Patent Description:
Laparoscopic surgery is a type of minimally invasive surgery in which procedures are performed through a small opening (e.g., an incision or a natural body orifice) in the body. For example, a trocar may be implanted within the opening, and small tools may be inserted though the trocar thereafter to perform a desired procedure within an insufflated body cavity. Laparoscopic tools are often difficult to use due to their small size and sub-optimal design. In some circumstances, inadequate laparoscopic tools may cause undue fatigue or harm to the surgeon, further complicating a procedure. Surgery outcomes may be improved and physical challenges (e.g., visualization and hand fatigue) of surgeons may be alleviated with improved designs of laparoscopic tools.

<CIT> describes a laparoscopic apparatus. The apparatus comprises a handle having a body portion, a top surface, opposite bottom surface, a proximal and distal end. The top surface of the base is contoured to compliment the natural curve of the palm. The apparatus further includes a shaft projecting from the distal end of the handle. The shaft has a proximal and distal end. A control sphere is located on the handle. The control sphere can be moved by one or more of a user's fingers to indicate direction. An end effector is located at the distal end of the shaft. The end effector is connected to the control sphere such that movements made to the control sphere control cause movement (articulation) of the end effector.

<CIT> describes a surgical instrument that includes an instrument shaft having proximal and distal ends; a tool disposed from the distal end of the instrument shaft; a control handle coupled from the proximal end of the instrument shaft; a distal bendable member for coupling the distal end of the instrument shaft to the tool; a proximal bendable member for coupling the proximal end of the instrument shaft to the control handle; actuation means extending between the distal and proximal bendable members for coupling motion of the proximal bendable member to the distal bendable member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position.

<CIT> describes a surgical instrument including a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member.

<CIT> describes a medical device including an elongated device body having a steerable portion including a plurality of segments. The segments are coaxially mounted over at least one elongated elastic element, which is configured for limiting rotation of the segments with respect to each other. The medical device also includes a control wire running alongside the elongated device body and being unrestrained at the steerable portion such that tensioning of the control wire angles the steerable portion from a longitudinal axis of the elongated device body and deflects the control wire away from the steerable portion.

The present invention is defined by independent claim <NUM>. The dependent claims depict other embodiments of the invention.

In general, this disclosure relates to an ergonomic laparoscopic device that is designed for performing laparoscopic surgical procedures within a body cavity of a patient. The laparoscopic device includes a trackball, a trigger mechanism, a cable system, and a robust handle body that together provide multiple functions, including opening and closing of an end effector, locking and unlocking (e.g., releasing) of an open/closed configuration of the end effector, articulation of the end effector, locking and unlocking of an articulated configuration of the end effector, rotation of a shaft assembly, and removal and installation of the shaft assembly with respect to a handle. Accordingly, a user can manipulate the laparoscopic device to perform one or more of these functions to carry out a laparoscopic procedure. Furthermore, the laparoscopic device can exhibit more than one configuration respectively associated with these functions at the same time due to couplings among the component parts of the laparoscopic device, even while the functions can be executed independently of one another.

The laparoscopic device includes an elongate shaft, an end effector coupled to a distal end of the elongate shaft, a rounded housing coupled to a proximal end of the elongate shaft, translatable along a central axis of the elongate shaft, and having a center point positioned along the central axis of the elongate shaft, an interior ball about which the rounded housing is rotatable, first and second cables extending from the end effector to the rounded housing respectively along a first side of the elongate shaft and along a second side of the elongate shaft disposed opposite the first side, and a handle. At a first axial position, the rounded housing is rotatable about any axis intersecting the center point of the rounded housing to move the first and second cables axially in opposite directions along the central axis of the elongate shaft to bend the end effector with respect to the central axis of the elongate shaft. At a second axial position, the rounded housing is rotatable in fixed relation to the elongate shaft, the first and second cables, and the end effector to rotate the elongate shaft, the first and second cables, and the end effector together as a single shaft assembly with respect to the central axis of the elongate shaft and with any orientation of the end effector with respect to the central axis of the elongate shaft.

Embodiments may include one or more of the following features.

In some embodiments, the laparoscopic device further includes a bendable segment that couples the elongate shaft to the end effector.

In certain embodiments, the bendable segment includes multiple ball-and-socket joints.

In some embodiments, the laparoscopic device further includes a rod that extends from the proximal end of the shaft to the end effector and that is configured to effect opening and closing of the end effector based on axial movement of the rod.

In certain embodiments, the rod includes a compliant portion that passes through the bendable segment such that an open or closed configuration of the end effector is independent of the orientation of the end effector with respect to the central axis of the shaft and independent of a rotational orientation of the single shaft assembly.

In certain embodiments, the interior ball is translatable along the central axis of the elongate shaft to allow the rounded housing to move between the first and second axial positions.

In some embodiments, the rounded housing is biased to the second axial position.

In some embodiments, the laparoscopic device further includes a brake that prevents rotational movement of the rounded housing with respect to the central axis of the elongate shaft when the rounded housing is in the second axial position.

In certain embodiments, the rounded housing is disengaged from the brake when the rounded housing is in the first axial position.

In some embodiments, the rounded housing includes a visible feature that indicates an orientation of the end effector with respect to the central axis of the elongate shaft.

In certain embodiments, the laparoscopic device further includes multiple additional cables.

In some embodiments, the laparoscopic device further includes a handle assembly.

In certain embodiments, the laparoscopic device further includes a collar that is fixedly coupled to the proximal end of the elongate shaft and by which the single shaft assembly, as a unit, can rotate with respect to the handle assembly.

In some embodiments, the collar is releasably coupled to the handle to disengage the single shaft assembly, as the unit, from the handle assembly.

In certain embodiments, the handle assembly includes a ratcheting mechanism by which an open or closed configuration of the end effector can be locked and unlocked.

According to the present disclosure, a method of using a laparoscopic device that includes a shaft, a trackball, and an end effector includes translating the trackball distally to a first axial position along a central axis of the shaft, rotating the trackball to articulate the end effector while the trackball is disposed at the first axial position such that the end effector achieves an articulated configuration with respect to the central axis of the shaft, translating the trackball proximally to a second axial position along the central axis of the shaft while the end effector is in the articulated configuration, and rotating the trackball, the shaft, and the end effector together as a single shaft assembly while the trackball is disposed at the second axial position and while the end effector is in the articulated configuration.

According to the present disclosure, the method further includes locking the articulated configuration of the end effector with respect to the central axis of the shaft.

According to the present disclosure, the method further includes rotating a trigger of the laparoscopic device to change a degree to which the end effector is open and adjusting a ratchet mechanism of the laparoscopic device to lock the degree to which the end effector is open.

According to the present disclosure, the method further includes disengaging the single shaft assembly from a handle assembly of the laparoscopic device.

