupled to the second actuator and a second portion of the end effector. The first actuator is configured to move the first wire in a first direction to articulate the shaft and move the first portion and the second portion in the first direction. The second actuator is configured to move the second wire in a second direction to move the second portion relative to the first portion. The second actuator is configured to move the second wire in a first direction to articulate the shaft and move the first portion and the second portion in the first direction. The first actuator is configured to move the first wire in a second direction to move the second portion relative to the first portion. The first actuator is configured to move the first portion relative to the second portion, and the second actuator is configured to move the second portion relative to the first portion. The first actuator is configured to articulate the shaft in a first direction toward the first actuator in response to translating the first actuator in the first direction relative to the handle and the second actuator.The second actuator is configured to articulate the shaft in a first direction toward the second actuator in response to translating the second actuator in the first direction relative to the handle and the first actuator. The first actuator and the second actuator are disposed around the circumference of the handle. The first actuator and the second actuator are disposed at least partially within the handle. The first actuator includes a first finger ring, the second actuator includes a second finger ring, and the handle includes a third finger ring. The third finger ring is fixed relative to the first and second finger rings, and the first and second finger rings move relative to each other and relative to the third finger ring. The first actuator has a most proximal position corresponding to the articulated position of the shaft, a most distal position corresponding to the actuated position of the end effector, and a neutral position corresponding to the non-articulated position of the shaft and the non-actuated position of the end effector, between the most proximal position and the most distal position.

[0006] According to another example, a medical device includes a handle having a first movable actuator and a second movable actuator, a shaft extending distally from the handle and having an end effector at a distal end of the shaft, a first wire disposed within the shaft and coupled to the first movable actuator and the end effector, and a second wire disposed within the shaft and coupled to the second movable actuator and the end effector. The first movable actuator is configured to (1) articulate the shaft in response to translating the first wire proximally relative to the shaft and the second movable actuator, and (2) actuate the end effector in response to translating the first wire distally relative to the shaft and the second movable actuator. The second movable actuator is configured to (1) articulate the shaft in response to translating the second wire proximally relative to the shaft and the first movable actuator, and (2) actuate the end effector in response to translating the second wire distally relative to the shaft and the first movable actuator.

[0007] Any of the medical devices described in this specification can include any of the following features. The handle includes a first track and a second track that extend along both sides of the handle. A first movable actuator is received in the first track and configured to translate along the first track, and a second movable actuator is received within the second track and configured to translate along the second track. The first track has a first longitudinal length corresponding to (1) the degree of the first articulation movement of the shaft and (2) the first operating range of the end effector. The second track has a second longitudinal length corresponding to (1) the degree of the second articulation movement of the shaft and (2) the second operating range of the end effector. The first movable actuator is configured to articulate the shaft in a first direction toward the first movable actuator in response to translating the first actuator in a first direction relative to the handle and the second actuator. The second movable actuator is configured to articulate the shaft in a first direction toward the second movable actuator in response to translating the second actuator in a first direction relative to the handle and the first actuator.

[0008] According to a further example, a medical device includes a handle having a first longitudinal track and a second longitudinal track, a shaft extending distally from the handle, an end effector at a distal end of the shaft, and a first actuator coupled to a first wire disposed within the shaft. The first actuator translates along the first longitudinal track. The medical device includes a second actuator coupled to a second wire disposed within the shaft. The second actuator translates along the second longitudinal track. The first actuator is configured to retract the first wire proximally relative to the shaft to articulate the shaft in a first direction when the first actuator moves proximally within the first longitudinal track and the second actuator is fixed relative to the second longitudinal track. The second actuator is configured to retract the second wire proximally relative to the shaft to articulate the shaft in a second direction when the second actuator moves proximally within the second longitudinal track and the first actuator is fixed relative to the first longitudinal track. The second direction is opposite to the first direction.

