Patent ID: 9072427
Filing Date: 2015-07-07
Classification: A61B,H04B,H04M,H04W

Abstract:
1. A method of using a tool, the tool comprising: a distal portion and a proximal portion, the distal portion including a plurality of distal links, each distal link being movable in multiple degrees of freedom about a link pivot disposed between adjacent distal links, the proximal portion including a plurality of proximal links, each proximal link being movable in multiple degrees of freedom about a link pivot disposed between adjacent proximal links; an articulation mechanism for manipulating angular orientation of the distal portion, the articulation mechanism comprising multiple pairs of links, each pair comprising a proximal link on the proximal portion and a distal link on the distal portion, the proximal link spaced apart from the corresponding distal link along a longitudinal axis by a distance, and multiple sets of tension load bearing members, each set connecting the proximal link and the corresponding distal link of one of the multiple pairs of links and terminating at the links of the pair, the mechanism adapted such that movement of the proximal link causes corresponding relative movement of the distal link of the pair; and an articulation lock positioned between the distal portion and the proximal portion with each set of tension load bearing members passing through the articulation lock to connect the proximal link and corresponding distal link of one of the multiple pairs of links, the articulation lock having a disengaged state wherein the links move freely, and an engaged state wherein the lock forces the adjacent distal links into frictional engagement and forces the adjacent proximal links into frictional engagement to impede movement of the proximal link and corresponding relative movement of the distal link, the method comprising placing the articulation lock in at least one of the disengaged state and the engaged state.