Medical system with removable end effectors that involve joint movement

Abstract

To provide improved medical systems and devices for procedures using end-effectors involving joint movement. [Solution] The medical device is a handle having a proximal end, a distal end, and an actuator that moves between the distal end and the proximal end, wherein the actuator is connected to a handle actuation wire, the handle includes a tube extending from the distal end of the handle, and a connector at the distal end of the tube that is detachably connected to an end effector. The distal end of the handle actuation wire includes a connector element that is detachably connected to a corresponding connector element of the end effector actuation wire of the end effector.

Description

Technical Field

[0001] The present disclosure generally relates to medical devices and methods of use. More specifically, in some embodiments, the present disclosure relates to instruments, systems, and / or methods for performing a medical procedure at a target site within a patient using a selectable end effector that involves articulation of a joint, for example, to fix or hold tissue or to perform any other diagnostic or therapeutic procedure.

Background Art

[0002] Conventional endoscopic devices for performing medical procedures within a patient may be provided as single-use devices. These single-use devices are intended to perform a single procedure, for example, to clip or cut tissue. These single-use devices may also rely on the articulation of a separate catheter or scope to articulate the end effector of the single-use device. Sterilization of these endoscopic devices can be difficult, and failure to properly sterilize these devices can harm the patient, for example, by spreading disease. Further, reusing these single-use devices may increase the risk of patient illness or infection and / or may increase the risk of device failure. Further, the inability to articulate the end effector of the device independently of the catheter or scope reduces its mobility.

[0003] The present disclosure may solve one or more of these or other problems in the art. However, the scope of the present disclosure is defined by the appended claims and not by the ability to solve a particular problem.

Summary of the Invention

[0004] According to one embodiment, a medical device is a handle having a proximal end, a distal end, and an actuator configured to move between the distal end and the proximal end, wherein the actuator is connected to a handle actuation wire, the handle includes a tube extending from the distal end of the handle, and a connector at the distal end of the tube, configured to be detachably connected to an end effector, the distal end of the handle actuation wire includes a connector element configured to be detachably connected to a corresponding connector element of an end effector actuation wire of an end effector.

[0005] The medical device may further include an end effector, which may be a medical instrument, and the movement of an actuator in at least one of the proximal and distal directions may be configured to activate the medical instrument.

[0006] The actuator may be a spool, and the handle may include a handle body on which the spool moves in translation. The handle may further include at least one joint motion control device, the at least one of which may be connected to a handle joint motion wire.

[0007] At least one joint motion control device is configured to move between the proximal and distal ends of the handle, and the proximal position of the at least one joint motion control device may be distal to the most distal position of the actuator.

[0008] The end effector may include an end effector articulation wire, and the handle articulation wire may be configured to engage with the end effector articulation wire when the end effector can be connected to a connector, and the movement of at least one articulation control device may be configured to move the end effector from a first position in which the end effector can be aligned with the longitudinal axis to a second position in which at least a portion of the end effector can be tilted with respect to the longitudinal axis.

[0009] At least one joint motion control device may include multiple joint motion control devices, and the multiple joint motion control devices may be spaced radially around the handle. Each of the multiple joint movement control devices can be attached to the corresponding handle joint movement wire.

[0010] The connector may include a distal-facing cavity, and the proximal portion of the end effector may be configured to be at least partially inserted into the cavity when the end effector is connected to the connector.

[0011] The end effector may include a stretcher that is attached to an end effector connector at its proximal end and to a medical device at its distal end, and the stretcher may be bent by movement of at least one joint motion control device.

[0012] The end effector may include at least one end effector joint motion wire positioned radially outward from the stretcher. The distal end of the handle actuator wire may include a hook, and the proximal end of the end effector actuator wire may include a hook for connecting to the hook of the handle actuator wire.

[0013] A proximal force applied to the handle may be configured to disconnect the end effector from the connector, and the proximal force may be sufficient to deform at least one of the handle actuating wire and the end effector actuating wire to disconnect the end effector from the connector.

