(12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT)
`
`(19) World Intellectual Property Organization
`International Bureau
`
`13 August 2009 (13.08.2009) (10) International Publication Number
`
`(43) International Publication Date
`
`WO 2009/100366 A2
`
`
`(51)
`
`(21)
`
`International Patent Classification:
`A613 1 7/28 (2006.01)
`A613 17/00 (2006.01)
`
`(81)
`
`International Application Number:
`PCT/US2009/033443
`
`(22)
`
`International Filing Date:
`
`6 February 2009 (06.02.2009)
`
`(25)
`
`(26)
`
`(30)
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`(71)
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`(72)
`(75)
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`Filing Language:
`
`Publication Language:
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`English
`
`English
`
`Priority Data:
`12/027,231
`
`6 February 2008 (06.02.2008)
`
`US
`
`except US):
`all designated States
`(for
`Applicant
`ARAGON SURGICAL INC.
`[US/US]; 1810 Embar-
`cadero Road-Suite B, Palo Alto, CA 94303 (US).
`
`Inventors; and
`only): KERVER,
`US
`0hr
`Inventors/Applicants
`Lawrence [US/US]; 19289 Green Forest Road, Los
`Gatos, CA 95033 (US). TANG, Brian [US/US]; 47441
`Hoyt Street, Fremont, CA 94539 (US). HO, Friedrich
`[US/US]; 75 Dcvonshirc Avcnuc, Unit
`1, Mountain
`View, CA 94043 (US). NORDELL, Ben [US/US]; 328
`Landfair Avneue, San Mateo, CA 94403 (US).
`
`(74)
`
`a1.; Glenn Patent
`Agents: GLENN, Michael, A. et
`Group, 3475 Edison Way, Ste. L., Menlo Park, CA 94025
`(US).
`
`Designated States (unless otherwise indicated, for everv
`kind ofnational protection available): AE, AG, AL, AM,
`AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ,
`CA, CH, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ,
`EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN,
`HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KR,
`KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME,
`MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO,
`NZ, OM, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG,
`SK, SL, SM, ST, SV, SY, TJ, TM, TN, TR, TT, TZ, UA,
`UG, US, UZ, VC, VN, ZA, ZM, ZW.
`
`(84)
`
`Designated States (unless otherwise indicated, for every
`kind of regional protection available): ARIPO (BW, GH,
`GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM,
`ZW), Eurasian (AM, AZ, BY, KG, KZ, MD, RU, TJ,
`TM), European (AT, BE, BG, CH, CY, CZ, DE, DK, EE,
`ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV,
`MC, MK, MT, NL, NO, PL, PT, RO, SE, SI, SK, TR),
`OAPI (BF, BJ, CF, CG, CI. CM. GA. GN, GQ, GW, ML,
`MR, NE, SN, TD, TG).
`Published:
`
`without international search report and to be republished
`upon receipt ofthat report (Rule 48.2(g))
`
`(54) Title: METHOD AND APPARATUS FOR ARTICULATING THE WRIST OF A LAPAROSCOPIC GRASPING INSTRU-
`MENT
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`(57) Abstract: A medical instrument has a set of opposing jaws that can be articulated, both left and right, from centerline. The in—
`strument has a proper bend radius and support for the jaw actuation member and cutter driving member. The bendable support for
`the drive members comprises tightly wound coil springs. Another embodiment of the invention controls the degree of articulation
`at the handle of the laparoscopic instrument. A further embodiment of the invention incorporates a locking mechanism to prevent
`motion of the wrist While the user performs other operations on the device. The locking mechanism also includes an indexing fea—
`ture with which the user can index and choose the necessary amount of angle between preset angles.
`
`
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`WO 2009/100366
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`PCT/U82009/033443
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`Method and Apparatus for Articulating the Wrist
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`of a Laparoscopic Grasping Instrument
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`BACKGROUND OF THE INVENTION
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`TECHNICAL FIELD
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`The invention relates to medical devices for use during laparoscopic procedures.
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`More particularly, the invention relates to a method and apparatus for articulating
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`the wrist of a laparoscopic grasping instrument.