In another aspect, a laparoscopic device includes an elongate shaft, an end effector coupled to a distal end of the elongate shaft, a rounded housing coupled to a proximal end of the elongate shaft and having a center point positioned along the central axis of the elongate shaft, and first and second cables extending from the end effector to the rounded housing respectively along a first side of the elongate shaft and along a second side of the elongate shaft disposed opposite the first side. The laparoscopic device also includes a handle that is adjustable between an expanded configuration and a compressed configuration. In the expanded configuration of the handle, the rounded housing can be rotated in fixed relation to the elongate shaft, the first and second cables, and the end effector to rotate the elongate shaft, the first and second cables, and the end effector together as a single shaft assembly with respect to the central axis of the elongate shaft, and the rounded housing can be pivoted to bend the end effector with respect to the central axis of the elongate shaft. In the compressed configuration of the handle, the rounded housing is fixed with respect to the handle.

In certain embodiments, the bendable segment includes multiple of ball-and-socket joints.

According to the present invention, the laparoscopic device further includes an interior ball about which the rounded housing is rotatable.

In certain embodiments, the interior ball and the rounded housing together form a track ball assembly.

In some embodiments, the laparoscopic device further includes a collar that extends from the interior ball and that is rigidly attached to the proximal end of the elongate shaft to couple the rounded housing to the elongate shaft.

According to the present invention, the handle includes a central portion and two opposing outer portions that can be compressed towards the central portion to place the handle in the compressed configuration.

In some embodiments, the laparoscopic device further includes multiple additional cables.

In certain embodiments, the single shaft assembly is separable from the handle.

In some embodiments, the handle includes a ratcheting mechanism by which an open or closed configuration of the end effector can be locked and unlocked.

In certain embodiments, the rounded housing is rotatable about any axis intersecting the center point of the rounded housing to move the first and second cables axially in opposite directions along the central axis of the elongate shaft to bend the end effector with respect to the central axis of the elongate shaft while the handle is in the expanded configuration.

In some embodiments, the rounded housing is rotatable to rotate the single shaft assembly with respect to the central axis of the elongate shaft with any orientation of the end effector with respect to the central axis of the elongate shaft while the handle is in the expanded configuration.

Other aspects, features, and advantages will be apparent from the description, the drawings, and the claims.

<FIG> correspond to embodiments of the invention. The rest of the figures do not correspond to the invention but are useful to understand it.

<FIG> illustrate a laparoscopic device <NUM> designed for performing laparoscopic surgical procedures within a body cavity (e.g., an abdominal cavity) of a patient. Example laparoscopic surgical procedures that can be performed using the laparoscopic device <NUM> include gastric banding procedures, hernia repair procedures, arthroscopic procedures, and other single incision laparoscopic procedures. The laparoscopic device <NUM> includes a shaft assembly <NUM> that is constructed to manipulate tissues within the body cavity and a handle assembly <NUM> that is coupled to the shaft assembly <NUM> for manipulating the shaft assembly <NUM>. The shaft assembly <NUM> is separable from the handle assembly <NUM> and is rotatable with respect to the handle assembly <NUM>.

<FIG> illustrates a perspective view of the shaft assembly <NUM> with a distal sleeve omitted to display internal features. Referring to <FIG>, as well as <FIG>, the shaft assembly <NUM> includes a shaft <NUM>, an articulation segment <NUM> connected to a distal end of the shaft <NUM>, an end effector <NUM> (e.g., a gripper) coupled to a distal end of the articulation segment <NUM>, an activation system <NUM> surrounding the shaft <NUM>, a rotation collar <NUM> surrounding a proximal end of the shaft <NUM>, a track ball assembly <NUM> (e.g., a ball actuator) attached to the rotation collar <NUM>, a rod <NUM> extending through the shaft <NUM> to the end effector <NUM>, and multiple cables <NUM> extending from the end effector <NUM> to the track ball assembly <NUM>.

The shaft <NUM> defines opposing slots <NUM> near a proximal end of the shaft <NUM> that allow translation of the rod <NUM> extending therethrough. The activation system <NUM> includes a collar <NUM> that is translatable along the shaft <NUM> and a spring <NUM> that biases the collar <NUM> to the position shown in <FIG>. The rod <NUM> includes a central portion <NUM>, a proximal pin <NUM> that is attached to the collar <NUM> and translatable axially within the slots <NUM>, a distal wire section <NUM>, and a distal pin <NUM> that is translatable with respect to the end effector <NUM> to open and close the end effector, as will be discussed in more detail below with respect to <FIG>.

Referring to <FIG>, the handle assembly <NUM> includes a grip body <NUM> for grasping the laparoscopic device <NUM> and a trigger assembly <NUM> for manipulating (e.g., opening, closing, locking, and releasing) the end effector <NUM>. The trigger assembly <NUM> includes a lever <NUM> and a latch mechanism <NUM>. The grip body <NUM> is a generally elongate structure that defines a generally spherical pocket <NUM> in which the track ball assembly <NUM> can rotate and an opening <NUM> that reduces a weight of the grip body <NUM>.

The lever <NUM> has a curved profile and is pivotable about an axis <NUM> (normal to the plane of <FIG>) defined by a pin coupling <NUM> between the lever <NUM> and the grip body <NUM>. The lever <NUM> is spring loaded by the activation system <NUM> to the biased position shown in <FIG> and defines an opening <NUM> through which the shaft <NUM> passes. The lever <NUM> also defines a channel <NUM> to which a portion of the latch mechanism <NUM> is mounted. In particular, the latch mechanism <NUM> includes a ratchet finger <NUM> that passes through the channel <NUM>, a spring <NUM> by which the ratchet finger <NUM> is mounted to the channel <NUM> and that biases the ratchet finger <NUM> to the position shown in <FIG>, a ratchet defeat lever <NUM> by which the ratchet finger <NUM> can be pivoted about an axis <NUM> (normal to the plane of <FIG>) defined by a pin coupling <NUM> between the ratchet finger <NUM> and the lever <NUM>, and a ratchet rack <NUM> mounted to the grip body <NUM> and formed to engage the ratchet finger <NUM>. The ratchet finger <NUM> and the ratchet rack <NUM> have generally arcuate profiles. The ratchet finger <NUM> includes a single tooth <NUM> that can be individually indexed with (e.g., engaged by) each of multiple teeth <NUM> of the ratchet rack <NUM>. The teeth <NUM> define multiple respective valleys <NUM> in which the tooth <NUM> can seat.

Referring to <FIG>, the lever <NUM> can be depressed (e.g., squeezed) by a user's hand (e.g., by an index or middle finger) to close the end effector <NUM> and released to open the end effector <NUM>. When the lever <NUM> is depressed, the lever <NUM> pushes against the axial collar <NUM> to rotate the lever <NUM> about the axis <NUM> inward towards the grip body <NUM> such that the ratchet finger <NUM> moves inward along the ratchet rack <NUM>. The proximal pin <NUM> of the rod <NUM> moves proximally with the axial collar <NUM>, thereby translating the distal pin <NUM> of the rod <NUM> proximally to close the end effector <NUM>, as will be discussed in more detail with respect to <FIG>.