[0009] It can be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claimed invention. The accompanying drawings, which are incorporated herein and constitute a part of this specification, illustrate exemplary aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

Brief Description of the Drawings

[0010]

Figure 1A

Figure 1B

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

DETAILED DESCRIPTION OF THE INVENTION

[0011] In ESD, for example, an object within the GI tract, such as a tumor, is targeted for removal. A medical device capable of removing the target object is received within a medical instrument (such as an endoscope) that is placed through the GI tract to the target treatment site under endoscopy. An accessory device for manipulating the tissue surrounding the target object may be placed at the target treatment site under endoscopy. However, accessory devices and systems suitable for ESD are limited. However, the present disclosure is not limited to ESD procedures and can instead be used for any suitable medical procedure.

[0012] Examples of the present disclosure include systems, devices, and methods for manipulating materials and / or objects (e.g., tissue) at a target treatment site within a subject (e.g., a patient) with high maneuverability. In an example, ESD includes endoscopically placing an end effector, such as a Joe assembly or other similar tool, at the target treatment site. Placement of the end effector may be via a catheter, scope (endoscope, bronchoscope, colonoscope, etc.), tube, or sheath inserted into the GI tract through a natural orifice. The natural orifice can be, for example, the nose, mouth, or anus, and the placement can be within any part of the GI tract, including the esophagus, stomach, duodenum, colon, or small intestine. The placement can also be within other organs or body spaces accessible via the GI tract, other body lumens, or openings within the body.

[0013] Next, aspects of the present disclosure are referred to in detail, examples of which are shown in the accompanying figures. Where possible, the same or similar reference numbers are used throughout the figures to refer to the same or similar parts. The term "distal" refers to the part that is farthest from the user when introducing the device into the patient. In contrast, the term "proximal" refers to the part that is closest to the user when placing the device within the subject. As used herein, the terms "comprises," "comprising," or any other variation thereof are intended to cover non-limiting inclusion, such that a process, method, article, or device that comprises a list of elements does not necessarily include only those elements, but may include other elements not expressly listed or inherent to such process, method, article, or device. The term "exemplary" is used in the sense of "an example" rather than "ideal." As used herein, the terms "about," "substantially," and "nearly" indicate a range of values within + / - 10% of the stated value.

[0014] Examples of the present disclosure can relate to devices and methods for performing various medical procedures and / or treating a portion of the large intestine (colon), small intestine, cecum, esophagus, any other part of the gastrointestinal tract, and / or any other suitable patient anatomical structure (collectively referred to herein as the "target treatment site"). As mentioned above, the present disclosure is not limited to any particular medical device or method, and aspects of the present disclosure can be used in connection with any suitable medical tool and / or medical method at any suitable site within the body. The various examples described herein include single-use or disposable medical devices.

[0015] Figures 1A - 1B show an exemplary medical device 100 according to an example of the present disclosure. The medical device 100 can include a handle 102 having a longitudinal length defined by a proximal end 104 and a distal end 106. The proximal end 104 can include gripping features configured to facilitate manual control of the handle 102. For example, the gripping features can include rings sized and shaped to receive the fingers of a user of the medical device 100. The handle 102 can further include a pair of tracks 108, 109 positioned along both sides of the handle 102 and extending between the proximal end 104 and the distal end 106. As further described herein, the tracks 108, 109 can define a travel path for one or more actuators 110, 112, and the longitudinal length of the tracks 108, 109 can define the range of articulation and actuation of the medical device 100.

[0016] The medical device 100 can further include a pair of actuators 110, 112 movably coupled to the handle 102 in tracks 108, 109. For example, the medical device 100 can include a first actuator 110 slidably coupled to a first track 108 and a second actuator 112 slidably coupled to a second track 109. In one or more directions A, B, the first actuator 110 can be configured to translate along the first track 108, and the second actuator 112 can be configured to translate along the second track 109. That is, each of the first actuator 110 and the second actuator 112 can move in a first direction A or a second direction B. The first actuator 110 and the second actuator 112 can be configured to move independently of each other and relative to each other. The actuators 110, 112 can be actuated in various suitable ways and orders, such as simultaneously and / or separately from each other. In some embodiments, the first actuator 110 and the second actuator 112 are disposed around the circumference of the handle 102 and together can surround at least a portion of the handle 102 therebetween.