[0014] The connector may be configured so that an end effector can be attached to another end effector after it has been disconnected from the connector. The medical device may further include a rotation control device connected to the handle and tube, the rotation of which may be configured to rotate the end effector around the longitudinal axis of the tube.

[0015] In another embodiment, the medical device includes a handle having a distal end, a proximal end, and an actuator configured to move between the distal and proximal ends; a tube extending from the distal end of the handle; an actuating wire attached to the actuator and extending through the tube, configured to be detachably connected to an end effector at the distal end of the tube for acting on an end effector; at least one articular movement device on the handle, configured to move between the distal and proximal ends; and at least one articular movement wire attached to the articular device and extending through the tube, configured to be detachably connected to an end effector for deflecting the end effector.

[0016] At least one articular motion wire may be configured to connect to a corresponding articular motion wire on the end effector, and the articular motion of at least one articular motion device may be configured to move the end effector from a first position in which the end effector is aligned with the longitudinal axis to a second position in which at least a portion of the end effector is tilted with respect to the longitudinal axis.

[0017] A proximal force applied to the handle may be configured to separate the connector from the end effector. In another embodiment, an end effector for use with a medical device may include a connector, a stretcher extending distally from the connector, a medical device attached to the stretcher, an end effector actuating wire extending proximal from the medical device and configured to connect to a corresponding actuating wire of the medical device, and at least one end effector arthroperi wire configured to connect to a corresponding arthroperi wire of the medical device, wherein movement of the at least one end effector arthroperi wire in at least one proximal or distal direction is configured to bend the stretcher.

[0018] The end-effector acting wire may extend through the lumen of the stretcher, and at least one end-effector articular movement wire may be positioned radially outward of the stretcher. The accompanying drawings incorporated herein and constituting part of this specification illustrate various exemplary embodiments and, together with the description, serve to illustrate the principles of the disclosed embodiments. [Brief explanation of the drawing]

[0019] [Figure 1] This is a side view of a medical device according to an exemplary embodiment. [Figure 2] Figure 1 is a cross-sectional view of a portion of the catheter and connector of the medical device. [Figure 3] Figure 1 is a perspective view of the end effector of the medical device. [Figure 4] Figure 1 is a cross-sectional view of an end effector connected to the connector of a medical device. [Modes for carrying out the invention]

[0020] The foregoing general description and the following detailed description are both exemplary and explanatory only and do not limit the claimed features. As used herein, the terms "comprises", "comprising", "having", "including", or other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or other elements inherent to such process, method, article, or apparatus.

[0021] For ease of explanation, a device and / or a portion of its components are referred to as a proximal portion and a distal portion. It should be noted that the term "proximal" is intended to refer to the portion closer to the user of the device, and the term "distal" is used herein to refer to the portion further away from the user. Similarly, "extending distally" indicates that a component extends in the distal direction, and "extending proximally" indicates that a component extends in the proximal direction. Further, as used herein, the terms "about", "approximately", and "substantially" indicate a range of values within + / - 10% of the stated or implied value. Additionally, terms indicating the geometric shape of a component / surface only refer to an approximate shape.

[0022] As described above, a medical system or a portion thereof can be used multiple times to reduce medical waste. The medical system can include, for example, a universal connector that can be attached to corresponding connectors of various end effectors such as snares, hemostatic clips, forceps, needles, cutting knives, ablation devices, and any other instruments useful in medical procedures. Thus, a single medical system or a portion thereof can be used multiple times with a plurality of end effectors.

[0023] Referring to FIG. 1, a medical device 10 according to one embodiment (e.g., a device for grasping tissue and / or placing a medical clip) is shown. The medical device 10 includes a handle 20, a catheter 60 (e.g., an outer sheath or tube defining a lumen) connected to the distal end of the handle 20, a universal connector 70 connected to the distal end of the catheter 60, and an end effector 80 (e.g., a clip for holding tissue) connected to the universal connector 70 via a connector 82.

