US 20020062136A1
(19) United States
(12) Patent Application Publication (io) Pub. No.: US 2002/0062136 Al
Hillstead et al. (43) Pub. Date: May 23,2002
(54) MEDICAL INSTRUMENT
(76) Inventors: Richard A. Hillstead, Doluth, GA
(US); Bryan D. Knodel, Flagstaff, AZ
(US)
Correspondence Address:
COOK, ALEX, MCFARRON, MANZO,
CUMMINGS & MEHLER LTD
SUITE 2850
200 WEST ADAMS STREET
CHICAGO, IL 60606 (US)
(21) Appl. No.: 09/942,236
(22) Filed: Aug. 29, 2001
Related U.S. Application Data
(63) Non-provisional ol provisional application No. 60/229,076, filed on Aug. 30, 2000.
(51) Int. CI.7 A61B 17/28
(52) U.S. C I 606 205
(57) ABSTRACT
A hydraulically actuated medical instrument includes an elongated shaft having proximal and distal ends, a hydraulically actuated end effector at the distal end of the shaft and a fluid flow path extending through the shaft to the end effector. The end effector may be directly manually operated by way of a handle located at the proximal end of the shaft or remotely, for example, via robotic controller. Articulation joints may be provided along the shaft, between the shaft and end effector or handle, or elsewhere. The hydraulic actuation of the present invention permits multiple axis instrument articulation, miniaturization and simplified instrument fabrication.