[0017] Although not shown, it should be understood that the first actuator 110 may be coupled to a first wire 170 received within the handle 102 and the second actuator 112 may be coupled to a second wire 172 received within the handle 102 (see FIGS. 2-4). The wires 170, 172 can be coupled to the actuators 110, 112 by various suitable mechanisms including, for example, crimping, adhesives, ultrasonic curling, and the like. Accordingly, each actuator 110, 112 can be configured to move the corresponding wires 170, 172 relative to the handle 102 in response to translating along their respective tracks 108, 109.

[0018] Still referring to FIGS. 1A-1B, the first actuator 110 can include a body having a gripping feature 114 that extends laterally outwardly from the body of the first actuator 110. The second actuator 112 can include a body having a gripping feature 116 that extends laterally outwardly from the body of the second actuator 112. Each gripping feature 114, 116 can be configured to facilitate movement of the respective actuator 110, 112 relative to the corresponding tracks 108, 109. In this example, each gripping feature 114, 116 can be sized and shaped to receive a corresponding finger of a user of the medical device 100 and can include a formed ring. It should be understood that the gripping features 114, 116 can have various other suitable sizes, shapes, and / or configurations without departing from the scope of the present disclosure.

[0019] Medical device 100 can include a shaft 120 that is fixed to a handle 102 and extends distally from the handle 102, specifically from a distal end portion 106. The shaft 120 can include a proximal shaft 122 and a distal articulation joint 130. The proximal end of the proximal shaft 122 can extend to be coupled to the distal end portion 106, and the proximal end of the distal articulation joint 130 can be coupled to the distal end of the proximal shaft 122. The medical device 100 can further include an end effector 140 coupled to the distal end of the distal articulation joint 130. The end effector 140 can include one or more parts such as a clevis 142, a first jaw 148A, and a second jaw 148B. The clevis 142 can be firmly fastened to the distal end of the distal articulation joint 130, and the jaws 148A, 148B can be pivotally coupled to the clevis 142. As further described herein, each jaw 148A, 148B can be movable in response to the translation of actuators 110, 112. In this embodiment, the end effector 140 can exclude one or more links coupled to the pair of jaws 148A, 148B. As further described herein, the medical device 100 can be configured to enhance the gripping force between the jaws 148A, 148B from the exclusion of links within the end effector 140.

[0020] Next, referring to FIGS. 2-3, each of the jaws 148A, 148B can be coupled to at least one of the actuators 110, 112 via corresponding wires 170, 172. For example, the first jaw 148A may be coupled to the second actuator 112 via the second wire 172, and the second jaw 148B may be coupled to the first actuator 110 via the first wire 170. In this example, the first jaw 148A can include a proximal arm 144A that receives the second wire 172, and the second jaw 148B can include a proximal arm 144B that receives the first wire 170. Thus, it should be understood that the end effector 140 excludes the link (or any other structure) between the jaws 148A, 148B and the wires 170, 172, such that the wires 170, 172 are directly coupled to the jaws 148A, 148B at the corresponding proximal arms 144A, 144B. The medical device 100 can be operative to minimize mechanical losses in force transmission between the actuators 110, 112 and the jaws 148A, 148B from the exclusion of one or more links (or any other structure) between the wires 170, 172 and the jaws 148A, 148B.

[0021] For illustrative purposes only, it is to be understood that the end effector 140 is shown in FIG. 2 with the clevis 142 omitted. The end effector 140 can include a pin 146 that defines the pivot points of the jaws 148A, 148B, i.e., the jaws 148A, 148B can be movably coupled to each other about the pin 146. Further, the first jaw 148A and the second jaw 148B can be movably coupled to the clevis 142 at the pin 146. Each jaw 148A, 148B can include a plurality of teeth along an inner surface for gripping an object, such as tissue, disposed between the jaws 148A, 148B. It is to be understood that the end effector 140 can include various suitable configurations including, but not limited to, one or more clamps, shears, forceps, tweezers, suturing devices, lighting devices, imaging systems, gripping assemblies, and various other suitable tools and / or devices. Accordingly, the end effector 140 shown and described herein is exemplary only, whereby the medical device 100 can include various other end effectors without departing from the scope of the present disclosure.