[0024] Continuing to refer to FIG. 1, the handle 20 is illustrated. The handle 20 includes a body 22, and the body 22 defines a hole 24 within the body 22 at the proximal end 22a of the body. The hole 24 can be used to accommodate the thumb of a user of the medical device 10. The catheter 60 is attached to the distal end on the opposite side of the body 22. A slot 26 extends through the body 22 in a direction parallel to the longitudinal axis A of the handle 20 and the catheter 60. The spool 28 includes a bar (not shown) disposed within the slot 26, and the bar moves within the slot 26 along the body 22 in a direction parallel to the longitudinal axis A. An actuating wire 36 (e.g., a wire, or any other elongated actuator such as a cable, braided member, etc.) extends distally from the distal end of the bar through the handle 20 and the catheter 60 into the cavity 72 of the connector 70 (FIG. 2). As described herein, actuating the spool 28 in the proximal direction with respect to the body 22 causes the wire 36 to actuate the end effector 80. The spool 28 includes two annular protrusions 30, 32 extending in a direction perpendicular to the direction of the longitudinal axis A from the spool 28 at the distal and proximal ends of the spool, respectively. The annular protrusions 30, 32 define an annular grip 34 that is grasped by a user (e.g., by the middle finger and index finger) as will be described in more detail herein between them.

[0025] As further shown in Figure 1, the slot 42 is defined on the side wall of the body 22 distal to the slot 26 and spool 28. The slot 42 extends distal to the most distal end of the slot 26 and extends distally parallel to the longitudinal axis A. Although only one slot 42 is shown, multiple slots 42 may be axially arranged around the body 22 of the handle 20, for example, so that the slots 42 are evenly spaced around the body 22. For example, the device 10 includes two slots, one slot 42 is shown in Figure 1 and the other slot 42 is on the upper part of the body 22 in Figure 1. The knob 40 may slide within each slot 42 in a direction parallel to the longitudinal axis A. The knob 40 may include a hole into which a user can insert a finger or thumb to assist in the movement of the knob 40. Alternatively or additionally, each knob 40 may be shaped such that a user can grasp the knob 40, for example, with their fingers and / or thumb, and slide each knob 40 proximal and distally within the corresponding slot 42.

[0026] The distal end of each knob 40 may be attached to the proximal end of a corresponding articular movement wire 44 (e.g., a wire, or any other elongated actuator such as a cable or braided member). The wire 44 extends distally from the knob 40 through the body 22 of the handle 20 and the catheter 60, and terminates in the cavity 72 of the connector 70 (Figure 2). As described herein, the proximal-distal movement of the knob 40 and the corresponding wire 44 allows the distal end of the medical device 10 (e.g., an end effector, a medical instrument, and / or other parts of the distal end of the medical device 10) to be articularized to the right, left, up, or down with respect to the longitudinal axis A. For example, each knob 40 may be attached to a corresponding wire 44. The medical device 10 may include one, two, three, or four (or more) sets of knobs 40 and wires 44. The actuation of the knobs 40 and the corresponding wires 44 allows the medical device 10 to be actuated independently of the access catheter or scope. In this way, the distal end of the medical device 10 (including, for example, the end effector 80) can be articulated distal to the most distal end of the access catheter or scope.

[0027] Continuing to refer to Figure 1, the catheter 60 (e.g., wire coil, sheath, etc.) can be attached to the distal end of the handle 20 via a rotation control device 50. The rotation control device 50 may include ridges, protrusions, high-friction coatings, or otherwise uneven surfaces to improve the gripping surface for the user's fingers. During use, the user can rotate the gripping rotation control device 50 around the longitudinal axis A using, for example, their thumb and index finger. Rotation of the rotation control device 50 can rotate the catheter 60 and connector 70, thereby also rotating the end effector 80 connected to the connector 70. In this way, the user can align the end effector 80 with the target tissue at the target site around the longitudinal axis A and perform a medical procedure.

[0028] Referring to Figure 2, a cross-sectional view of the distal end of a catheter 60 connected to the proximal end of a connector 70 is shown. The catheter 60 includes a central lumen 64 defined by an outer wall 62. The outer wall 62 may be a wire coil for use in medical devices, or other suitable material, to allow rotation around a longitudinal axis A based on the rotation of a rotation control device 50. The outer wall 62 may be attached to the connector 70 by welding, adhesive, or other suitable mounting mechanism.