The latch mechanism <NUM> can be locked at each valley <NUM> of the ratchet rack <NUM> to lock a corresponding open configuration of the end effector <NUM> and can be unlocked (e.g., released or disabled) to adjust the extent to which the end effector <NUM> is open. The end effector <NUM> achieves a fully closed configuration (as shown in <FIG>) when the tooth <NUM> of the ratchet finger <NUM> is engaged with the inward-most tooth <NUM> and valley <NUM> of the ratchet rack <NUM>. The end effector <NUM> achieves a fully open configuration (as shown in <FIG>) when the tooth <NUM> of the ratchet finger <NUM> abuts the outer-most most tooth <NUM> of the ratchet rack <NUM> (as shown in <FIG>). Referring to <FIG>, the ratchet defeat lever <NUM> can be depressed to pivot the ratchet finger <NUM> about the axis <NUM> against the spring <NUM> to lift the ratchet finger <NUM> up from the ratchet rack <NUM> such that the ratchet finger <NUM>, mounted to the lever <NUM>, can be moved outward or inward along the ratchet rack <NUM>. The ratchet defeat lever <NUM> can be released to allow the ratchet finger <NUM> to return to the spring-loaded position and locked at a desired position along the ratchet rack <NUM>.

Referring to <FIG>, the end effector <NUM> includes a support base <NUM>, a first jaw <NUM> pivotable about an axis <NUM> defined by a pin coupling <NUM> between the first jaw <NUM> and the support base <NUM>, and a second jaw <NUM> pivotable about an axis <NUM> defined by a pin coupling <NUM> between the second jaw <NUM> and the support base <NUM>. The support base <NUM> defines a channel <NUM> that is coupled to the articulation segment <NUM> through which the distal wire section <NUM> of the rod <NUM> passes, multiple receptacles <NUM> that respectively secure distal ends <NUM> of the cables <NUM>, and a central slot <NUM> along which the distal pin <NUM> of the rod <NUM> can translate axially to pivot the jaws <NUM>, <NUM> respectively about the axes <NUM>, <NUM> to open and close the end effector <NUM>. When the distal pin <NUM> is located at a distal-most position (e.g., when the lever <NUM> of the trigger assembly <NUM> is fully released at the spring-loaded configuration), the jaws <NUM>, <NUM> are fully open, as shown in <FIG>. When the distal pin <NUM> is located at a proximal-most position (e.g., when the lever <NUM> of the trigger assembly <NUM> is fully depressed towards the grip body <NUM>), the jaws <NUM>, <NUM> are fully closed, as shown in <FIG>.

The articulation segment <NUM> is adjustable to allow the end effector <NUM> to bend in all directions. The distal wire section <NUM> is a thin, compliant section (e.g., a nitinol wire) that is malleable to bend within the articulation segment <NUM> such that an extent to which the end effector <NUM> is open or closed is independent of an orientation of a central axis <NUM> of the end effector <NUM> (e.g., a central axis of the support base <NUM>) with respect to a central axis <NUM> of the shaft <NUM>. The articulation segment <NUM> includes a proximal socket <NUM> that is coupled to a distal end portion <NUM> of the shaft <NUM>, multiple central bearings <NUM> that each include a ball <NUM> and a socket <NUM>, and a distal ball component <NUM> that is coupled to the support base <NUM> of the end effector <NUM>. The balls <NUM>, <NUM> respectively sit and are rotatable within the sockets <NUM>, <NUM> to form multiple (e.g., four) ball-and-socket joints <NUM> that together allow the articulation segment <NUM> to bend such that the end effector <NUM> can be articulated (e.g., bent) by up to about <NUM> degrees with respect to the central axis <NUM> of the shaft <NUM>. The articulation segment <NUM> may include a variable number of central bearings <NUM> to allow the end effector <NUM> to bend to varying extents.

The distal end portion <NUM> of the shaft <NUM>, the proximal socket <NUM>, the central bearings <NUM>, and the distal ball component <NUM> together define multiple (e.g., six) slots <NUM> through which the cables <NUM> extend proximally from the support base <NUM> of the end effector <NUM> into the shaft <NUM>. The slots <NUM> are positioned along a circle that is concentric with the central axis <NUM> of the shaft <NUM> such that the cables <NUM> are equally spaced radially from the central axis <NUM> of the shaft <NUM> (refer to <FIG>). The articulation segment <NUM> includes a flexible sleeve <NUM> (refer to <FIG>) that surrounds and covers the proximal socket <NUM>, the central bearings <NUM>, the distal ball component <NUM>, and the cables <NUM>. The cables <NUM> further extend through the shaft <NUM> and proximally into the track ball assembly <NUM>.

Referring to <FIG> and <FIG>, the track ball assembly <NUM> includes an inner ball assembly <NUM> and an outer ball assembly <NUM> that is coupled to the inner ball assembly <NUM>. The inner ball assembly <NUM> includes an inner ball <NUM>, a fastener <NUM> that connects the inner ball <NUM> to the rotation collar <NUM>, a spring <NUM> that biases the outer ball assembly <NUM> to the position shown in <FIG> and <FIG>, an o-ring <NUM> that surrounds the inner ball <NUM>, and an axial cap <NUM> that prevents the outer ball assembly <NUM> from proximally sliding off of the inner ball <NUM>. The inner ball <NUM> is a generally spherical structure that defines an outer recess <NUM> in which the o-ring <NUM> sits and an inner shaft <NUM> that is coupled to the outer ball assembly <NUM>.

The outer ball assembly <NUM> includes an outer ball <NUM> (e.g., a spherical housing) that is centered along the central axis <NUM> of the shaft <NUM>, a rotation ball <NUM> that is axially translatable along the inner shaft <NUM>, an inner ball sleeve <NUM> that surrounds the inner ball <NUM>, and an outer ball cap <NUM> that is attached to the outer ball <NUM>. The inner ball sleeve <NUM> defines multiple slots <NUM> through which the cables <NUM> pass and a recessed lip <NUM> defining multiple notches <NUM> that secure proximal ends <NUM> of the cables <NUM>. In the spring-loaded configuration of the spring <NUM> (e.g., with the track ball assembly <NUM> positioned in a non-depressed, axially released position), the inner ball sleeve <NUM> is coupled snuggly to the inner ball <NUM> via a friction fit with the o-ring <NUM>. Accordingly, the o-ring <NUM> provides a brake that prevents rotation of the inner ball sleeve <NUM> with respect to the central axis <NUM> of the shaft <NUM>.

