MEDICAL DEVICES HAVING RELEASABLE COUPLING

This invention is directed to a medical device having a longitudinal axis, and including a handle and a catheter. The handle can include a body having a proximal end and a distal end, an actuator moveably coupled to the body, and a handle control member coupled to the actuator, wherein the actuator can be configured to move relative to the body to move the handle control member. The catheter can include a shaft having a proximal end and a distal end, wherein the proximal end of the shaft and the distal end of the body can be configured for releasable coupling. The catheter can also include a steering section located along the shaft and a catheter control member coupled to the steering section, wherein the catheter control member can be configured to move relative to the shaft to move the steering section relative to the longitudinal axis. The medical device can also include a securing member configured to move relative to at least one of the handle and the catheter to releasably couple the handle control member to the catheter control member.

FIELD OF THE INVENTION

Embodiments of the present invention relate to medical devices. In particular, embodiments of the present invention include medical devices having releasable coupling.

BACKGROUND OF THE INVENTION

Minimally invasive surgical tools, such as endoscopic and laparoscopic devices, can provide access to surgical sites while minimizing patient trauma. Although the growing capabilities of such therapeutic devices allow physicians to perform an increasing variety of surgeries, further refinements are needed to reduce costs associated with such procedures.

Some minimally invasive systems include surgical devices that may be sterilized for reuse. Such devices are usually expensive to manufacture and must be designed to withstand multiple sterilization procedures. Similar disposable devices often have limited performance due to the use of cheaper materials and low-cost manufacturing techniques.

SUMMARY OF THE INVENTION

The medical devices described herein overcome at least some of the limitations of the prior art. One aim of at least certain embodiments of the present invention is to reduce costs by providing a medical device that can include some reusable and some disposable components. For example, a medical device could include a reusable handle and a disposable catheter. The reusable handle could be adapted for use with different types of catheters having different end-effectors.

One aspect of the invention is directed to a medical device having a longitudinal axis, and including a handle and a catheter. The handle can include a body having a proximal end and a distal end, an actuator moveably coupled to the body, and a handle control member coupled to the actuator, wherein the actuator can be configured to move relative to the body to move the handle control member. The catheter can include a shaft having a proximal end and a distal end, wherein the proximal end of the shaft and the distal end of the body can be configured for releasable coupling. The catheter can also include a steering section located along the shaft and a catheter control member coupled to the steering section, wherein the catheter control member can be configured to move relative to the shaft to move the steering section relative to the longitudinal axis. The medical device can also include a securing member configured to move relative to at least one of the handle and the catheter to releasably couple the handle control member to the catheter control member.

According to another aspect, the invention can include a handle configured to releasably couple to a catheter. The handle can include a body configured to releasably couple to the catheter, an actuator moveably coupled to the body and configured to engage a user's hand, and a plurality of handle control members coupled to the actuator, wherein the actuator can be configured to move relative to the body to move at least one of the plurality of handle control members. The handle can also include a securing member configured to move relative to the handle to releasably couple the plurality of handle control members to a plurality of catheter control members.

According to another aspect, the invention can include a catheter configured to releasably couple to a handle. The catheter can include a shaft configured to releasably couple to the handle, a steering section located along the shaft, and a plurality of catheter control members coupled to the steering section, wherein each of the plurality of catheter control members can include a first attachment member and can be configured to move relative to the shaft to move the steering section. The catheter can also include a lumen configured to at least partially maintain coupling between the first attachment member and a corresponding attachment member located on a handle control member.

According to another aspect, the invention can include a method of assembling a medical device. The method can include moving a handle having a handle control member relative to a catheter having a catheter control member in untensioned state, to engage the handle control member with the catheter control member. The method can also include moving a securing member from a first position to a second position to tension the catheter control member and couple the handle control member to the catheter control member.

DESCRIPTION OF THE EMBODIMENTS

Reference will now be made to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

FIG.1depicts a device10, according to an exemplary embodiment. Device10is shown in a detached configuration, whereby a handle50is shown separated from a catheter70. As described herein, handle50and catheter70are configured for releasable coupling. Specifically, handle50can be attached to catheter70to allow handle50to control a movement, actuation, and/or operation of catheter70. Handle50can also be detached from catheter70so that other catheters70may be attached to handle50.