[0022] Next, referring to FIG. 4, the first wire 170 and the second wire 172 are disposed within the shaft 120 and extend distally from the distal articulation joint 130 and can be coupled to the proximal arms 144B and 144A, respectively. In this example, the shaft 120 can include a first lumen 128A configured to receive the first wire 170 and a second lumen 128B configured to receive the second wire 172. It should be understood that movement of the first actuator 110 along the handle 102 can result in movement of the first wire 170 within the first lumen 128A and corresponding movement of the second jaw 148B. Further, movement of the second actuator 112 along the handle 102 can result in movement of the second wire 172 within the second lumen 128B and corresponding movement of the first jaw 148A. As will be described in detail herein, each of the first actuator 110 and the second actuator 112 can be configured to actuate the end effector 140 and articulate the distal articulation joint 130. Additionally, as will be described in further detail below, the shaft 120 (e.g., the proximal shaft 122, the distal articulation joint 130) can include one or more inner layers including a first inner layer 134 in a braided configuration and a second inner layer 136 (e.g., a multi-lumen shaft) that defines the first lumen 128A and the second lumen 128B.

[0023] Next, referring to FIG. 5, the proximal shaft 122 is shown having a plurality of layers. In this example, the proximal shaft 122 can include an outer layer 123, a first inner layer 124, a second inner layer 126, and a third inner layer 128. The outer layer 123 can be disposed around the first inner layer 124 and can be configured to insulate the first inner layer 124 from, for example, a tool (such as an electric scalpel) positioned adjacent to the medical device 100. In some examples, the outer layer 123 can be formed from an insulating material such as a reflow including, for example, Pebax® resin. The outer layer 123 can further be formed of a material having a predetermined hardness in the range of about 10D (durometer) to about 100D, more specifically 30D to 75D. In other embodiments, the outer layer 123 can be completely omitted.

[0024] The first inner layer 124 can be disposed around the second inner layer 126 and can include a braid formed of a plurality of wires (such as flat, round, etc.) braided together. In some examples, the first inner layer 124 can include a plurality of wires in the range of about 10 wires to about 100 wires, more specifically 16 wires to 32 wires. In some embodiments, the braid of the first inner layer 124 can be inclined at an angle in the range of about 10 degrees to about 100 degrees, more specifically 30 degrees to 50 degrees. The braid of the first inner layer 124 can be of various suitable patterns including, for example, a diamond braid, a Hercules braid, etc. The first inner layer 124 can be configured to increase the torque and / or hardness of the proximal shaft 122. In other embodiments, the first inner layer 124 can be completely omitted.

[0025] Still referring to FIG. 5, the second inner layer 126 can be disposed around the third inner layer 128 and can include a coil wound around the third inner layer 128 (such as in a clockwise direction, counterclockwise direction, etc.). In some embodiments, the coil pitch of the second inner layer 126 can be substantially the same as the wire diameter of the coil. The second inner layer 126 can be configured to provide rigidity to the proximal shaft 122.

[0026] The third inner layer 128 can be formed of polytetrafluoroethylene (PTFE) and can include a first lumen 128A and a second lumen 128B for receiving each of the first wire 170 and the second wire 172, respectively. In this example, the lumens of the third inner layer 128 can have the same and / or different diameters relative to each other. The third inner layer 128 can have a diameter in the range of about 0.5 millimeter to about 1.0 millimeter, specifically 0.8 millimeter. The first lumen 128A can have a diameter in the range of about 0.2 millimeter to about 0.8 millimeter, specifically 0.4 millimeter, and the second lumen 128B can have a diameter in the range of about 0.1 millimeter to about 0.7 millimeter, specifically 0.3 millimeter. In other embodiments, the third inner layer 128 may be omitted altogether or instead of a pair of sheaths each defining a lumen for receiving at least one of the wires 170, 172.

[0027] Still referring to FIG. 5, the first wire 170 and the second wire 172 can be formed of a variety of materials including, for example, stainless steel, nitinol, plastic, aluminum, and the like. In some examples, the first wire 170 and / or the second wire 172 can be coated with PTFE and / or other suitable materials. Additionally, each of the first wire 170 and / or the second wire 172 can include a single wire or may be a multi-strand wire assembly. As will be described in more detail herein, each of the first wire 170 and the second wire 172 can be configured to effect articulation of the shaft 120 and actuation of the end effector 140.