The outer ball <NUM> is a generally spherical structure that defines an inner lip <NUM> that seats over the recessed lip <NUM> of the inner ball sleeve <NUM> to further secure the proximal ends <NUM> of the cables <NUM>. The inner lip <NUM> of the outer ball <NUM> and the recessed lip <NUM> of the inner ball sleeve <NUM> together define a circumferential channel <NUM> in which the proximal ends <NUM> of the cables <NUM> are disposed with limited play. The outer ball <NUM> further defines an inner axial sleeve <NUM> that has a spherical profile <NUM> (e.g., a socket) that allows the outer ball <NUM> to rotate (e.g., pivot) freely around the rotation ball <NUM>. The outer ball <NUM> also defines an outer indentation <NUM> against which the outer ball cap <NUM> is locked.

The outer ball cap <NUM> provides an ergonomic surface by which the track ball assembly <NUM> can be manipulated (e.g., depressed, released, and rotated or pivoted) to manipulate the end effector <NUM>. The outer ball cap <NUM> defines a north cross hair <NUM> and a south cross hair <NUM> that indicate (e.g., correspond with) respective orientations of the first and second jaws <NUM>, <NUM> so that a user who lacks direct vision of the end effector <NUM> is aware of the orientations of the jaws <NUM>, <NUM>. The outer ball cap <NUM> also provides a central, visible area <NUM> between the cross hairs <NUM>, <NUM> at which a marking can be displayed for branding the laparoscopic device <NUM>. In some embodiments, the outer ball cap <NUM> may have a profile the projects outward from the visible area <NUM> and that provides a tactile surface that can be used as a joystick to rotate the track ball assembly <NUM>.

In the axially released positioned of the track ball assembly <NUM> (e.g., the spring-loaded position of the spring <NUM>), the spring <NUM> applies a proximally directed breaking force to the rotation ball <NUM>, which carries the outer ball assembly1112 via the inner axial sleeve <NUM>. In the proximal position of the outer ball assembly <NUM>, the inner ball <NUM> seats snuggly against the o-ring <NUM> such that the outer ball assembly <NUM> is fixed in rotational position (e.g., unable to rotate around the rotation ball <NUM> with respect to the central axis <NUM> of the shaft <NUM>) and positions of the proximal ends <NUM> of the cables <NUM> are fixed. In this locked configuration of the cables <NUM>, the support base <NUM> of the end effector <NUM> is also locked, such that an articulated position (e.g., a degree of bending) of the end effector <NUM> is also locked (e.g., fixed).

The track ball assembly <NUM> can be depressed (e.g., at the outer ball cap <NUM>) while the outer ball assembly <NUM> oriented in any rotational position to unlock the articulated position of the end effector <NUM>. Referring to <FIG>, when the track ball assembly <NUM> is depressed, the outer ball assembly <NUM> and the rotation ball <NUM> are moved distally against the spring <NUM> such that inner ball sleeve <NUM> is pushed distally and radially apart from the inner ball <NUM> and the o-ring <NUM>. Such distal movement of the inner ball sleeve <NUM> relieves a taught configuration of the cables <NUM>, thereby unlocking the cables <NUM>. The cables <NUM> are free to move, and the proximal ends <NUM> of the cables <NUM> are released inward of the circumferential channel <NUM>. In the depressed position, the outer ball <NUM> (e.g., carrying the proximal ends <NUM> of the cables <NUM>) can be pivoted freely in all directions like a thumbtack by up to about <NUM> degrees about the rotation ball <NUM> and about any axis passing through a center point of the outer ball <NUM> such that the end effector <NUM> can be articulated by up to about <NUM> degrees. The proximal ends <NUM> of the cables <NUM> move with the outer ball <NUM> to effect bending of the end effector <NUM> via the ball-and-socket-joints <NUM> and the distal ends <NUM> of the cables <NUM> secured to the support base <NUM>, as shown in <FIG>.

In the depictions shown in <FIG>, <FIG>, the cables <NUM> extend along a same side of the central axis <NUM> of the shaft <NUM> for an entire length of the cables <NUM>, such that each cable <NUM> is located on same sides of the support base <NUM> of the end effector <NUM> and the outer ball assembly <NUM>. As the outer ball <NUM> is rotated in a particular direction, cables <NUM> disposed along a same side as the rotational direction are moved distally, such that the articulation segment <NUM> and the end effector <NUM> are bent in a direction opposite to that of the rotational direction. In contrast, cables <NUM> disposed along the opposite side as the rotational direction are moved proximally, such that the articulation segment <NUM> and the end effector <NUM> are bent in the rotational direction. Cables <NUM> located on opposite sides of the track ball assembly <NUM> move axially by the same amount, but in opposite directions. In some embodiments, as shown in <FIG>, the distal ends <NUM> and the proximal ends <NUM> of the cables <NUM> may be located on opposite sides of the outer ball <NUM>, such that rotation of the outer ball <NUM> in a particular direction causes the end effector <NUM> to articulate in the same direction, in line with a "natural" articulation direction. The track ball assembly <NUM> can be released from the depressed position back to the spring-loaded position (as shown in <FIG>) to lock the articulated position of the end effector <NUM>. The axial cap <NUM> limits an extent of proximal movement of the rotation ball <NUM> (e.g., and therefore, the outer ball assembly <NUM>).

In the released, spring-loaded position of the track ball assembly <NUM>, the outer ball assembly <NUM> and the inner ball assembly <NUM> are fixed with respect to each other and with respect to the shaft <NUM> and all components coupled thereto via the rotation collar <NUM>. Accordingly, the entire shaft assembly <NUM> (e.g., with a fixed articulated position of the end effector <NUM>) can be rotated as a single unit about the central axis <NUM> of the shaft <NUM> by pivoting the track ball assembly <NUM> left or right. The grip body <NUM> of the handle assembly <NUM> defines a planar slot <NUM> in which a metal spring <NUM> of the handle assembly <NUM> is disposed. The rotation collar <NUM> defines a circumferential recess <NUM> in which an edge of the metal spring <NUM> snap fits, allowing the rotation collar <NUM>, carrying all other components of the shaft assembly <NUM>, to rotate within a rotation receptacle <NUM> as the track ball assembly <NUM> is pivoted. Accordingly, the entire shaft assembly <NUM> can be rotated as the track ball assembly <NUM> is pivoted with a force sufficient to overcome a frictional resistance between the rotation collar <NUM> and the metal spring <NUM>.