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`DESCRIPTION OF THE PRIOR ART
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`Laparoscopic surgery, also called minimally invasive surgery (MIS), band aid
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`surgery, keyhole surgery, or pinhole surgery is a modern surgical technique in
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`which operations in the abdomen are performed through small incisions, usually
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`0.5—1.5cm, as compared to larger
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`incisions needed in traditional surgical
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`procedures. Laparoscopic surgery includes operations within the abdominal or
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`pelvic cavities, whereas keyhole surgery performed on the thoracic or chest
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`cavity is called thoracoscopic surgery. Laparoscopic and thoracoscopic surgery
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`belong to the broader field of endoscopy.
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`The key element
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`in laparoscopic surgery is the use of a laparoscope: a
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`telescopic rod lens system, that is usually connected to a video camera (single
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`chip or three chip). Also attached is a fiber optic cable system connected to a
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`cold light source (halogen or xenon), to illuminate the operative field, inserted
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`through a 5 mm or 10 mm cannula to view the operative field. The abdomen is
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`usually insufflated with carbon dioxide gas to create a working and viewing
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`space. The abdomen is essentially blown up like a balloon (insufflated), elevating
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`the abdominal wall above the internal organs like a dome. The gas used is C02,
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`as it
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`is common to the human body and can be removed by the respiratory
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`system if it absorbs through tissue. It is also non—flammable, which is important
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`due to the fact that electrosurgical devices are commonly used in laparoscopic
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`procedures.
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`Surgery is performed during a laparoscopic procedure with any of various tools
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`that are typicaliy arranged on one end of a long shaft and that are operable by
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`manipulation of a handle or other actuator positioned at the other end of the
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`shafi.
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`One area of laparoscopic surgery that is currently the subject of interest is that of
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`electrocauterization. Electrocauterization,
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`also called
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`electric
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`surgery or
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`electrosurgery,
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`is the process of destroying tissue with electricity and is widely
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`used in modern surgery. The procedure is frequently used to stop bleeding of
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`small vessels, larger vessels being ligated, or for cutting through soft tissue, i.e.
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`abdominal fat in a laparotomy or breast tissue in a mastectomy.
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`One problem with state of the art electrocauterization devices for use during a
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`laparoscopic procedure is the limited range of motion provided by the jaws of
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`such device, and the difficulty encountered by a surgeon in positioning such
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`device, and in operating such device through a range of motion, during a
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`laparoscopic procedure.
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`SUMMARY OF THE INVENTION
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`The invention provides a method and apparatus for articulating the wrist of a
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`laparoscopic grasping instrument. The presently preferred medical instrument
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`has a set of opposing jaws that can be articulated, both left and right, from
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`centerline. The invention also provides a proper bend radius and support for the
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`jaw actuation member and cutter driving member. The bendable support for the
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`drive members in the presently preferred embodiment of the invention comprises
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`tightly wound coil springs.
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`Another embodiment of the invention incorporates a method to control
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`the
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`degree of articulation at the handle of the laparoscopic instrument. A further
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`embodiment of the invention incorporates a locking mechanism to prevent
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`motion of the wrist while the user performs other operations on the device. The
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`locking mechanism also includes an indexing feature with which the user can
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`index and choose the necessary amount of angle between preset angles.
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`BRIEF DESCRIPTION OF THE DRAWINGS
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`Figure 1
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`is a perspective diagram showing the wrist of a laparoscopic grasping
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`instrument according to the invention;
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`Figure 2 is a plan view showing a wrist of a laparoscopic grasping instrument
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`according to the invention;
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`Figure 3 is a schematic view showing a top cutaway of a wrist articulation control
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`mechanism according to the invention;
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`Figure 4 is a perspective schematic view showing a laparoscopic grasping
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`instrument according to the invention;
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`Figure 5 is another perspective view of a laparoscopic grasping instrument
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`according to the invention;
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`Figure 6 is a perspective schematic view of an indexing mechanism for a
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`laparoscopic grasping instrument according to the invention;
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`Figure 7 is a perspective schematic view of a detent mechanism for a
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`laparoscopic grasping instrument according to the invention;
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`Figure 8 is a perspective schematic view of a detent and indexing mechanism for
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`a laparoscopic grasping instrument according to the invention;
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`Figure 9 is a plan schematic view of a step ball detent mechanism for a
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`laparoscopic grasping instrument according to the invention;
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`Figure 10 is a perspective schematic view of the step ball detent mechanism for
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`a laparoscopic grasping instrument according to the invention;
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`Figure 11 is a second perspective schematic view of the step ball detent
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`mechanism for a laparoscopic grasping instrument according to the invention;
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`Figure 12 is a perspective schematic view of a push lock mechanism for an
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`articulation contro!