In some embodiments, handle50could be reusable and catheter70could be disposable. Multiple catheters70, having different end-effectors, could be used interchangeably with a single handle50. Various different catheters70could be provided together in kit form, wherein each catheter70has a different end-effector.

Device10can include a medical device configured for use with a surgical method, including a therapeutic or diagnostic procedure. For example, device10can be configured for use with an endoscope, a guide tube, an access catheter, or other type of device configured to access a patient's body. Device10may be used for procedures within or adjacent to various body organs, such as, an esophagus, a heart, a stomach, a pelvic area, a bladder, an intestine, or any other portion of a gastrointestinal, urinary, or pulmonary tract.

Device10may be configured for insertion into a patient's body through an anatomical opening. In other embodiments, device10may be used in natural orifice transluminal endoscopic surgery (NOTES) procedures or single incision laparoscopic surgical (SILS) procedures. Accordingly, device10can be shaped and sized for placement into a patient via a body cavity or an incision.

Device10can have a proximal end20, a distal end30, and a longitudinal axis40. Handle50can include a distal end55. Catheter70can include a proximal end75. As shown inFIG.1, distal end55of handle50can be configured to engage proximal end75of catheter70. Distal end55can also be configured to engage another part of catheter70. Also, another part of handle50can be configured to engage to proximal end75or another part of catheter70.

Catheter70can be elongate and may include a shaft72. Shaft72can be flexible and may include one or more lumens (not shown). Catheter70can also include a rail65configured to moveably couple a frame (not shown) to permit movement of device10along or about longitudinal axis40. Cather70can also include a steering section130.

As shown inFIG.1, steering section130can be located at or near distal end30. In other embodiments, steering section130can be located anywhere along shaft72, or encompass the entire length of shaft72. In operation, a user can manipulate steering section130to move distal end30up, down, left, or right. Handle50can be configured to control movement of catheter70in one or more directions relative to longitudinal axis40.

Handle50can include a grip80moveably coupled to a handle body90. Grip80can be an actuator configured to receive user inputs. For example, grip80could be configured to engage a left hand or a right hand of a user. Grip80could include a ridge located to separate two adjacent fingers, a surface conforming to part of a human hand, or an aperture configured to receive two or more digits of a user. An exemplary handle is described in U.S. Patent Application Publication No. 2008/0188868, which is incorporated by reference here in its entirety.

Movement of a user's hand may move grip80relative to body90to move catheter70. Movement of handle50along or about longitudinal axis40may move catheter70along or about longitudinal axis40. In other embodiments, handle50can include one or more knobs, dials, levers, or other devices configured to control catheter70.

Handle50can be configured to provide direct manual user control of catheter70. For example, handle50can be configured to selectively move catheter70using direct manual user movement. In some embodiments, movement or forces can be mechanically transmitted from handle50to catheter70via one or more control members250,255. One or more handle control members250may extend within handle50and one or more catheter control members255may extend within catheter70. Handle50may move one or more control members250,255to move one or more parts of catheter70.

Control members250,255can include a cable, a wire, a ribbon, or other type of elongate element configured to transfer a movement or a mechanical force. Control members250,255can be configured to transfer tensile force, compressive force, or both tensile and compressive forces. For example, control members250,255could include a metal alloy, braided synthetic thread, coil, or similar flexible material configured to transfer a tensile force. Control members250,255may be sized and shaped depending on load requirements and geometric constraints.

Control members250,255are described herein as including various features and having various functions. One of ordinary skill will also appreciate that these various features and functions are interchangeable between handle control members250and catheter control members255. That is, either handle control member250or catheter control member255could include one or more features or functions ascribed to a particular control member.

As explained below, handle control members250may be releasably coupled to catheter control members255, wherein each handle control member250can be coupled to a corresponding catheter control member255. In some embodiments, a securing member60can be configured to move to releasably couple handle control members250and catheter control members255.