Referring to <FIG> and <FIG>, the entire shaft assembly <NUM> (e.g., as a single unit) can also be separated from the handle assembly <NUM>. The handle assembly <NUM> includes a release button <NUM> that is attached to the metal spring <NUM>. The shaft assembly <NUM> can be released from the handle assembly <NUM> by depressing the release button <NUM> to lower the metal spring <NUM>, thereby disengaging the metal spring <NUM> from the rotation collar <NUM>. The shaft assembly <NUM> can then be removed (e.g., pulled proximally) from the handle assembly <NUM>. In this regard, the handle assembly <NUM> can be disinfected and re-used with another shaft assembly. The shaft assembly <NUM> can be assembled with the handle assembly <NUM> by inserting the shaft <NUM> distally into the rotation receptacle <NUM> until the inner edge of the metal spring <NUM> snaps into the circumferential ring <NUM> of the rotation collar <NUM>, which secures the shaft assembly <NUM> to the handle assembly <NUM>.

The laparoscopic device <NUM> is an ergonomic, easy-to-use, and intuitive tool that provides multiple functions. Such functions include opening and closing of the end effector <NUM>, locking and unlocking (e.g., releasing) of an open/closed configuration of the end effector <NUM>, articulation (e.g., bending) of the end effector <NUM>, locking and unlocking of an articulated configuration of the end effector <NUM>, rotation of the shaft assembly <NUM>, and removal and installation of the shaft assembly <NUM>. Furthermore, the laparoscopic device <NUM> can exhibit more than one configuration respectively associated with these functions at the same time due to couplings among the component parts of the laparoscopic device, even while the functions can be executed independently of one another. For example, while the laparoscopic device <NUM> can exhibit a "roticulated" configuration in which both the end effector <NUM> is articulated (e.g., whether bent or in-line) with respect to the central axis <NUM> of the shaft <NUM> and in which the shaft assembly <NUM> is rotated with respect to a nominal orientation, articulation of the end effector <NUM> and rotation of the shaft assembly <NUM> can be carried out independently of each other. Additionally, the jaws <NUM>, <NUM> may be open or closed in any articulated position of the end effector <NUM> and in any rotational position of the shaft assembly <NUM>.

Accordingly, a user can manipulate the laparoscopic device <NUM> to perform one or more of these functions to carry out a laparoscopic procedure. For example, in some examples, a user's thumb is used to manipulate the trackball assembly <NUM>. In some examples, a user's middle finger and/or index finger is used to manipulate the trigger assembly <NUM>. In some examples, a user's ring and pinky fingers may rest on or grip a lower portion of the handle assembly <NUM>. In some examples, a user's index finger may float atop the laparoscopic device <NUM>.

In some embodiments, the shaft assembly <NUM> is a disposable device that may be discarded after a single use. In some embodiments, the shaft assembly <NUM> is a reusable device that may be disinfected between each of multiple uses. The shaft <NUM> typically has a length of about <NUM> to about <NUM> (e.g., about <NUM>) and an outer diameter of about <NUM> to about <NUM> (e.g., about <NUM>) such that the shaft <NUM> can pass through trocars of standard sizes. The shaft <NUM> is typically made of one or more materials, such as stainless steel. The cables <NUM> are typically made of one or more compliant materials, such as stainless steel. The cables <NUM> can withstand a tension of up to about <NUM> N to about <NUM> N. The cables <NUM> typically have a total length of about <NUM> to about <NUM> (e.g., about <NUM>). The outer ball assembly <NUM> typically has a diameter of about <NUM> to about <NUM> (e.g., about <NUM>). Such a large diameter provides an improved manipulation of the track ball assembly <NUM>, since an extent of articulation of the end effector <NUM> is proportional to a radius of the track ball assembly <NUM>. The proximal socket <NUM>, the central bearings <NUM>, and the distal ball component <NUM>, together forming the ball-and-socket joints <NUM>, are precision molded from one or more chemically resistant, corrosion resistant plastic or metal materials, such as acrylonitrile butadiene styrene (ABS), polycarbonate, polyvinyl chloride (PVC), polyoxymethylene (POM), aluminum, titanium, or polyetherimide (PEI). The grip body <NUM> of the handle assembly <NUM> is typically made of one more materials, such as stainless steel or any of the materials from which the ball-and-socket joints are formed.

<FIG> illustrates an example process <NUM> for using the laparoscopic device <NUM> to perform a laparoscopic procedure. In some implementations, the process includes translating a trackball (e.g., the outer ball assembly <NUM>) distally to a first axial position (e.g., the released position, shown in <FIG>) along a central axis (e.g., the central axis <NUM>) of a shaft (e.g., the shaft <NUM>) (<NUM>). In some implementations, the process further includes rotating the trackball to articulate an end effector (e.g., the end effector <NUM>) while the trackball is disposed at the first axial position such that the end effector achieves an articulated configuration (e.g., as shown in <FIG>) with respect to the central axis of the shaft (<NUM>). In some implementations, the process further includes translating the trackball proximally to a second axial position (e.g., the locked, spring-loaded position, shown in <FIG>) along the central axis of the shaft while the end effector is in the articulated configuration (<NUM>). In some implementations, the process further includes rotating the trackball, the shaft, and the end effector together as a single shaft assembly (e.g., the shaft assembly <NUM>) while the trackball is disposed at the second axial position and while the end effector is in the articulated configuration (<NUM>).

A number of embodiments and implementations have been described above. However, it will be understood that various modifications may be made without departing from the scope of the disclosure. For example, while the laparoscopic device <NUM> has been described and illustrated as including a set of jaws as an end effector, in some embodiments, a laparoscopic device that is otherwise similar to the laparoscopic device <NUM> may include the handle assembly <NUM> and a shaft assembly that has a different type of end effector, such as various types of graspers, forceps, dissectors, needle holders, suture capture devices, scissors, biopsy punches, and electrosurgical devices.

While the laparoscopic device <NUM> has been described and illustrated as including a pistol grip type handle assembly <NUM>, in some embodiments, a laparoscopic device that is otherwise similar to the laparoscopic device <NUM> may include the handle assembly <NUM> of a different type, such as a reverse pistol grip, a pencil grip, a tweezer grip, a scissors/forceps grip, a riffle grip, or a dagger grip. Furthermore, owing to the modular (e.g., separable) nature of the shaft assembly and the handle assembly, several different laparoscopic device configurations can be achieved by selecting a particular combination of a desired shaft assembly and a desired handle assembly.

While the components of the laparoscopic device <NUM> have been described and illustrated as having certain dimensions, sizes, and shapes, in some embodiments, a laparoscopic device that is otherwise similar to the laparoscopic device <NUM> may include like components that have different dimensions, sizes, and/or shapes.

While the laparoscopic device <NUM> has been described and illustrated as including six cables <NUM> and four ball-and-socket joints <NUM>, in some embodiments, a laparoscopic device that is otherwise substantially similar in construction and function to the laparoscopic device <NUM> may include a different number of cables <NUM> and/or a different number of ball-and-socket joints <NUM> and associated features.

While the proximal socket <NUM>, the central bearings <NUM>, and the distal ball component <NUM> have been described and illustrated as including internal slots <NUM> through which the cables <NUM> pass, in some embodiments, a laparoscopic device <NUM> that is otherwise substantially similar in construction and function to the laparoscopic device <NUM> may include ball and socket components that define open cable slots in which cables are held in by a surrounding sleeve (not shown), as shown in <FIG>.