[0028] Next, referring to FIG. 6, the distal articulation joint 130 is shown having a plurality of layers. In this example, the distal articulation joint 130 can include an outer layer 132, a first inner layer 134, and a second inner layer 136. The outer layer 132 can be disposed around the first inner layer 134 and can be configured to insulate the first inner layer 134. For example, the outer layer 132 can be formed of an insulating material such as a reflow including, for example, Pebax® resin. The outer layer 132 can be formed of a material having a relatively low predetermined stiffness compared to the outer layer 122 of the proximal shaft 122. For example, the outer layer 132 can have a predetermined stiffness in the range of about 5D to about 100D, more specifically from 30D to about 50D. As will be described in detail herein, the distal articulation joint 130 can be configured to bend relative to the proximal shaft 122 in response to the actuation of at least one of the wires 170, 172.

[0029] The first inner layer 134 can be disposed around the second inner layer 136 and can include a braid formed of a plurality of wires (e.g., flat, round, etc.) braided together. The first inner layer 134 can be substantially similar to the first inner layer 124. For example, the first inner layer 134 can include a plurality of wires from about 10 wires to about 100 wires, more specifically from 16 wires to 32 wires. In other examples, the first inner layer 134 can include fewer wires than the first inner layer 124. The first inner layer 134 can be configured to increase the torque and / or stiffness of the distal articulation joint 130. In some embodiments, the braid of the first inner layer 134 can be angled at an angle in the range of about 10 degrees to about 100 degrees, more specifically from 30 degrees to 50 degrees. The braid of the first inner layer 134 can be of various suitable patterns including, for example, a diamond braid, a Hercules braid, etc.

[0030] Still referring to FIG. 6, the second inner layer 136 can be formed of polytetrafluoroethylene (PTFE) and can include a first lumen 128A and a second lumen 128B for receiving each of the first wire 170 and the second wire 172, respectively. In this example, the first lumen 128A and the second lumen 128B of the second inner layer 136 can have the same and / or different diameters relative to each other. In other embodiments, the second inner layer 136 may be omitted entirely or instead of a pair of sheaths each defining a lumen for receiving at least one of the wires 170, 172. The second inner layer 136 can be formed of a material having a predetermined stiffness in the range of about 15D to about 95D, more specifically from 33D to 50D. The first wire 170 can extend distally from the second inner layer 136 and through the clevis 162 for engagement with the proximal arm 144B (see FIGS. 2-3). The first wire 170 can be securely fastened to the proximal arm 144B by, for example, adhesive, welding, crimping, ultraviolet (UV) curing, or the like. The second wire 172 can extend distally from the second inner layer 136 and through the clevis 162 for engagement with the proximal arm 144A (see FIGS. 2-3). The second wire 172 can be securely fastened to the proximal arm 144A by, for example, adhesive, welding, crimping, ultraviolet (UV) curing, or the like.

[0031] According to an exemplary method of using the medical device 100, a medical instrument (e.g., an endoscope) can first be navigated through the body of a subject to position the distal end of the medical instrument at a target treatment site. The medical device 100 can be received within the medical instrument, and the end effector 140 can extend outwardly from the distal end of the medical instrument. In this case, the end effector 140 may be positioned at a target treatment site within the subject, while the handle 102 is positioned outside the subject at the proximal end of the medical instrument. It should be understood that the end effector 140 is maintained in an actuated (closed) state during delivery through the medical instrument.

[0032] Next, referring to FIG. 1A, the first actuator 110 and the second actuator 112 can each be positioned in a first position relative to the handle 102, whereby the distal articulation joint 130 is maintained in a non-articulated state (e.g., the longitudinal axis of the distal articulation joint 130 is aligned with the longitudinal axis of the shaft 120), and the end effector 140 is maintained in an actuated state. Alternatively, the actuators 110, 112 can be positioned along the intermediate portions of the tracks 108, 109, whereby the wires 170, 172 are maintained in a neutral position relative to the shaft 120 and the end effector 140. In this case, the first wire 170 does not apply tension to the second jaw 144B, and the second wire 172 does not apply tension to the first jaw 144A, thereby maintaining the end effector 140 in an actuated state and the distal articulation joint 130 in a non-articulated state (e.g., parallel to the shaft 120 and / or the handle 102).