FIG.2depicts a cut-away perspective view of handle50, wherein an outer layer of handle50has been removed to reveal a frame200. As shown, grip80can be moveably coupled to frame200via a grip shaft210and a trunion220. Grip80may also be coupled to frame200using a hinge, a flexible member, or other type of moveable coupling.

Grip80can be configured for rotational movement about one or more axes relative to frame200. For example, grip80can be rotated forward or backwards by a user about a lateral axis230to provide up or down articulation of catheter70. Grip80can be rotated about grip shaft axis240to provide left or right articulation of catheter70. Forward or backward movement of a user's hand along longitudinal axis40may move handle50and catheter70forward or backwards along longitudinal axis40. In other embodiments, different movements of grip80can selectively move catheter70.

Grip80can include a trigger100that may be moved to provide actuation of an end-effector located on catheter70. Trigger100can be positioned on grip80for control by a user's thumb or for finger control. Trigger100could also be located on frame200.

Handle control members250can be coupled to trunion220, grip80, grip shaft210, trigger100, or similar components such that movement of those components can provide movement of handle control members250relative to frame200. For example, trigger100can be coupled to handle control member250within grip80. Such a trigger control member250may then pass through grip80, through grip shaft210and through frame200. Moving trigger100can move the trigger control member250to selectively actuate an end-effector. Movement of one or more control members250can move one or more catheter control members255to selectively articulate or actuate catheter70.

At least part of handle control member250can include a Bowden cable260. Bowden cable260can include a sheath265surrounding at least part of handle control member250. Relative movement between sheath265and handle control member250can transfer compressive or tensile forces. Compressive forces can be transferred through sheath265and tensile forces can be transferred through handle control member250. Tensile forces may also be applied to handle control member250by passing control member250through part of frame200. For example, handle control members250could pass through a plate202or a hub204.

FIG.3Adepicts an end-effector110for use with device10. End-effector110is shown inFIG.3Ain three different positions: vertical; forty five degrees relative to vertical; and horizontal. End-effector110can be moved as indicated by arrows125in various directions relative to longitudinal axis40by movement of one or more catheter control members255coupled to steering section130.

Steering section130can include a plurality of articulation links135. Articulation links135can be moved relative to adjacent links via a pivot, flexible connection, sliding engagement, bearing, or other type of joint. One or more articulation links135can be coupled to one or more catheter control members255to control movement of steering section130.

As shown inFIG.3A, steering section130can be articulated relative to longitudinal axis40. AlthoughFIG.3Ashows steering section130moving about90degrees from longitudinal axis40, steering section130may move through a greater or lesser range of angles relative to longitudinal axis40. Further, steering section130could be articulated in multiple directions relative to longitudinal axis40, such as, for example, in and out of the page.

In some embodiments, end-effector110can include a grasper115having one or more movable jaw members120hingedly attached to catheter70. Grasper115can be configured to grasp tissue. Jaw members120may be actuated to move relative to each other. For example, jaw members120can be configured to assume an open configuration135, a closed configuration140, or any configuration therebetween.

FIG.3Bdepicts various end-effectors configured for use with catheter70. These and other types of end-effectors may be distally located on catheter70and can be articulated or actuated. One or more catheter control members255can be moved to control articulation of steering section130and one or more different catheter control members255can be moved to control actuation of one or more moveable members of end-effector110.

A dissector150and a pair of scissors160can be provided. Both dissector150and scissors160can include multiple catheter control members255configured to provide articulation and actuation of both types of end-effectors. End-effector could also include an electrosurgical hook170, having a hook180configured to apply ablative energy to tissue. Electrosurgical hook170may require articulation and may not require actuation. Catheter70could also include a tube190configured to provide suction or irrigation to a region distal of catheter70. Tube190may not require articulation or actuation.