While the proximal socket <NUM>, the central bearings <NUM>, and the distal ball component <NUM> have been described and illustrated as separate components, in some embodiments, a laparoscopic device <NUM> that is otherwise substantially similar in construction and function to the laparoscopic device <NUM> may include ball-and-socket joints that are defined by a single molded, bendable component, as shown in <FIG>.

While the example process <NUM> of using the laparoscopic device <NUM> has been described with a certain order of certain operations, in some implementations, similar methods of using the laparoscopic device <NUM> can include operations that are reverse to those described in the process <NUM> or can include the same or different operations performed in a different order.

Other embodiments of a laparoscopic device are also possible. For example <FIG> illustrate a laparoscopic device <NUM> designed for performing laparoscopic surgical procedures within a body cavity (e.g., an abdominal cavity) of a patient. The laparoscopic device <NUM> includes a shaft assembly <NUM> that is constructed to manipulate tissues within the body cavity and a handle assembly <NUM> that is coupled to the shaft assembly <NUM> for manipulating the shaft assembly <NUM>. The shaft assembly <NUM> is separable from the handle assembly <NUM> and is rotatable with respect to the handle assembly <NUM>.

The shaft assembly <NUM> includes a shaft <NUM>, an articulation segment <NUM> connected to a distal end of the shaft <NUM>, an end effector <NUM> (e.g., a gripper) coupled to a distal end of the articulation segment <NUM>, a track ball assembly <NUM> (e.g., a ball actuator) attached to a proximal end of the shaft <NUM>, a spinner <NUM> coupled to the shaft <NUM> at a location distal to the track ball assembly <NUM>, a rod <NUM> extending through the shaft <NUM> to the end effector <NUM>, and multiple cables <NUM> extending from the end effector <NUM> to the track ball assembly <NUM>. The spinner <NUM> can be spun (e.g., rotated) by a user to rotate the entire shaft assembly <NUM> with respect to the handle assembly <NUM>.

The shaft <NUM> defines opposing slots <NUM> near a proximal end of the shaft <NUM> that allow translation of the rod <NUM> extending therethrough. The rod <NUM> includes a central portion <NUM>, a proximal pin <NUM> that is translatable axially within the slots <NUM>, and a distal wire section <NUM> that is translatable and coupled to the end effector <NUM> to open and close the end effector <NUM>, as will be discussed in more detail below.

Referring to <FIG>, <FIG>, <FIG>, and <FIG>, the handle assembly <NUM> includes a grip body <NUM> for grasping the laparoscopic device <NUM> and a trigger assembly <NUM> for manipulating (e.g., opening, closing, locking, and releasing) the end effector <NUM>. The grip body <NUM> includes a central portion <NUM> by which the track ball assembly <NUM> can be attached to and detached from the shaft assembly <NUM>. The grip body <NUM> also includes two outer portions <NUM>, <NUM> by which a bent configuration of the articulation segment <NUM> can be locked and by which a rotational position of the shaft assembly <NUM> can be locked. The outer portions <NUM>, <NUM> flank the central portion <NUM> and can be squeezed together (e.g., inwards towards the central portion <NUM>) from the biased position shown in <FIG> to compress an outer ball <NUM> (e.g., a rounded housing) of the track ball assembly <NUM> to lock a rotational position of the track ball assembly <NUM>. The shaft assembly <NUM> can withstand a force of about <NUM> N to about <NUM> N to resist rotational movement or lateral movement while the grip body <NUM> is in the compressed configuration.

Compression of the outer ball <NUM> with the outer portions <NUM>, <NUM> also locks a bent configuration of the articulation segment <NUM>, due to fixed attachments of proximal ends <NUM> of the cables <NUM> to the outer ball <NUM>. Referring to <FIG>, the central portion <NUM> carries a spring <NUM> that biases the outer portions <NUM>, <NUM> to an expanded configuration in which lower end regions of the outer portions <NUM>, <NUM> are spaced apart from central portion <NUM>. In the expanded configuration, a sufficient clearance <NUM> is present between the outer ball <NUM> and the outer portions <NUM>, <NUM> of the grip body <NUM> to allow rotation of the outer ball <NUM>, and therefore rotation of the entire track ball assembly <NUM> with respect to the handle assembly <NUM>. The central portion <NUM> and the outer portions <NUM>, <NUM> together define a round pocket <NUM> in which the track ball assembly <NUM> can rotate and two openings <NUM>, <NUM> that reduce a weight of the grip body <NUM>. Sufficient squeezing of the two outer portions <NUM>, <NUM> together locks the outer portions <NUM>, <NUM> to the central portion <NUM> via coupling of the outer portions <NUM>, <NUM> to a pin <NUM> carried by the central portion <NUM>. The outer ball <NUM> defines multiple ridges <NUM> that improve tactile grip of the outer ball <NUM> for pivoting and rotating.

Referring to <FIG> and <FIG>, the central portion <NUM> also carries a lock release mechanism <NUM> that can be depressed to release the locked (e.g., compressed) configuration of the grip body <NUM> to permit rotation and articulation of the shaft assembly <NUM>. The lock release mechanism <NUM> accordingly includes a button <NUM> that can be depressed, as well as a spring <NUM> that biases the button <NUM> to the extended configuration shown in <FIG> and that permits distal movement of the lock release mechanism <NUM> when the button <NUM> is depressed.

The trigger assembly <NUM> includes a lever <NUM> and a latch mechanism <NUM>. The lever <NUM> has a curved profile and is pivotable about an axis <NUM> (normal to the plane of <FIG>) defined by a pin coupling <NUM> between the lever <NUM> and the central portion <NUM> of the grip body <NUM>. The lever <NUM> is spring loaded by the spring <NUM> to the biased position shown in <FIG> and defines an opening <NUM> through which the shaft <NUM> passes. The lever <NUM> includes a pull <NUM> and a ring grip <NUM> in which a user can insert his or her finger to move the lever <NUM>.

The latch mechanism <NUM> includes a ratchet finger <NUM>, a spring <NUM> by which the ratchet finger <NUM> is mounted to the lever <NUM> and that biases the ratchet finger <NUM> to the position shown in <FIG>, a ratchet defeat lever <NUM> by which the ratchet finger <NUM> can be pivoted about a pin <NUM> (normal to the plane of <FIG>) carried by the lever <NUM>. In this manner, the ratchet defeat leaver <NUM> provides an on-demand, "live" ratchet defeat mechanism. The latch mechanism <NUM> further includes a ratchet rack <NUM> mounted to the central portion <NUM> of the grip body <NUM> and formed to engage the ratchet finger <NUM>. The ratchet finger <NUM> and the ratchet rack <NUM> have generally arcuate profiles. The ratchet finger <NUM> includes a single tooth <NUM> that can be individually indexed with (e.g., engaged by) each of multiple teeth <NUM> of the ratchet rack <NUM>. The teeth <NUM> define multiple respective valleys <NUM> in which the tooth <NUM> can seat. The latch mechanism <NUM> also includes an actuator <NUM> by which the ratchet defeat mechanism can be locked (e.g., providing a fixed ratchet defeat) in a configuration (shown in <FIG>) that allows free movement of the tooth <NUM> along the ratchet rack <NUM>. such that the ratchet defeat lever <NUM> does not need to be used on-demand.