[0033] Next, referring to FIG. 1B, the first actuator 110 can be translated in a first direction A (e.g., proximally) along the first track 108 to pull the first wire 170 proximally relative to the shaft 120 and the handle 102. In this case, the first actuator 110 is moved to its most proximal position and is configured to articulate the distal articulation joint 130 toward the side of the handle 102 that includes the first actuator 110, thereby moving the end effector 140 radially outwardly in the first direction A. For example, a user of the medical device 100 can move the first actuator 110 relative to the handle 102 by pulling the first actuator 110 proximally toward the proximal end 104. The first actuator 110 can slide relative to the handle 102 in response to applying a proximal force on the gripping feature 114. In this case, the first wire 170 (securely attached to the body of the first actuator 110 along a portion within the handle 102) can move with the gripping feature 114 relative to the handle 102 in the first direction A. With the first wire 170 securely attached to the proximal arm 144B, the first actuator 110 can be configured to move the first wire 170 relative to the handle 102 and the shaft 120.

[0034] The first actuator 110 can pull the first wire 170 proximally to apply a proximal (tensile) force onto the proximal arm 148B, thereby bending the distal articulation joint 130. In this case, since the connection point between the wire 170 and the arm 148B is off-center and radially outward of the longitudinal axis of the distal articulation joint 130 toward the same side of the medical device 100 as the first actuator 110, the end effector 140 can be deflected in a first direction A, i.e., in the same direction of movement as the first actuator 110 with respect to the handle 102. A user of the medical device 100 can selectively adjust the degree of articulation of the distal articulation joint 130 and the corresponding range of deflection of the end effector 140 in response to the degree of movement of the first actuator 110 with respect to the handle 102. Further, the handle 102 can be rotated to rotate the shaft 120 and move the end effector 140 with respect to the target treatment site, facilitating further movement of the medical device 100 toward the target object within the target treatment site. In some embodiments, the second actuator 112 can remain stationary while the first actuator 110 translates with respect to the handle 102.

[0035] Still referring to FIG. 1B, the second actuator 112 can be translated along the second track 109 in a second direction B opposite to the first direction A to distally push the second wire 172 against the shaft 120 and the handle 102. In this case, with the distal articulation joint 130 already articulated by the first actuator 110, the second actuator 112 can be moved to its most distal position, thereby transitioning the end effector 140 from an actuated state (FIG. 1A) to a non-actuated state. For example, a user of the medical device 100 can move the second actuator 112 relative to the handle 120 by sliding the second actuator 112 distally towards the distal end 106 to its most distal position. The second actuator 112 can slide relative to the handle 120 in response to applying a distal force to the gripping feature 116. In this case, the second wire 172 (securely attached to the body of the second actuator 112 along a portion within the handle 102) can move with the gripping feature 116 relative to the handle 102. With the second wire 170 securely attached to the proximal arm 144A, the second actuator 112 can be configured to move the second wire 172 relative to the handle 102 and the shaft 120.

[0036] The second actuator 112 can extrude the second wire 172 distally to apply a distal (extrusion) force onto the proximal arm 144A, thereby moving the first jaw 148A around the pin 146 away from the second jaw 148B. In this case, the end effector 140 can be transitioned to a non-operating state where the jaws 148A, 148B are disengaged from each other. A user of the medical device 100 can selectively adjust the degree of disengagement between the jaws 148A, 148B in response to the range of translation of the second actuator 112 relative to the second track 109. Stated differently, the gap formed between the jaws 148A, 148B can correspond to the longitudinal translation of the second actuator 112 along the handle 102. In some embodiments, the first actuator 110 can remain stationary during the translation of the second actuator 112 relative to the handle 102.