FIG.4Ais an enlarged cross-sectional side view of device10in a detached configuration, whereby handle50is decoupled from catheter70.FIG.4Bshows device10as attached, whereby handle50is coupled to catheter70. Handle50and catheter70can be configured for releasable coupling. For example, distal end55of handle50and proximal end75of catheter70can be releasably coupled. Distal end55can include a lumen82configured to receive proximal end75. As explained below, handle50and catheter70could couple using a bayonet connection, a threaded connection, or other type of mechanical coupling.

FIGS.4A and4Bshow securing member60as part of distal end55of handle50. Securing member60could be part of proximal end75of catheter70or could connect separately to handle50and catheter70. While handle50is shown with one handle control member250and catheter70is shown with one catheter control member255, handle50and catheter70could include multiple control members250,255.

Securing member60can be moved to releasably couple a plurality of handle control members250and a plurality of catheter control member255. Securing member60can be configured to move relative to handle50or catheter70. For example, securing member60can move rotationally or longitudinally relative to handle50. In particular, securing member60may move distally from a first position62(as shown inFIG.4A) to a second position64(as shown inFIG.4B). Handle control member250may remain in a fixed position relative to handle50as securing member60is moved from first position62to second position64. Securing member60can also move proximally from second position64to first position62. Such movements can couple and decouple handle50and catheter70. Various other types of movement or positioning of securing member60are also contemplated, such as, for example, longitudinal and rotational movement.

Control members250,255can be configured for releasable coupling. In some embodiments, control members250,255can each include one or more attachment members configured for releasable coupling. As shown, handle control member250can include an attachment member252and catheter control member255can include a corresponding attachment member256. In other embodiments, handle control member250could include attachment member256and catheter control member255could include corresponding attachment member252.

Attachment member252and corresponding attachment member256can be configured to releasably couple to each other. Various types of attachment members252,256are contemplated. Some may couple using straight-line attachment, such as, for example, as shown inFIGS.4A and4B.

In operation, proximal end75of catheter70may be positioned adjacent to distal end55of handle50. Securing member60may initially be in first position62such that attachment member252can be located within lumen82, as shown inFIG.4A. Attachment member252and corresponding attachment member256may be aligned based on complementary shapes of attachment members252,256, complementary shapes of distal end75and lumen82, or one or more alignment features (not shown). For example, a first attachment member252could have a first shape configured to couple with only a first attachment member256, and a second attachment member252could have a second shape different to the first shape and configured to couple with only a second attachment member256.

Proximal end75can then be moved proximally within lumen82to locate attachment member252within corresponding attachment member256. As distal end75moves proximally, a retaining member85may be configured to generally maintain a position of attachment member252relative to lumen82. Retaining member85may be necessary to ensure that attachment member252is not inadvertently moved proximally by the proximal movement of distal end75. If attachment member252is inadvertently moved proximally, attachment members252,256may not properly engage.

In some embodiments, retaining member85can be biased to apply a tensile force to attachment member252to limit the movement of attachment member252. The tensile force applied to attachment member252may be sufficient to maintain a position of attachment member252relative to lumen82. Such a tensile force should not affect movement of handle control member250.

Retaining member85can include a spring, a button, a lever, a latch, or similar device. Retaining member85could be coupled to attachment members252,256or control members250,255. For example, one or more retaining members85could be configured to retain a position of one or more handle control members250relative to handle50or a position of one or more catheter control members255relative to catheter70.

Retaining member85, or similar biasing, can be used for any connection described herein. Such a mechanism may reduce slack and/or lock elements to be connected or disconnected. Various mechanism to tension and lock elements can include hook and loop, ball and slot, tab and hole, or threaded connections.

In some embodiments, proximal movement of retaining member85may be limited. For example, securing member60could include a stop feature87configured to limit proximal movement of retaining member85. Stop feature87could include a ledge, a step, or similar structure.

Control members250,255may initially be provided in an untensioned or a relaxed state. Such a state may reduce forces applied to control members250,255to reduce the likelihood that control member250,255could be stretched during storage, shipping, or sterilization. Various systems may be used to untension or tension one or more control members250,255.