[0029] The connector 70 includes a body 71 defining a cavity 72. The body 71 may be any medical-grade material suitable for medical procedures. The body 71 may define a distally facing opening 71a that can receive the connector 82, as described herein. The connector 70 may include a central opening 74 at its proximal end. The wire 36 may extend from the handle 20 through the lumen 64 and through the central opening 74 into the cavity 72. The distal end of the wire 36 may include a hook 38 that can be connected to a corresponding part on the end effector 80. The wire 36 may be formed of a flexible material suitable for bending, so that the hook 38 can be bent from a hook shape to an elongated shape, as described herein.

[0030] The connector 70 may also include one or more articulation openings 78 extending through the proximal end of the connector 70 (for ease of understanding, a single articulation opening is shown in Figure 2). The articulation openings 78 may be arranged radially around the central opening 74. In one example, each articulation opening 78 may be inclined radially outward from its proximal end toward its distal end. For example, a wall 79 may define an articulation opening 78 and may be inclined from its proximal end toward its distal end. An articulation wire 44 may pass from the handle 20 through the lumen 64 and into the cavity 72 through the articulation opening 78. The articulation opening 78 may guide the corresponding articulation wire 44 when it is actuated. Each articulation wire 44 may include a hook 46 or other connecting mechanism at its distal end for connecting to a corresponding element in the end effector 80, as described herein. Each articular movement wire 44 may be formed of a suitable flexible material that bends when sufficient force is applied, thereby allowing the hook 46 to transition from a hook shape to an elongated shape, as described herein. As the articular movement wires 44 are moved in the proximal and distal directions, the end effector 80 can be moved left, right, up, and / or down with respect to the longitudinal axis A. In Figure 2, the articular movement opening 78 (not shown) is located behind the central opening 74.

[0031] Referring to Figures 1 and 3, the end effector 80 is shown together with a universal connector 82 configured to mate with the connector 70. Figure 1 shows the end effector 80 connected to the connector 70. The end effector 80 may include a stretcher 83 extending from the distal end of the connector 82. The stretcher 83 may include a lumen 83a through which one or more wires or cables extend. The distal end of the stretcher 83 may be attached to the proximal end of the medical device 100. The stretcher 83 may be a spring, coil, bellows, etc., configured to bend in one or more directions. In one example, the medical device 100 may be a gripping device having a base 104 attached to the distal end of the stretcher 83 and a pair of opposing forceps 102. As described herein, the forceps 102 can be operated by the action of a wire 44, causing them to open and close. In this way, a user can grasp tissue or other material between the forceps 102. The medical device 100 is not limited to a gripping device, but may be any medical device such as a snare, biopsy forceps, or needle.

[0032] Referring to Figures 3 and 4, the connector 82 includes a central opening 85 extending from its proximal end to its distal end. The central opening 85 may be connected to the lumen 83a of the stretcher 83 to allow fluid communication. An operating wire 84 (e.g., a wire, or any other elongated actuator such as a cable, braided member) may extend from the proximal end of the connector 82 through the central opening 85 and the stretcher 88, and may be attached to the forceps 102 via a clevis (not shown) or via any other suitable device (including any such device known in the art) for assembling the forceps 102 together with each other and to the wire 84 to allow the forceps 102 to open and close. The proximal end of the wire 84 extends proximal to the proximal end of the central opening 85 to form a hook 86. The hook 86 may be any suitable connector for connecting to the hook 38 of the wire 44. The wire 84 may contain a flexible material suitable for bending when sufficient force is applied, thereby allowing the hook 86 to transition from a hook shape to an elongated shape.

[0033] Continuing to refer to Figures 3 and 4, one or more openings 93 (for ease of understanding, only one opening 93 is shown in Figure 4) may extend from the proximal end of the connector 82 to the distal end of the connector 82. Alternatively, the proximal ends of one or more openings 93 may extend through the radially outer surface of the connector 82. Each opening 93 may have a straight or curved path. Articular wires 90 (e.g., wires, or any other elongated actuator such as cables, braided members) may extend through the corresponding openings 93 and may be connected to the base 104 at the distal end of the articular wires 92 by any suitable adhesive. The proximal end of each articular wire 90 may include a hook 92 or other suitable connector. The articular wires 90 may include a flexible material suitable for bending when sufficient force is applied, thereby allowing the hook 92 to transition from a hook shape to an elongated shape.