[0037] The end effector 140 is maneuvered around a target treatment site by operating the position, orientation, and / or configuration of the handle 102 by a grasping feature at the proximal end 104 to position the end effector 140 adjacent to a target object. With the target object positioned between the openings formed between the jaws 148A, 148B, the second actuator 112 can be translated proximally in a first direction A (e.g., to a neutral and / or most proximal position) to move the first jaw 148A towards the second jaw 148B to clamp the target object (e.g., tissue) therebetween.

[0038] It should be understood that the actuators 110, 112 can provide multifunctional capabilities depending on the order of operation of each actuator 110, 112 with respect to each other. For example, in other embodiments, the second actuator 112 may be moved in a first direction A (e.g., to the most proximal position) instead of the first actuator 110, whereby the distal articulation joint 130 can bend in the first direction A towards the second actuator 112. In this case, the next actuation of the first actuator 110 in the second direction B (e.g., to the most distal position) results in the movement of the second jaw 148B relative to the first jaw 148A, enabling the end effector to transition from a closed configuration to an open configuration. By being able to articulate the shaft 120 and operate the end effector 140 with both actuators 110, 112, the medical device 100 can provide an ergonomic interface for manipulating a target object (e.g., tissue) during treatment by a user's single hand. Further, the medical device 100 can provide multiple degrees and / or directions of articulation by the actuators 110, 112.

[0039] Referring now to FIG. 7, another exemplary medical device 200 is shown by way of an example of the present disclosure. Unless otherwise described herein, the medical device 200 may be configured and operable in a manner similar to the medical device 100. Accordingly, the same reference numerals are used to identify the same components.

[0040] The medical device 200 can include a handle 202 having a longitudinal length defined between a proximal end 204 and a distal end 206. The handle 102 can be sized, shaped, and configured to be graspable by a user of the medical device 200. That is, the handle 202 can provide an ergonomic interface for grasping the medical device 200 and manipulating the handle 202 with one hand. The handle 202 can further include a pair of tracks positioned along both sides of the handle 202 and extending between the proximal end 204 and the distal end 206. For example, the handle 202 can include a first track 208 along the upper wall of the handle 202 and a second track (not shown) positioned along the bottom wall of the handle 202. Each track can define a travel path for one or more actuators 210, 212, and the longitudinal length of the track can define the range of articulation and actuation of the medical device 200.

[0041] Medical device 200 can further include a pair of actuators 210, 212 movably coupled to handle 202 on the track. For example, medical device 200 can include a first actuator 210 slidably coupled to a first track 208 and a second actuator 212 slidably coupled to a second track. In this example, the first track 208 and the second track can include an opening formed along the outside of handle 202, whereby actuators 210, 212 are at least partially disposed within the opening and can seat inside handle 202. In one or more directions (e.g., proximally, distally, etc.), the first actuator 210 can be configured to translate along the first track 208, and the second actuator 212 can be configured to translate along the second track. Although not shown, it should be understood that the first actuator 210 can be coupled to a first wire 170 within handle 202, and the second actuator 212 can be coupled to a second wire 172 within handle 202. Thus, each actuator 210, 212 can be configured to move the corresponding wires 170, 172 relative to handle 202 in response to translating along its respective track.

[0042] Still referring to FIG. 7, the first actuator 210 can include a body having a gripping feature 214, and the second actuator 212 can include a body having a gripping feature 216. Each gripping feature 214, 216 can be configured to facilitate movement of the respective actuators 210, 212 relative to the corresponding track. In this example, the gripping features 214, 216 can be sized and shaped to receive a user's finger and can include slidable buttons and / or knobs that are formed. It should be understood that the gripping features 214, 216 can have various other suitable sizes, shapes, and / or configurations without departing from the scope of the present disclosure.

[0043] Medical device 200 can further include a shaft 120 that extends distally from the handle 202, specifically from the distal end 206. Although not shown, it should be understood that medical device 200 can include a proximal shaft 122 and a distal articulation joint 130, and an end effector 140 is coupled to the distal end of the articulation joint 130. Medical device 200 can be configured and operable in the same manner as medical device 100 described above, such that movement of actuators 210, 212 relative to handle 202 can result in similar articulation and actuation of shaft 120 and end effector 140, respectively, as described in detail above with respect to medical device 100.