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`in a laparoscopic grasping instrument according to the
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`invention;
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`Figure 13 is a phantom perspective schematic view of the push lock mechanism
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`for an articulation control mechanism in a laparoscopic grasping instrument
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`2O
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`according to the invention;
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`Figure 14 is a perspective schematic view of a grab knob for the push lock
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`mechanism in a articulation control for a laparoscopic grasping instrument
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`according to the invention;
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`Figure 15 is a perspective, partially cutaway view ofa laparoscopic device,
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`showing a drive member according to the invention; and
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`Figure 16 is a perspective view of a drive assembly for a laparoscopic device
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`DETAILED DESCRIPTION OF THE INVENTION
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`The invention provides a method and apparatus for articulating the wrist of a
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`laparoscopic grasping instrument. The presently preferred medical instrument
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`has a set of opposing jaws that can be articulated, eg. 45 degrees or otherwise
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`as desired, both left and right, from centerline. The invention also provides a
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`proper bend radius and support for the jaw actuation member and cutter driving
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`member. The bendable support for the drive members in the presently preferred
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`embodiment of the invention comprises tightly wound coil springs.
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`Another embodiment of the invention incorporates a method to control
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`the
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`degree of articulation at the handle of the laparoscopic instrument. A further
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`embodiment of the invention incorporates a locking mechanism to prevent
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`motion of the wrist while the user performs other operations on the device. The
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`locking mechanism also includes an indexing feature with which the user can
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`index and choose the necessary amount of angle between preset angles.
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`The presently preferred embodiment of the invention comprises a medical
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`instrument, preferably for performing a laparoscopic procedure, which comprises
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`a set of pivotal vertebra that are connected to each other by pins or by a snap fit.
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`Each vertebra is adapted to pivot in relation to a device shaft and jaw set, thus
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`allowing left and right articulation. The degree of articulation is controlled by
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`wires or cables that run down both sides of a device wrist. The wires are then
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`routed down the shaft and connected in tension to a control mechanism at a
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`device handle. The cables or wires are used to transfer the forces from the
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`handle to the wrist.
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`The vertebra form the proper bend radius to allow for a force transfer member,
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`such as a wire, to pass through the wrist without kinking the wire. Furthermore, in
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`one embodiment a tightly wound coil spring is housed within the wrist joints to
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`route said wire. The tightly wound coil spring provides additional support to the
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`wire, such that when the wire is moved from a proximal to a distal direction,
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`it
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`does not buckle or kink.
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`The control mechanism at the handle consists of a rotating assembly that
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`receives the force transfer members from the wrist. The rotating assembly is
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`pivotally mounted at the handle, and the shape of the control mechanism allows
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`for concentric rotation about the pivot so that the length—wise motion of the wires
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`or cables along the shaft can be controlled, based upon the distance from the
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`pivot to the attachment point of said wires or cables. The angle of articulation is
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`controlled by the distance that the force transfer member moves, which is
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`predetermined by the wrist geometry.
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`There are several embodiments that comprise a locking and indexing feature of
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`the invention:
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`in a first embodiment, a spring steel is formed into a geometry that deflects when
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`a force is applied, as with a leaf spring. The leaf spring is housed within a circular
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`carrier, with only the deflectable portion of the spring accessible and protruding
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`from a circular carrier. A rotating member with a circular portion removed from its
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`pivot area fits over the circular carrier. A tooth pattern is also removed from along
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`the inner diameter of the circular portion of the rotating member. The rotating
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`member includes arms extending from its center body to which the cable or wires
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`are attached. The leaf-like spring protrudes into the indentations created by the
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`tooth pattern. The angle of articulation is controlled by predetermining the
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`distances between the teeth and the distance from the attachment point of the
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`25
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`cable or wires to the pivot point.
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`In a second embodiment, a spring plunger is mounted within the circular carrier.