[0034] The connection between connector 70 and connector 82 is shown in Figure 4. An annular or circumferential flange 82a may be formed distal to the nearest end of connector 82, so that the portion of connector 82 proximal to the flange 82a has an outer diameter smaller than the inner diameter of the cavity 72. When connector 70 and connector 82 are connected by inserting the portion of connector 82 proximal to the flange 82a into the cavity 72, the flange 82a may contact the distal end face of connector 70. When connector 70 and connector 82 are connected together, hooks 38 and 86 are locked together, thereby connecting wire 44 and wire 84. In this way, the movement of the spool 28 moves wire 44 and wire 84 in conjunction, thereby operating the forceps 102 as described herein. Connectors 70 and 82 may have shapes and / or mechanisms or devices (e.g., projections on connector 70 and corresponding receptacles on connector 82, or alignment marks on connectors 70 and 82) to align connectors 70 and 82 and facilitate proper connection. Furthermore, such structural shapes and / or mechanisms may help the user determine whether end connector 82 is a suitable end connector for use with the medical device 10.

[0035] Furthermore, connecting connector 70 and connector 82 fastens (or "locks") each hook 46 to the corresponding hook 92, thereby connecting each articular movement wire 44 to the corresponding articular movement wire 90 (for ease of understanding, Figure 4 shows a single actuation wire 44 and a single actuation wire 90). In this way, movement or action of the knobs 40 moves the corresponding actuation wires 44 and 90 in conjunction, thereby allowing the end effector medical device 100 to be moved to the right, left, up, and / or down. It will be understood that the handle 20 may contain more knobs 40 (and corresponding actuation wires 44) than the actuation wires 90 housed within the end effector 80. For example, the handle 20 may contain four knobs 40 corresponding to four actuation wires 44 so that action is possible in four directions (e.g., up, down, left, and right). However, the end effector 80 may be designed to move in fewer than four directions, for example, only in the left / right direction, and therefore may include only two actuating wires 90 on either side in the radial direction of the end effector 80. In this case, the hook 92 of each actuating wire 90 is connected to the hook 46 of the corresponding actuating wire 44 such that the actuation of only two of the four actuating wires 44 results in articulation of the end effector 80. Thus, the handle 20 may provide more articulation directions than the end effector provides, but the handle 20 may be used with an end effector that has fewer articulation directions than the handle 20 provides.

[0036] As described herein, the wires 36, 84 and the articulated wires 44, 90 may include a flexible material that can bend when sufficient force is applied. For example, to disconnect connector 82 from connector 70, the handle 20 is moved proximal with sufficient force to move hooks 38, 86 and hooks 46, 92 from hook configurations to elongated configurations, thereby disconnecting the corresponding wires. Alternatively or additionally, the user may first move each knob 40 distally before moving the handle 20 proximal. In this way, the tension between hook 46 and hook 92 can be reduced, thereby reducing the amount of force required to disconnect hook 38 and hook 86. Once hooks 38 and hook 86 are disconnected, further proximal movement of the handle 20 can disconnect hook 46 from the corresponding hook 92.

[0037] Next, the method of using the medical device 10 will be described. First, the user may select an end effector from, for example, the various end effectors provided in the kit. The connector 82 of the selected end effector 80 can be attached to the connector 70 by inserting the portion of the connector 82 proximal to the flange 82a into the cavity 72. In this way, the hooks 38 and 86 can be connected. Furthermore, one or more hooks 92 can be connected to the corresponding hooks 46. In this way, the end effector 80 can be connected to or "locked" to the connector 70.

[0038] After connecting the end effector 80 to the connector 70, the end effector 80 can be inserted into the patient through an opening, for example, through an incision or natural orifice, and advanced within the body to the target site. Alternatively, the end effector 80 can be advanced to the target site via a pre-positioned catheter or scope within the body (for example, a catheter with a working channel of approximately 3.5 mm to 4.5 mm in diameter).