In some embodiments, catheter control member255may be located in a lumen103extending within proximal end75of catheter70. Lumen103can be shaped and sized to receive catheter control member255. Lumen103can also include a lumen102shaped and sized to receive attachment member256. Lumen102can form part of lumen103. For example, lumen102can be located proximal to lumen103. Lumen103can also be shaped and sized to limit distal movement of attachment member256.

As shown inFIGS.4A and4B, proximal end75can include a transition feature89located between lumen103and lumen102. Transition feature89can include a ledge, a step, or similar structure configured to limit distal movement of attachment member256. In particular, transition feature89may limit distal movement of attachment member256as attachment members252,256are coupled together.

Lumen103could also include a lumen104configured to receive attachment member256following coupling of attachment members252,256. As shown inFIG.4B, coupled attachment members252,256can be moved proximally and distally within lumen104to permit the transfer to forces or movement between control members255,250. Proximal end75can also include a transition feature91located between lumen102and lumen104. In some embodiments, transition feature91can include a slope, a taper, or similar structure configured to permit coupling or decoupling of attachment members252,256. Attachment members252,256may further include magnetic or geometric locking parts to enhance connections.

FIG.4Ashows attachment member256in an open configuration262, wherein attachment member256can be located within lumen102. In open configuration262, attachment member252may be moved longitudinally to position attachment member252within corresponding attachment member256. Coupling and decoupling of attachment members256,252may occur by moving attachment members256,252between lumen102and lumen104.

FIG.4Bshows attachment member256in closed configuration264, wherein attachment member256can be located within lumen104. In closed configuration264, attachment member252may be held within corresponding attachment member256such that attachment members252,256are coupled to permit transfer of movement or forces between control members250,255. Following coupling, movement of control members250,255may move coupled attachment members252,256within lumen104.

Lumen102can also be configured to maintain catheter control member255in an untensioned state. For example, attachment member256may initially be located within lumen102. Lumen102may be located distal to lumen104. Moving attachment member256proximally from lumen102into lumen104may function to tension catheter control member255. Sufficient tension could be applied to ensure appropriate transfer of forces and movement along catheter control member255.

Attachment member256can be biased. For example, attachment member256could be biased in open configuration262or closed configuration264. Also, lumen102can be configured to maintain attachment member256in open configuration262. For example, lumen102could be dimensioned to permit attachment member256to assume open configuration262, as shown inFIG.4A. Specifically, lumen102may have an inner diameter sufficient to permit attachment member256to assume open configuration262.

Once proximal end75of catheter70is located within lumen82of handle50and attachment member252is located within corresponding attachment member256, securing member60may be moved from first position62to second position64. As shown inFIG.4B, the movement of securing member60to second position64may move coupled attachment members252,256into lumen104.

Lumen104can be configured to receive attachment member256. Lumen104can be further configured to provide attachment member256in closed configuration264. For example, lumen104may be dimensioned to cause attachment member256to assume closed configuration264. In other embodiments, lumen104could include a surface, a protrusion, or other feature configured to provide closed configuration264. Lumen104may apply a compressive force to attachment member256to maintain closed configuration264. Closed configuration264can maintain coupling between attachment members252,256by limiting the relative movement between attachment members252,256.

In closed configuration264, attachment members252,256may provide coupling between handle control member250and catheter control member255. This coupling can be released by moving attachment member256from lumen104to lumen102. For example, moving securing member60from second position64(as shown inFIG.4B) to first position62(as shown inFIG.4A) can move attachment members256from lumen104to lumen102. Moving attachment member256from lumen104to lumen102can transition attachment member256from closed configuration264to open configuration262. In open configuration262, attachment member252can be decoupled from corresponding attachment member256.

Movement of securing member60may be locked using a locking collar72. Locking collar72could be configured for lateral movement relative to securing member60to limit longitudinal or rotational movement of securing member60. Locking collar72also could be biased to move in and out of an indentation73to lock and unlock securing member60. Other locking systems could include a lever, a cam lock, a rack and pawl, a knob, a thumb wheel and rack, or a worm gear.