Referring to <FIG> and <FIG>, the lever <NUM> can be depressed (e.g., squeezed) by a user's hand (e.g., by an index or middle finger) to close the end effector <NUM> and released to open the end effector <NUM>. When the lever <NUM> is depressed (e.g., while the ratchet defeat is free), the ratchet finger <NUM> moves inward along the ratchet rack <NUM>. The proximal pin <NUM> of the rod <NUM> moves proximally, thereby translating the distal wire section <NUM> of the rod <NUM> proximally to close the end effector <NUM>.

The latch mechanism <NUM> can be locked at each valley <NUM> of the ratchet rack <NUM> to lock a corresponding open configuration of the end effector <NUM> and can be unlocked (e.g., released or disabled) to adjust the extent to which the end effector <NUM> is open. The end effector <NUM> achieves a fully closed configuration (as shown in <FIG> and <FIG>) when the tooth <NUM> of the ratchet finger <NUM> is engaged with the inward-most tooth <NUM> and valley <NUM> of the ratchet rack <NUM>. The end effector <NUM> achieves a fully open configuration (as shown in <FIG>) when the tooth <NUM> of the ratchet finger <NUM> abuts the outer-most most tooth <NUM> of the ratchet rack <NUM>. The ratchet defeat lever <NUM> can be depressed to pivot the ratchet finger <NUM> about the pin <NUM> against the spring <NUM> to lift the ratchet finger <NUM> up from the ratchet rack <NUM> such that the ratchet finger <NUM>, mounted to the lever <NUM>, can be moved outward or inward along the ratchet rack <NUM>. The ratchet defeat lever <NUM> can be released to allow the ratchet finger <NUM> to return to the spring-loaded position and locked at a desired position along the ratchet rack <NUM>.

Referring to <FIG>, the end effector <NUM> is similar in function to the end effector <NUM> and includes a first jaw <NUM> and a second jaw <NUM> that are pivotable about axes defined by pin couplings. The end effector <NUM> also includes a support base <NUM> that is coupled to the articulation segment <NUM>, through which the distal wire section <NUM> of the rod <NUM> passes. Referring to <FIG> and <FIG>, the laparoscopic device <NUM> includes three cables <NUM> that respectively wrap around the support base <NUM> at distal ends <NUM> along circumferential channels <NUM> of the support base <NUM>, thereby doubling back on each other and forming six cable portions <NUM> that extend from the distal end to the proximal end of the laparoscopic device <NUM>. The cable portions <NUM> are about equally spaced around a circumference of the shaft assembly <NUM>. At the proximal end of the laparoscopic device <NUM>, the cables <NUM> wrap around a central region of the outer ball <NUM> at their proximal ends <NUM>. The support base <NUM> further defines a central slot along which the distal wire section <NUM> of the rod <NUM> can translate axially to pivot the jaws <NUM>, <NUM> to open and close the end effector <NUM>. When the distal wire section <NUM> is located at a distal-most position (e.g., when the lever <NUM> of the trigger assembly <NUM> is fully released at the spring-loaded configuration), the jaws <NUM>, <NUM> are fully open, as shown in <FIG> and <FIG>. When the distal wire section <NUM> is located at a proximal-most position (e.g., when the lever <NUM> of the trigger assembly <NUM> is fully depressed towards the grip body <NUM>), the jaws <NUM>, <NUM> are fully closed, as shown in <FIG> and <FIG>.

The articulation segment <NUM> is adjustable to allow the end effector <NUM> to bend in all directions. The distal wire section <NUM> is a thin, compliant section (e.g., a nitinol wire) that is malleable to bend within the articulation segment <NUM> such that an extent to which the end effector <NUM> is open or closed is independent of an orientation of a central axis of the support base <NUM> with respect to a central axis of the shaft <NUM>. The articulation segment <NUM> is substantially similar in construction and function to the articulation segment <NUM>. Accordingly, the articulation segment <NUM> includes the proximal socket <NUM>, multiple of the central bearings <NUM>, and the distal ball component <NUM>. The balls <NUM>, <NUM> respectively sit and are rotatable within the sockets <NUM>, <NUM> to form multiple (e.g., four) ball-and-socket joints <NUM> that together allow the articulation segment <NUM> to bend such that the end effector <NUM> can be articulated (e.g., bent) by up to about <NUM> degrees with respect to a central axis of the shaft <NUM>, as shown in <FIG> and <FIG>. The articulation segment <NUM> may include a variable number of central bearings <NUM> to allow the end effector <NUM> to bend to varying extents.

The distal end portion <NUM> of the shaft <NUM>, the proximal socket <NUM>, the central bearings <NUM>, and the distal ball component <NUM> together define multiple (e.g., six) slots through which the cables <NUM> extend proximally from the support base <NUM> of the end effector <NUM> into the shaft <NUM>. The slots are positioned along a circle that is concentric with the central axis <NUM> of the shaft <NUM> such that the cables <NUM> are equally spaced radially from the central axis <NUM> of the shaft <NUM>. The articulation segment <NUM> includes the flexible sleeve <NUM> (shown in <FIG> and <FIG>) that surrounds and covers the proximal socket <NUM>, the central bearings <NUM>, the distal ball component <NUM>, and the cables <NUM>. The cables <NUM> further extend through the shaft <NUM> and proximally into the outer ball <NUM> of the track ball assembly <NUM>.

Referring to <FIG>, the track ball assembly <NUM> includes an inner ball <NUM>, a collar <NUM> that rigidly connects the inner ball <NUM> to the shaft <NUM>, and the outer ball <NUM>. The outer ball <NUM> surrounds and is rotatable about the inner ball <NUM> for rotation of the shaft assembly <NUM> and articulation of the end effector <NUM>. The inner ball <NUM> is generally spherical in shape. The outer ball <NUM> thumb-operated and is centered along the central axis <NUM> of the shaft <NUM>. The outer ball <NUM> defines multiple slots <NUM> through which the cables <NUM> pass and are attached to the track ball assembly <NUM> at their proximal ends <NUM>.