[0044] Each of the systems, devices, assemblies, and methods described above can be used to manipulate target tissue with high maneuverability. By providing a medical device having an intuitive handle that allows one-handed control of the articulation and actuation of the end effector, the user can utilize the other hand to control other devices and / or tools during a procedure for treating a target site. In this case, the user can shorten the overall procedure time, increase the efficiency of the procedure, and / or avoid unnecessary harm to the subject's body caused by limited control of other tools / devices.

[0045] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed devices and methods without departing from the scope of the disclosure. Other aspects of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. The specification and examples are intended to be considered as exemplary only.

Claims

1. A medical device, a handle, a shaft extending distally from the handle, an end effector extending distally from the shaft, a first actuator movably coupled to the handle and a second actuator movably coupled to the handle, wherein the first actuator is configured to (1) articulate the shaft in response to translating the first actuator in a first direction relative to the handle and the second actuator, and (2) actuate the end effector in response to translating the first actuator in a second direction relative to the handle and the second actuator, and the second actuator is configured to (1) articulate the shaft in response to translating the second actuator in the first direction relative to the handle and the first actuator, and (2) actuate the end effector in response to translating the second actuator in the second direction relative to the handle and the first actuator.

2. The handle includes a first track extending along a body of the handle, and the first actuator is received within the first track and configured to translate along the first track, the medical device according to claim 1.

3. The medical device according to claim 2, wherein the first track has a longitudinal length corresponding to (1) a first degree of articulation of the shaft and (2) a first operating range of the end effector.

4. The handle includes a second track extending along the body of the handle, and the second actuator is received within the second track and configured to translate along the second track, the medical device according to claim 3.

5. The medical device according to claim 4, wherein the second track has a longitudinal length corresponding to (1) a second degree of articulation of the shaft and (2) a second operating range of the end effector.

6. further comprising a first wire and a second wire disposed within the handle and the shaft, wherein the first wire is coupled to the first actuator and a first portion of the end effector, The medical device according to any one of claims 1 to 5, wherein the second wire is coupled to the second actuator and a second portion of the end effector.

7. The first actuator is configured to move the first wire in the first direction to cause the shaft to articulate and to move the first portion and the second portion in the first direction. The medical device according to claim 6, wherein the second actuator is configured to move the second wire in the second direction to move the second portion relative to the first portion.

8. The second actuator is configured to move the second wire in the first direction to cause the shaft to articulate and to move the first portion and the second portion in the first direction. The medical device according to claim 7, wherein the first actuator is configured to move the first wire in the second direction to move the second portion relative to the first portion.

9. The medical device according to any one of claims 6 to 8, wherein the first actuator is configured to move the first portion relative to the second portion, and the second actuator is configured to move the second portion relative to the first portion.

10. The medical device according to any one of claims 1 to 9, wherein the first actuator is configured to cause the shaft to articulate in the first direction toward the first actuator in response to translating the first actuator in the first direction relative to the handle and the second actuator.

11. The medical device according to claim 10, wherein the second actuator is configured to cause the shaft to articulate in the first direction toward the second actuator in response to translating the second actuator in the first direction relative to the handle and the first actuator.

12. The medical device according to any one of claims 1 to 11, wherein the first actuator and the second actuator are disposed around a circumference of the handle.

13. The medical device according to any one of claims 1 to 12, wherein the first actuator and the second actuator are at least partially disposed within the handle.

14. The first actuator includes a first finger ring, the second actuator includes a second finger ring, and the handle includes a third finger ring. The medical device according to any one of claims 1 to 13, wherein the third finger ring is fixed relative to the first and second finger rings, and the first and second finger rings move relative to each other and relative to the third finger ring.

15. The medical device according to any one of claims 1 to 14, wherein the first actuator has a most proximal position corresponding to an articulation position of the shaft, a most distal position corresponding to an actuation position of the end effector, and a neutral position corresponding to a non-articulation position of the shaft and a non-actuation position of the end effector, between the most proximal position and the most distal position.

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