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`The spring plunger mates with the indents created by the tooth pattern.
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`in a third embodiment, the rotating member described above does not have
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`arms extending from its center body. A wing is mounted on top of the rotating
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`member. The wing is then manipulated to control the rotation around the circular
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`carrier.
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`in a fourth embodiment, a living plastic hinge is mounted near the handle. The
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`living plastic hinge uses a V—shape that fits within a slot of an external housing
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`that surrounds the living hinge. The tip of the V-shape protrudes from each slot.
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`There are a series of slots along the length of the external housing. The housing
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`engages with the cable and wires that control articulation of the wrist. The user
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`can adjust and lock the wrist articulation by first pressing down on the living
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`hinge to disengage the current locked position, then moving the external housing
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`from a proximal
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`to a distal position or vice versa, which then locks by re—
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`engaging with the living hinge at any various predetermined distances set by the
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`slots. These distances determine the angle at which the wrist is articulated.
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`In a fifth embodiment, the rotating mechanism described above rotates freely
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`around the pivot. When the user has determined the angle of articulation, a
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`button mounted on top of the pivot is depressed, which locks the wrist angle and
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`the rotating mechanism,
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`thus preventing any further movement of both the
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`rotating mechanism and wrist. This can be accomplished using a wedge-like
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`design that is anchored within the pivot pin, which in this embodiment is a tube.
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`A minimum of a single slot is designed into the pivot pin. When the button is
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`depressed, the inherent spring properties of the button flare from the slot. The
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`flaring material uses friction to prevent movement of the rotating mechanism.
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`The button itself remains in place due to a wedge design at the top.
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`Further to the foregoing discussion, a more detailed explanation of the invention
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`is now provided in connection with Figures 1—14.
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`Figure 1
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`is a first perspective view of a laparoscopic device according to the
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`invention. Figure 1
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`is a partial view that shows the main shaft 24 of the device
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`and the jaw assembly 25, which is comprised of an upper jaw 13 and a lower
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`jaw 11 .
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`in this embodiment of the invention, the upper jaw is pivotable away
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`from and toward the lowerjaw about a pivot point 17, which, in this embodiment
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`is comprised of a pin or axle.
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`In other embodiments of the invention, the lower
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`jaw may be pivotabie as well, but in the embodiment shown in Figure 1, the lower
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`jaw is fixed. Pivoting of the upper jaw is accomplished by transmitting tension to
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`a jaw activation pin 18, which is moveable, in an activation slot 19 . Typically,
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`tension is applied via a cable attached to the jaw activation pin. Thus, movement
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`of the jaws is accomplished. The jaws themselves are configured for such
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`laparoscopic procedures as electrocautery and tissue severing. Accordingly, as
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`shown in the bottom jaw 11, a distal electrode 12 is provided, embedded in the
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`plastic carrier 15. A second, proximal electrode 15 is also shown. A cutting
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`groove 14 is shown for receiving a blade during a sectioning operation. The
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`blade is not shown in Figure 1.
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`During laparoscopic procedures, it is desirable to be able to position the jaws of
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`the device from left to right to achieve the best angle of approach to the tissue to
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`be treated. Key to the invention is the provision of an articulated wrist 22, which
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`is comprised of a plurality of articulation discs or vertebrae 21. The articulation is
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`accomplished by tensioning a pair of cables discussed below and a termination
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`of which is shown in Figure 1 as a wire, which is soldered or crimped in a groove
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`at a cable termination point 20. Further, Figure 1 shows a lock for an outside
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`shaft tube or clamping mechanism to hold the wrist to the tube. This is shown by
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`a clamping slot 23.
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`Figure 2 is a top or plan view of the laparoscopic device showing the jaws 25 and
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`shaft 24.
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`in particular, the articulated wrist 22 is shown in greater detail.
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`in this
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`embodiment a plurality of vertebrae comprises interconnected pivotabie, hinged
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`disks, where the discs 21 are articulated with one another and comprise a series
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`of ball—like projections 27, which are engaged in complementary grooves 28.