As shown inFIG.4B, an end74of locking collar72can engage indentation73configured to receive end74. Indentation73could be mechanically coupled to securing member60such that engagement between end74and indentation73can limit relative movement between securing member60and handle50. Other couplings between locking collar72and securing member60are also contemplated.

In some embodiments, locking collar72could be configured to lock securing member60in more than one position. As shown inFIGS.4A and4B, locking collar72can be configured to lock securing member60in second position64. Locking securing member60can ensure that unwanted decoupling of control members250,255does not occur.

As well as control members250,255, handle50and catheter70can be releasably coupled and locked. Handle50and catheter70can be coupled to ensure correct alignment of control members250,255. Also, handle50and catheter70can be lockable to limit a relative movement between handle50and catheter70.

As shown inFIGS.4A and4B, handle50can include a handle connector270and catheter70can include a catheter connector280, whereby connectors270,280are configured to releasably couple. Handle connector270can include a key92configured to engage a keyway274of catheter connector280. Alternatively, keyway274can be located on handle connector270and key92can be located on catheter connector280. Other types of connectors270,280could include a button, a lever, a cam, a rack and a pawl, a tab, or a thumb wheel and a gear. Handle50and catheter70could be connected using a collet, a ball and socket, a ¼ turn fastener, or a magnetic element.

Handle50and catheter70may be connected using straight-line movement or rotational movement.FIG.5depicts a partial cut away view of handle50and catheter70configured for straight-line connection. As shown, distal end55of handle50includes a straight keyway274and proximal end75of catheter70includes key92. Distal end55also includes a thread290configured to threadably engage a threaded ring292located on proximal end75. Threaded ring292may be rotatably coupled to proximal end75.

Threaded ring292can be configured to rotate relative to catheter70and thread290. Once key92has been moved longitudinally to a position within keyway274, thread290may be rotated relative to threaded ring292to lock handle50and catheter70. One or more keys92may be configured to engage one or more keyways274. A latch, a clip, a thumbscrew, or other locking device may also be used to lock handle50and catheter70.

FIG.6depicts distal end55of handle50configured for rotational connection with catheter70. Handle50and catheter70can be connected using a bayonet or a luer lock type connection. In operation, key92located on proximal end75of catheter70may initially be placed within keyway274and moved longitudinally within keyway274. Distal end55and proximal end75may then be rotated relative to each other about longitudinal axis40to move key92tangentially about distal end55of handle50. Tangential movement of key92within keyway274can move key92to a locking position278. When key92is located at locking position278, a compressive force between handle50and catheter70may be required to release key92from keyway274. To permit rotational coupling of handle50and catheter70, control members250may each include a rotational attachment member315.

FIGS.7A and7Bdepict rotational attachment member315located on handle control member250and a corresponding attachment member340located on catheter control member255. Each attachment member315,340can be configured to releasably couple using rotational movement of handle50relative to catheter70. Attachment member315may also be located on catheter control member255.

Attachment member315can include a cavity350configured to receive a head370of attachment member340. Attachment member340can also include a neck380configured for placement within a distal opening330of cavity350. Head370can be rotated into cavity350via a lateral opening320of cavity350. For example, as key92is moved into locking position278of keyway274, attachment member340can be moved into cavity350, as shown inFIGS.7A,7B. This can ensure that distal end55of handle50and proximal end75of catheter70are coupled together as control members250,255are coupled together.

FIG.7Bdepicts attachment member340coupled to attachment member315. As shown, head370can be located within cavity350to couple attachment members340,315. Longitudinal movement of handle control member250may be transferred to catheter control member255by coupling between head370and a wall385of attachment member315. Distal opening330can be configured to receive neck380such that longitudinal movement can be transferred between control members250,255.

FIG.8depicts distal end55of handle50having attachment members315configured for rotational coupling. As shown, attachment members315are configured to rotationally couple to corresponding attachment members (not shown). That is, handle50can be rotated clockwise relative to catheter70(not shown) to couple attachment members315,340and rotated anticlockwise to decouple attachment members315,340. Lateral openings330can be oriented to receive multiple corresponding heads370simultaneously. Lateral openings330could also be configured to receive heads370using anticlockwise rotation.

