Patent ID: 8771260

Claim:
A surgical device, comprising: a flexible elongate shaft defining a longitudinal axis between a proximal end and a distal end and dimensioned to fit in a working channel of an endoscope; a handle coupled to the proximal end of the flexible elongate shaft; and an articulation joint comprising a first end defining a first articulation axis and rotatably coupled to the distal end of the flexible elongate shaft, a second end defining a second articulation axis and coupled to an end effector, wherein the handle is configured to operatively couple to the end effector via an actuation wire extending along the flexible elongate shaft and the articulation joint, a pivot point pivotably coupling the first end and the second end, wherein the second end is pivotable relative to the first end about the pivot point between a straight position and an articulated position to angularly orient the first articulation axis relative to the second articulation axis, and a decoupling member positioned on the second end of the articulation joint and structured to divert the path of the actuation wire toward the pivot point when the second end is in the straight position and the articulated position to reduce a moment arm with respect to the pivot point when an actuation force is applied to the actuation wire, and wherein the actuation wire defines a first line proximal to the decoupling member and a second line distal to the decoupling member, and wherein the decoupling member geometrically constrains the actuation wire such that when the second end is in the straight position the first line and the second line together define a first non-zero angle and when the second link is in the articulated position the first line and the second line define a second non-zero angle; wherein the handle is adapted to selectively rotate the articulation joint and the end effector coupled thereto about the longitudinal axis, relative to the flexible elongate shaft.