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`The jaw assembly 25 in this embodiment shows a ball-like projection 29, which is
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`engaged in a groove of the articulation disc and the shaft 24 includes a
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`complementary groove 30 for receiving a bail—like projection of an articulating
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`disc. As can be seen in Figure 2, a cable 31 is shown as well. The cable is a
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`coiled pipe sheath assembly that, in this embodiment, is used to operate a blade
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`within the jaw. The coiled assembly allows the cable to bend with the articulation
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`of the device without kinking, as discussed above.
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`Figure 3 is a partially cutaway side schematic View of an activation mechanism
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`32 for operating the articulation joint. In Figure 3, a wrist articulation control 33 is
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`shown having two finger—actuated blades to pivot the control about a pivot point
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`35. This pivoting action respectively applies attention to and draws attention from
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`a pair of control cables 34a/34b, which, in this embodiment of the invention, are
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`pretensioned Nitinol cables. Those skilled in the art will appreciate that other
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`cable materials may be used. Operation of the wrist articulation control causes
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`one cable to pull on the jaw assembly 25, thus causing the jaw assembly to
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`move left or right as desired. Key to the invention is the provision of the
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`articulation discs which allow such articulation to occur.
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`In the prior art,
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`it
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`is
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`known that such mechanisms as kerfs or other bending mechanisms can be
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`provided. However, these mechanisms are subject both to stress, which reduces
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`their effectiveness over time, and they retain a memory effect, such that there is
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`a tendency for them to return to their initial position, rather the maintain a
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`position desired by the surgeon using the device. The invention herein avoids
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`both of these deleterious effects of operation of the device.
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`Figure 4 is a perspective view of a laparoscopic device according to the invention
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`showing a housing 43 having a handle 44 and a jaw activation trigger 45 that
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`operates a four—bar
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`linkage or other type of linkage 46 to transmit
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`tension
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`through the main shaft 24 and thereby operate the jaws to open and close them
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`as desired. Also shown in Figure 4 is a blade actuator 42 by which a blade may
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`be drawn through the groove discussed above. A shaft rotator 41 allows the
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`shaft to be rotated about a shaft access, while the wrist articulation control 33
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`allows the wrist mechanism to be operated. Note in Figure 4 that the wrist
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`articulation control includes a control slot 40 that both guides and contains the
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`Figure 5 is a perspective view of a further embodiment of the invention in which
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`the shaft rotator 51 is contained within the housing 57. This embodiment of the
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`invention also includes a blade actuator 52, a wrist articulation control 53, a
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`handle 54, and a jaw activation trigger 55.
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`Figure 6 is a perspective schematic view of the wrist activation control of the
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`laparoscopic device shown in Figure 5. A base portion 66 supports a ring
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`projection 65 which,
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`in turn, accommodates the control 53. Tensioned cables
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`34a/34b are shown having termination bails, which provide a cable stop 64a/64b.
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`The cables are threaded through the control actuator 53 through respective
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`grooves 63a/63b. An indexing disc 61 includes a plurality of detents 62. A flat
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`spring 61 is arranged to engage within said detents to provide a stop mechanism
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`to secure the jaws in a selected position by preventing movement of the
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`articulation control 53, except when desired by a user of the device.
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`Figure 7 is a perspective schematic view of the base portion of the articulation
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`control 66 showing the spring mechanism 61 sitting in a recess 70 of the ring—iike
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`projection 65.
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`Figure 8 is a schematic perspective view of the articulation control 53 showing
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`the detents 62 in greater detail.
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`Figure 9 shows an alternative embodiment invention,
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`in which an articulation
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`control 93 includes a plurality of detents 92 formed in a detent indexing disc 97.
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`Operation of the control 93 causes rotation about a pivot point 91 and engages a
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`step ball 95 into one of a plurality of detents 92 formed in the indexing ring. A ball
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`plunger mechanism 94 maintains bias on the step ball 95. The indexing control
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`93 includes a pair of attachment points 98a/98b, discussed in greater detail
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`below.
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`Figure 10 is a perspective view of the index control mechanism for
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`the
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`articulation mechanism in the laparoscopic device. As shown in Figure 10, a pair
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`of grooves 100a/100b are provided for receiving control cables (not shown).