[0039] Once the end effector 80 is positioned at the target site, the user can control it using the handle 20. For example, the user can rotate the end effector 80 by gripping and rotating the rotation control device 50. In addition, the user can move the end effector 80 relative to the longitudinal axis A of the medical device 10, for example, up, down, right, or left, by moving one or more knobs 40 along the handle 20 in the proximal or distal direction. For example, sliding the upper knob 40 shown in Figure 1 proximal can pull the upper wires 44, 90 shown in Figure 4 proximal, creating a stretcher 83. Once the end effector 80 is properly positioned at the target site, the user can activate the jaws 102 of the medical device 100 by moving the spool 34 proximal and distally to grasp tissue or another object at the target site. It will be understood that by moving the spool 34, different medical instruments, such as a snare or a knife, can be activated to perform different medical procedures at the target site.

[0040] When a medical procedure is performed, and the end effector 80 is designed to be placed at a target site (e.g., a hemostatic clip), the connector 70 can be detached from the connector 82. To detach the connector 70 from the connector 82, the user may grasp the handle 20 and pull the medical device 10 proximal with enough force to bend and / or break the hooks 38, 46, 86, and / or 92. For example, the material of the hooks 86 and 92 may be thinner than that of the hooks 38 and 46, or have greater flexibility than the hooks 38 and 46. In this case, the hooks 86 and 92 may deform when sufficient proximal force is applied to the handle 20. Once the hooks 38 and 46 are disengaged from the corresponding hooks 86 and 92, the catheter 60 and connector 70 can be removed from the body. Alternatively, if the end effector 80 is not designed to be implanted in the body, the end effector 80 may be removed from the body along with the catheter 60 and connector 70, and the end effector 80 can be detached from the connector 70 after removal from the body.

[0041] Once removed from the body, another end effector 80 selected from a variety of end effectors may be attached to the connector 70. In one embodiment, the same end effector 80 may be attached (e.g., a second hemostatic clip), or different end effectors 80 may be used, and the procedure may be performed in a manner similar to that discussed herein. In some cases, the handle 20, catheter 60, and / or connector 70 may be discarded by the user, or may be sterilized and reprocessed or reused by the user using the same or different end effector 80. Alternatively, the handle 20, catheter 60, and connector 70 may be disinfected and returned to manufacture for reloading and reuse. In this way, the handle 20, catheter 60, and connector 70 can be reused in multiple procedures, thereby reducing costs and / or reducing waste from medical procedures. In addition, since the connector 70 can be used with multiple different medical instruments 100, a single medical device 10 can be used to perform multiple different actions (e.g., cutting, grasping, and / or capturing target tissue) during a medical procedure, thereby potentially saving time, money, and / or other resources.

[0042] It will be understood that the portion of the body 22 including the slot 42 may be formed as a single component, as well as the portion of the body 22 including the slot 26, or it may be formed separately from the portion of the body 22 including the slot 26. In one example, the portion of the body 22 including the slot 42 may be formed as a separate component. In this case, the wire 36 may be passed from the distal end to the proximal end through the central lumen (not shown) of the portion of the body 22 having the slot 42 and attached to the spool 28. The portion of the body 22 having the slot 42 may be attached to the portion of the body 22 having the slot 26 by any means, including but not limited to adhesive, welding, snap fitting, etc.

[0043] The wires of the handle 20 and the end effector 80 are shown with hooks, but are not limited thereto. For example, corresponding wires may have a ball-socket connection such that one wire has a spherical end and the corresponding wire has a receptacle of the corresponding shape. Alternatively or additionally, some of the wires may contain a material that requires less force to break than the others. For example, when sufficient force is applied proximal to the handle 20, the wires of the end effector may break, while the wires of the handle 20 may not. Thus, if the end effector 80 is designed to be implanted in the body and / or replaced during a medical procedure, the end effector 80 may be more easily detached from the handle 20. Alternatively, or using magnets, the corresponding ends of the wires may be connected. It is also understood that detachment of the end effector 80 may be achieved without the handle 20. For example, the handle 20 may be configured not to provide sufficient force to detach the end effector 80. Instead, disconnection can only be performed when the end effector 80 is outside the body. Such disconnection can be performed by the user simply pulling the end effector 80 out of the connector 70, either by hand or using a tool (e.g., pliers). In this way, it is impossible for the end effector 80 to be accidentally disconnected by the user.