It is also contemplated that attachment member340can include any shape configured to engage cavity350. For example, head370could be “L” shaped and may pass into cavity350via only lateral opening320. In such an embodiment, attachment member315may not require distal opening330and may only include lateral opening320. One or more openings320,330may also be variously shaped to permit passage of head370into cavity350.

FIGS.9A and9Bdepict, respectively, attachment members340,315as uncoupled and attachment members340,315as coupled. In some embodiments, distal end55of handle50can include a lumen390configured to receive attachment member315. Lumen390can be configured to at least partially maintain coupling between attachment members340,315. In other embodiments, catheter70can include lumen390.

Initially, attachment member315can extend distally beyond a distal-most end400of lumen390. Retaining member85may be configured to limit relative movement between attachment member315and lumen390. As shown, retaining member includes a card86configured for placement between cavity350and distal-most end400. Card86could be a plate, or other stopping structure. As previously explained, one or more other retaining members85could also be used.

With attachment member315extending beyond lumen390, attachment member340can be moved rotationally to position head370within cavity350. Once head370is properly positioned within cavity350, retaining member85may be removed to permit longitudinal movement of engaged attachment members315,340within lumen390. As explained above, securing member60(not shown) can be configured to move attachment members315,340longitudinally with respect to lumen390.

FIG.9Bdepicts coupled attachment members315,340located within lumen390. Lumen390can be configured to at least partially limit relative movement between attachment members340,315. For example, a surface395of lumen390may limit the lateral movement of attachment member340relative to attachment member315. Lumen390can also be configured to limit the movement of head370relative to cavity350. Such limited movement may maintain the coupling between attachment members340,315to permit the transmission of movement or forces between control members250,255. To decouple attachment members340,315, they may be moved distally by securing member60to beyond distal-most end400of lumen390, then rotated to move heads370out of cavities350.

FIG.10depicts another embodiment of lumen390showing a straight-line connection between attachment members252,256. Attachment members252,256are shown coupled within lumen390. Similar to the rotational attachment shown inFIGS.9A and9B, attachment member256may be initially located distal of distal-most end400of lumen390. Attachment member256located outside lumen390can be configured to assume open configuration262whereby arms355extend laterally to permit locating head375between open arms355(not shown).

Securing member60may then move distally (to the left) to move lumen390over attachment member256, as shown inFIG.10. Lumen390may be configured to transition attachment member256from open configuration262to closed configuration264. Such movement can cause arms355to collapse about head375to couple attachment members252,256. During distal movement of securing member60, retaining member85can provide a slight tensile force to maintain positioning of attachment member256against attachment member252.

To decouple attachment members256,252, securing member60can move proximally (to the right) to move arms355out of lumen390. Once beyond distal-most end400, arms355can reopen to permit removal of head375from between arms355. Coupling and decoupling attachment member252,256can releasably couple control members250,255.

FIGS.11A and11Bdepict another embodiment of lumen390showing a straight-line connection between attachment member252and corresponding attachment member510. Attachment member252can be coupled to catheter control member255and can include a neck480and a head475. Attachment member510can be coupled to handle control member250(not shown) and can include a clip500configured to move relative to a tubular member520. Tubular member520can be configured to receive attachment member252.

Clip500can be configured to assume an open configuration and a closed configuration to releasably couple attachment members510,252. In some embodiments, clip500may be moved relative to tubular member520using securing member60(not shown). For example, clip500may move along longitudinal axis40relative to tubular member520. This longitudinal movement may cause clip500to open or close.

FIG.11Bdepicts clip500in a closed configuration. As shown, two clip arms550can extend through one or more slots530of tubular member520to engage neck480of attachment member252. Such engagement can limit longitudinal movement between attachment members510,252. To decouple attachment members510,252, clip500could be moved longitudinally relative to tubular member520. The longitudinal movement could cause arms550to open as they are removed from within tubular member520. Other types of attachment members could also be configured for releasable coupling.