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`Figure 11
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`is a further perspective view of the control mechanism for the
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`articulation wrist in a laparoscopic device according to the invention. Figure 11
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`shows clearly the arrangement of the articulation control 93 in connection with
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`the indexing ring 97, and in particular shows the attachment there between a pair
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`of pins 98a/98b.
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`Figure 12 is a further embodiment of the invention showing an indexing
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`mechanism comprised of an indexing pin 120, which is engaged in a slot 121.
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`Figure 13 is a cutaway perspective view showing the indexing pin 120 comprising
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`a head portion 131 and a plurality of flared portions 130 which engage or
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`disengage with a locking block 133. Accordingly,
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`this embodiment of the
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`invention comprises a jam lock in which depression of the pin 120 jams the
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`flared portion of the pin 130 into the block 133 and thus prevents rotation of the
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`actuation control mechanism.
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`Figure 14 is a detailed view of the jam mechanism showing the pin 120, head
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`131, and flares 130 in greater detail.
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`Figure 15 is a perspective, partially cutaway view of a laparoscopic device,
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`showing a drive member according to the invention. The drive members may be
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`made of a round wire (stainless steel or Nitinol), using tightly wound coil springs
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`for support. The drive members may also be flat stainless steel bands 150, as
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`shown in Figure 15 and 16.
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`Figure 15 shows the wrist section of the device,
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`while Figure 16 shows only the components of interest, i.e., the jaw activating
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`band 150,
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`the closing pin 160, and cutting blade 161.
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`This embodiment
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`replaced the round wire with flat bands and supports the bands using the internal
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`structure of the vertebrae. Other embodiments may use flat polymer bands to
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`provide additional support. These bands could be either PTFE (Teflon®) or FEP.
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`The support structure may also involve PTFE or FEP shrink tubing over the
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`blade and/or the jaw actuation band.
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`5
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`Although the invention is described herein with reference to the preferred
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`embodiment, one skilled in the art will readily appreciate that other applications
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`may be substituted for those set forth herein without departing from the spirit and
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`scope of the present invention. Accordingly, the invention should only be limited
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`by the Claims included below.
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`C LA IMS
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`1. A laparoscopic grasping instrument, comprising:
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`an elongated shaft having a set of opposing jaws associated with a distal
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`end thereof and a handle associated with a proximal end thereof;
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`an articulation wrist positioned between said shaft and said jaw set for
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`effecting movement of said jaws relative to said shaft as desired, both left and
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`right, from centerline, said articulation wrist comprising:
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`an actuator associated with said handle;
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`10
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`15
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`at least one force transfer member for translating user operation of
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`said actuator into movement of said jaws to control
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`the degree of
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`articulation of said instrument; and
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`an articulation wrist comprising a set of pivotal vertebra that are
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`connected to each other, wherein each vertebra is adapted to pivot left
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`and right from centerline in relation to any of said shaft and said jaw set.
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`2. The instrument of Claim 1, further comprising:
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`a jaw actuation member.
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`20
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`3. The instrument of Claim 1, further comprising:
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`a cutter; and
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`a cutter driving member.
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`4. The instrument of Claim 1, further comprising:
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`a bendable support for said force transfer member comprising a tightly
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`wound coil spring housed within said wrist joints to route said drive member.
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`5. The instrument of Claim 1, further comprising:
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`a locking mechanism for preventing motion of said articulation wrist while
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`said user performs other operations on said instrument.
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`25
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`30
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`6. The instrument of Claim 5, said locking mechanism further comprising:
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`an indexing mechanism with which said user can index and choose a
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`necessary amount ofjaw angle between preset angles.
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`7. The instrument of Claim 1, said force transfer member comprising:
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`one or more wires or cables that run down both sides of the articulation
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`wrist for transferring forces from said actuator to said wrist.
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`8. The instrument of Claim 1, said actuator comprising:
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`a rotating assembly that
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`receives said one or more force transfer
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`10
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`members from said wrist;
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`wherein said rotating assembly is mounted to pivot about a pivot point at
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`said handle; and
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`wherein said actuator is configured for concentric rotation about said pivot
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`15
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`20
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`25
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`point;
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`wherein length-wise motion of said one or more force transfer members
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`along said shaft is controlled, based upon a distance from said pivot point to an
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`attachment point of said one or more force transfer members.