[0044] It will also be understood that the medical device 10 may be made from any material known in the art, including but not limited to medical-grade plastics or rubber, ceramics, metals, or combinations thereof.

[0045] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed devices without departing from the scope of this disclosure. For example, medical devices may be used to connect to various internal clips, knives, snares, or other similar devices. Other embodiments of this disclosure will be apparent to those skilled in the art from the consideration herein and the practice of the invention disclosed herein. This specification and the examples are for illustrative purposes only, and the true scope and spirit of the invention are intended to be shown by the following claims.

Claims

1. A handle having a proximal end, a distal end, and an actuator configured to move between the distal end and the proximal end, wherein the actuator is connected to a handle operating wire, A tube extending from the distal end of the handle, The tube comprises a connector located at its distal end, configured to be detachably connected to an end effector, The distal end of the handle actuation wire includes a connector element configured to be detachably connected to the corresponding connector element of the end effector actuation wire of the end effector. Medical devices.

2. The medical device according to claim 1, further comprising the end effector, the end effector including a medical device, wherein movement of the actuator in at least one of the proximal and distal directions is configured to activate the medical device.

3. The medical device according to claim 1 or 2, wherein the actuator is a spool, and the handle includes a handle body on which the spool moves in translation.

4. The medical device according to any one of claims 1 to 3, wherein the handle further includes at least one joint motion control device, the at least one joint motion control device being connected to a handle joint motion wire.

5. The medical device according to claim 4, wherein the at least one joint motion control device is configured to move between the proximal and distal ends of the handle, and the proximal position of the at least one joint motion control device is distal to the most distal position of the actuator.

6. The medical device according to claim 4 or 5, wherein the end effector includes an end effector articulation wire, the handle articulation wire is configured to engage with the end effector articulation wire when the end effector is connected to the connector, and the movement of the at least one articulation control device is configured to move the end effector from a first position in which the end effector is aligned with the longitudinal axis to a second position in which at least a portion of the end effector is inclined with respect to the longitudinal axis.

7. The medical device according to claim 6, wherein the at least one joint movement control device comprises a plurality of joint movement control devices, the plurality of joint movement control devices being radially spaced around the handle.

8. The medical device according to claim 7, wherein each of the plurality of joint movement control devices is attached to a corresponding handle joint movement wire.

9. The medical device according to any one of claims 1 to 8, wherein the connector includes a cavity facing distally, and the proximal portion of the end effector is configured to be at least partially inserted into the cavity when the end effector is connected to the connector.

10. The medical device according to any one of claims 4 to 9, wherein the end effector includes a stretcher attached to an end effector connector at its proximal end and to a medical device at its distal end, and the movement of the at least one joint motion control device bends the stretcher.

11. The medical device according to claim 10, wherein the end effector includes at least one end effector joint motion wire positioned radially outward of the stretcher.

12. The medical device according to any one of claims 1 to 11, wherein the distal end of the handle actuator wire includes a hook, and the proximal end of the end effector actuating wire includes a hook for connecting to the hook of the handle actuating wire.

13. A medical device according to any one of claims 1 to 12, wherein a proximal force applied to the handle is configured to disconnect the end effector from the connector, and the proximal force is sufficient to deform at least one of the handle actuating wire and the end effector actuating wire to disconnect the end effector from the connector.

14. The medical device according to claim 13, wherein the connector is configured to be attached to another end effector after the end effector has been disconnected from the connector.

15. The medical device according to any one of claims 1 to 14, further comprising a rotation control device connected to the handle and the tube, wherein the rotation of the rotation control device is configured to rotate the end effector about the longitudinal axis of the tube.

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