The outer ball <NUM> provides an ergonomic surface by which the track ball assembly <NUM> can be manipulated (e.g., rotated about the central axis <NUM> or pivoted laterally in any direction with respect to a centerpoint of the inner ball <NUM>) to manipulate the end effector <NUM>. In some embodiments, the outer ball <NUM> may define a north cross hair and a south cross hair that indicate (e.g., correspond with) respective orientations of the first and second jaws <NUM>, <NUM> so that a user who lacks direct vision of the end effector <NUM> is aware of the orientations of the jaws <NUM>, <NUM>. The outer ball <NUM> is typically made of one or more materials that facilitate tactile contact (e.g., gripping and compression) with the user's thumb, such as thermoplastic elastomers (TPE). Example materials can include styrenic block copolymer compounds (SBC or TPE-S), polyolefinic rubber blends (TPO or TPE-O), and thermoplastic vulcanizates (TPV or TPV-V), among others.

In the compressed configuration of the grip body <NUM>, the outer ball <NUM> and the cables <NUM> secured thereto are locked in position such that a rotational position of the shaft assembly <NUM> and an articulated position (e.g., a degree of bending) of the end effector <NUM> is also locked (e.g., fixed). In the expanded configuration of the grip body <NUM>, the outer ball <NUM> can be rotated and pivoted within the round pocket <NUM>. Accordingly, the entire shaft assembly <NUM> (e.g., with a fixed articulated position of the end effector <NUM>) can be rotated as a single unit about the central axis <NUM> of the shaft <NUM> by pivoting the outer ball <NUM> left, right, up, down, or in any direction with respect to the inner ball <NUM>. Pivotable movement of the outer ball <NUM> accordingly moves the proximal ends <NUM> of the cables <NUM> to effect bending of the end effector <NUM> via the articulation segment <NUM>. The cables <NUM> extend along a same side of the central axis <NUM> of the shaft <NUM> for an entire length of the cables <NUM>, such that each cable <NUM> is located on same sides of the support base <NUM> of the end effector <NUM> and the outer ball <NUM> and function in the manner as described with respect to the cables <NUM> of the laparoscopic device <NUM> to provide a "natural" articulation direction.

Referring to <FIG> and <FIG>, the central portion <NUM> of the grip body <NUM> defines a slot <NUM> in which a metal spring <NUM> of the handle assembly <NUM> is disposed. The central portion <NUM> also carries a push button <NUM> and a metal plate <NUM> that is secured thereto. The metal plate <NUM> defines an opening <NUM> that is sized to allow passage of the shaft assembly <NUM> for installing the shaft assembly <NUM> to and removing the shaft assembly <NUM> from the handle assembly <NUM>. The metal spring <NUM> biases the push button <NUM> to the position shown in <FIG> and <FIG> such that the collar <NUM> rests against (e.g., abuts) the metal plate <NUM> within the opening <NUM> to secure the shaft assembly to the handle assembly <NUM>. Alternatively, when the push button <NUM> is depressed, the opening <NUM> aligns with the collar <NUM> such that the shaft assembly <NUM> can pass through the opening <NUM> to attach the shaft assembly <NUM> to the handle assembly <NUM> or remove the shaft assembly <NUM> from the handle assembly <NUM>, as shown in <FIG>.

In some embodiments, the shaft assembly <NUM> is a disposable device that may be discarded after a single use. In some embodiments, the shaft assembly <NUM> is a reusable device that may be disinfected between each of multiple uses. The shaft <NUM> typically has a length of about <NUM> to about <NUM> (e.g., about <NUM>) and an outer diameter of about <NUM> to about <NUM> (e.g., about <NUM> or about <NUM>) such that the shaft <NUM> can pass through trocars of standard sizes. The shaft <NUM> is typically made of one or more materials, such as stainless steel. The cables <NUM> are typically made of one or more compliant materials, such as stainless steel. The cables <NUM> can withstand a tension of up to about <NUM> N to about <NUM> N. The cables <NUM> typically have a total length of about <NUM> to about <NUM> (e.g., about <NUM>). The outer ball <NUM> typically has a width of about <NUM> to about <NUM> (e.g., about <NUM>). The inner ball <NUM> typically has a diameter of about <NUM> to about <NUM> (e.g., about <NUM>). Such a large width of the outer ball <NUM> (e.g., compared to that of the outer ball assembly <NUM>) and a large diameter of the inner ball <NUM> provides a greater extent (e.g., up to about <NUM> degrees) of articulation of the end effector <NUM>. Each outer portion <NUM>, <NUM> of the grip body <NUM> includes a patch <NUM> of low durometer overmolded material (shown in <FIG>) to increase friction between the outer portion <NUM>, <NUM> and the outer ball <NUM> during squeezing of the outer portions <NUM>, <NUM> to lock rotation and articulation.

While the end effector <NUM> has been illustrated as including the jaws <NUM>, <NUM>, in some embodiments, a laparoscopic device that is otherwise substantially similar in construction and function to the laparoscopic device <NUM> may include a different type of end effector. Example end effectors include dissectors and graspers (e.g., Babcock, duckbill, <NUM> degrees, dolphin nose, fenestrated, flat nose, etc.), scissors (e.g., straight, Metz, curved, small mini, etc.), and needle holders (e.g., McKernan, Long jaw, etc.).

Claim 1:
A laparoscopic device (<NUM>), comprising:
an elongate shaft (<NUM>);
an end effector (<NUM>) coupled to a distal end of the elongate shaft (<NUM>);
a rounded housing (<NUM>) coupled to a proximal end of the elongate shaft (<NUM>) and having a center point positioned along the central axis (<NUM>) of the elongate shaft (<NUM>);
an interior ball (<NUM>) about which the rounded housing (<NUM>) is rotatable;
first and second cables (<NUM>) attached to the end effector (<NUM>) and the rounded housing (<NUM>) and extending from the end effector to the rounded housing (<NUM>) respectively along a first side of the elongate shaft (<NUM>) and along a second side of the elongate shaft (<NUM>) disposed opposite the first side; and
a handle (<NUM>) comprising a central portion (<NUM>) and two opposing outer portions (<NUM>, <NUM>), the handle being adjustable between:
an expanded configuration in which a sufficient clearance (<NUM>) is present between the rounded housing (<NUM>) and the outer portions (<NUM>, <NUM>) so that the rounded housing (<NUM>) can be rotated in fixed relation to the elongate shaft (<NUM>), the first and second cables (<NUM>), and the end effector to rotate the elongate shaft (<NUM>), the first and second cables (<NUM>), and the end effector (<NUM>) together as a single shaft assembly (<NUM>) with respect to the central axis (<NUM>) of the elongate shaft (<NUM>) and in which the rounded housing(<NUM>) can be pivoted to bend the end effector (<NUM>) with respect to the central axis (<NUM>) of the elongate shaft (<NUM>), and
a compressed configuration in which the two opposing outer portions (<NUM>, <NUM>) are compressed towards the central portion so that the rounded housing (<NUM>) is fixed with respect to the handle (<NUM>).