Articulating retractors

Abstract

The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

1 - 7 . (canceled) 
     
     
         8 . A controller for a surgical system, the controller comprising:
 a handle including a first holding surface configured to interface with a palm of a user hand;   a first finger interface coupled to the handle and configured to interface with a first finger of the user hand, wherein the first finger interface controls motion of a first end effector; and   a second finger interface coupled to the handle and configured interface with a second finger of the user hand, wherein the second finger interface controls motion of a second end effector.   
     
     
         9 . The controller of  claim 8 , wherein the first holding surface of the handle extends below the first finger interface and the second finger interface. 
     
     
         10 . The controller of  claim 9 , wherein the handle further includes a second holding surface configured to interface with a third finger of the user hand. 
     
     
         11 . The controller of  claim 8 , wherein the first finger is an index finger of the user hand and the first finger interface is configured to interface with the index finger. 
     
     
         12 . The controller of  claim 8 , wherein the second finger is a thumb of the user hand and the second finger interface is configured to interface with at least the thumb. 
     
     
         13 . The controller of  claim 8 , wherein the first finger interface includes a loop for receiving the first finger of the user hand. 
     
     
         14 . The controller of  claim 13 , wherein the loop is positioned at a distal portion of the first finger interface. 
     
     
         15 . The controller of  claim 8 , wherein the first finger interface is coupled to the handle by a joint. 
     
     
         16 . The controller of  claim 8 , wherein a distal end of the first finger interface extends away from the handle. 
     
     
         17 . The controller of  claim 8 , wherein the first finger interface is coupled to a top portion of the handle. 
     
     
         18 . The controller of  claim 8 , wherein the second finger interface is coupled to a top portion of the handle. 
     
     
         19 . The controller of  claim 8 , wherein the second finger interface includes a joint movable in a plurality of degrees of freedom. 
     
     
         20 . The controller of  claim 19 , wherein the second finger interface further includes a finger grip surface configured to interface with a distal portion of the second finger of the user hand. 
     
     
         21 . The controller of  claim 20 , wherein the joint is coupled between the finger grip surface of the second finger interface and the handle of the controller. 
     
     
         22 . The controller of  claim 8 , wherein actuation of the first finger interface causes corresponding actuation of the first end effector. 
     
     
         23 . The controller of  claim 8 , wherein actuation of the second finger interface causes corresponding actuation of the second end effector. 
     
     
         24 . The controller of  claim 8 , wherein the first finger interface is coupled to a side surface of the handle. 
     
     
         25 . The controller of  claim 8 , wherein the first finger interface and the second finger interface are simultaneously actuatable. 
     
     
         26 . The controller of  claim 8 , The controller of  claim 25 , wherein simultaneous actuation of the first finger interface and the second finger interface causes corresponding simultaneous actuation of the first end effector and the second end effector. 
     
     
         27 . The controller of  claim 8 , wherein the controller is movable in a plurality of degrees of freedom.