Surgical Tool with Flexible, Articulating, and Rotating End Effectors

This patent describes a surgical tool with a flexible tip that can bend in multiple directions and also twist, allowing surgeons to precisely control instruments like graspers and cutters inside the body.

What it covers

The surgical tool features an elongate shaft with an end effector, such as jaws for grasping tissue, at its tip. A multi-axis articulation joint connects the shaft and end effector, allowing the tip to bend in various directions (Claim 1). Inside, a flexible torque transmission tube, part of a first rotary driver, extends through this joint to open and close the jaws (Claim 1). A linear pull cable runs inside this tube, also helping to move the jaws (Claim 1). The tool can also include a second rotary driver to advance a cutting element (Claim 3) and a rotation shaft to twist the end effector around its own axis (Claim 6), providing highly versatile movement for complex surgical tasks.

What it doesn't cover

• —Does not cover surgical tools where the end effector cannot articulate in multiple axes relative to the shaft.
• —Does not cover tools where the jaw-actuating rotary driver does not use a flexible torque transmission tube extending through the joint.
• —Does not cover tools where the linear pull cable for jaw movement is not at least partially within the flexible torque transmission tube.
• —Does not cover tools that articulate but lack the ability to rotate the end effector distal to the multi-axis articulation joint.
• —Does not cover simple laparoscopic tools that only articulate in a single plane or lack a rotary driver for jaw actuation.

The clever bit

The core innovation lies in efficiently routing both rotational power for jaw actuation and linear force for jaw movement through a flexible multi-axis joint. This is achieved by nesting a linear pull cable inside a flexible torque transmission tube, allowing both functions to pass through the bending joint without interfering with articulation.

Why it matters

This patent addresses a key challenge in minimally invasive surgery: providing instruments with enough dexterity to operate in confined spaces. By combining multi-axis articulation with rotation and flexible drive mechanisms, it enables surgeons to perform more complex procedures through small incisions. This technology is fundamental to advanced robotic and laparoscopic surgical systems, improving precision and patient outcomes.

Real-world examples

• 1.Da Vinci Surgical System instruments
• 2.Ethicon ECHELON CIRCULAR Powered Stapler
• 3.Advanced laparoscopic surgical instruments
• 4.Robotic-assisted surgical platforms
• 5.Articulating endoscopic tools