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`9. The instrument of Claim 8, wherein an angle of articulation is controlled by a
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`distance that said one or more force transfer members move, which is
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`predetermined by said wrist geometry.
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`10. The instrument of Claim 5, said locking mechanism further comprising:
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`a spring having a shape that deflects when a force is applied thereto;
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`wherein said spring is housed within a circular carrier; and
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`wherein only the deflectable portion of said spring accessible and
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`protruding from said circular carrier;
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`a rotating member having a circular portion removed from a pivot area;
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`wherein said rotating member is adapted to fit over said circular carrier;
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`30
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`and
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`a tooth pattern that is removed from along an inner diameter of said
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`circular portion of said rotating member;
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`said rotating member comprising arms extending from a center body
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`thereof to which said one or more force transfer members are attached;
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`wherein said spring protrudes into indentations created by said tooth
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`pattern; and
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`wherein an angle
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`of articulation of
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`said wrist
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`is
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`controlled
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`by
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`predetermining distances between said teeth and a distance from an attachment
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`point of said one or more force transfer member to pivot point.
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`11. The instrument of Claim 5, said locking mechanism further comprising:
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`10
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`a spring biased ball plunger mounted within a circular carrier;
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`a rotating member having a circular portion removed from a pivot area;
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`wherein said rotating member is adapted to fit over said circular carrier;
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`and
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`a tooth pattern that is removed from along an inner diameter of said
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`15
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`circular portion of said rotating member;
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`wherein said spring plunger mates with indents created by said tooth
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`pattern.
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`20
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`25
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`12. The instrument of Claim 5, said locking mechanism further comprising:
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`a wing is mounted on top of a rotating member;
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`wherein said wing is adapted to be manipulated to control rotation of said
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`rotating member around a circular carrier.
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`13. The instrument of Claim 5, said locking mechanism further comprising:
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`a living hinge mounted near said handle, said living hinge having a V-
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`shape portion that is adapted to fit within a series of slots of an external housing
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`that surrounds said living hinge, said V-shape portion having a tip that protrudes
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`from said series of slots;
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`wherein said series of slots are disposed along a length of said external
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`30
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`housing;
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`wherein said housing engages with said at
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`least one force transfer
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`member;
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`wherein said articulation wrist is adapted to be adjusted and locked by first
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`pressing down on said living hinge to disengage a current locked position, and
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`then moving said externai housing from a proximal to a distal position or vice
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`versa, which then locks by re—engaging with said living hinge at any various
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`predetermined distances set by said series of slots, wherein said distances
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`determine an angle at which said wrist is articulated.
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`14. The instrument of Claim 5, said locking mechanism further comprising:
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`a rotating member that rotates freely about a pivot pin;
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`a wedge-like, tube-shaped button mounted on top of said pivot pin and
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`anchored within said pivot pin, said button adapted to be depressed into said
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`pivot pin, wherein a portion of said button flares through a slot formed in said
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`pivot pin to lock said wrist angle and said rotating member at a user determined
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`angle of articulation.
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`15. The instrument of Claim 1, said jaw set further comprising:
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`at least one set of electrodes for receiving an electric charge and for
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`imparting said charge to an organ or tissue during an electrocautery procedure.
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`16. The instrument of Claim 1, each said vertebrae comprising:
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`a ball—like projection and a complementary groove;
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`wherein a ball-like projection of one vertebrae is adapted for engagement
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`in a complementary groove of an adjacent vertebrae.
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`17. The instrument of Claim 1, each said vertebrae comprising:
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`a pivotable, hinged disk.
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`25
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`18. The instrument of Claim 1, further comprising an instrument drive member
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`that effects selected instrument operation in
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`response to selected user
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`30
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`instrument activation.
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`19. The instrument of Claim 18, said drive member comprising a round wire
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`supported by tightly wound coil springs.
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`20. The instrument of Claim 19, said round wire comprising either of stainless
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`steel or Nitinol.
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`21. The instrument of Claim 18, said drive member comprising a flat band.
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`22. The instrument of Claim 18, said instrument operation comprising movement
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`10
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`of a blade.
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`FIG. 1
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`' FIG. 4
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`FIG. 5
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`FIG. 8
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`FIG. 15 '
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`'
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`FIG. 16
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