US20020095175A1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Flexible instrument
Assignee: Endovia Medical Inc
•
Filing: 2001-11-16
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Granted: —
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Expires: 2021-11-16
Abstract
Abstract A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.
Inventors
- 👤 David Brock
- 👤 Woojin Lee
- 👤 Gary Rogers
- 👤 Barry Weitzner
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 05:16
CPC Classifications
A; A61; A61B; A61B17/00; A61B17/04; A61B17/0469; A61B17/0483; A61B17/064; A61B17/0644; A61B17/068; A61B17/0682; A61B34/00; A61B34/20; A61B34/30; A61B34/35; A61B34/37; A61B34/70; A61B34/71; A61B34/72; A61B34/77; A61B90/00; A61B90/36; B; B25; B25J; B25J3/00; B25J3/04; B25J9/00; B25J9/10; B25J9/104; A61B17/00234; A61B17/0487; A61B17/28; A61B17/29; A61B17/34; A61B17/3417; A61B17/3421; A61B17/3462; A61B2017/00017; A61B2017/00022; A61B2017/00026; A61B2017/00084; A61B2017/00088; A61B2017/00238; A61B2017/00243; A61B2017/00292; A61B2017/003; A61B2017/00318; A61B2017/00331; A61B2017/00477; A61B2017/00831; A61B2017/00876; A61B2017/00982; A61B2017/00986; A61B17/0401; A61B2017/0409; A61B2017/0414; A61B2017/0427; A61B2017/0437; A61B2017/0464; A61B2017/0645; A61B2017/0647; A61B2017/0648; A61B17/22; A61B2017/22051; A61B2017/22065; A61B2017/22069; A61B2017/2926; A61B2017/2927; A61B2017/2932; A61B2017/2939; A61B2034/2046; A61B2034/2051; A61B2034/2059; A61B2034/301; A61B2034/305; A61B2034/715; A61B34/74; A61B2034/742; A61B2034/744; A61B2090/364; A61B2090/365; A61B90/37; A61B2090/378; A61B90/50; A61B2090/506; A61B34/10; A61B5/00; A61B5/0059; A61B5/0082; A61B5/0084; A61B5/01; A61B5/015; A61B5/48; A61B5/4887; A61B5/4893; A61B90/361; A61F; A61F2/00; A61F2/02; A61F2/24; A61F2/2442; A61F2/2445; A61F2/2466
Claims Analysis
Total Claims: 44
Claim 1
Independent Claim
101 words
1 . A surgical instrument comprising: a shaft having at least one controllably flexible segment and a tool mounted at a distal end of the shaft, the tool being insertable into a subject; a shaft mount drivably coupled to the shaft at a proximal end of the shaft, the shaft mount being drivably coupled to the tool through the shaft; and a drive unit drivably coupled to the shaft mount, the drive unit being operable from a location remote from the subject to control flexure of the flexible segment so as to control disposition of the tool at an operative site.
Claim 2
Dependent Claim
101 words
1 . A surgical instrument comprising: a shaft having at least one controllably flexible segment and a tool mounted at a distal end of the shaft, the tool being insertable into a subject; a shaft mount drivably coupled to the shaft at a proximal end of the shaft, the shaft mount being drivably coupled to the tool through the shaft; and a drive unit drivably coupled to the shaft mount, the drive unit being operable from a location remote from the subject to control flexure of the flexible segment so as to control disposition of the tool at an operative site.
Claim 3
Dependent Claim
27 words
2 . The instrument of claim 1 , wherein the shaft, the shaft mount, and the tool are constructed and arranged as a single piece disposable unit.
Claim 4
Dependent Claim
37 words
3 . The instrument of claim 1 , further comprising a receiver intercoupled with the drive unit, the shaft mount being readily mountable on the receiver for drivable intercoupling of the shaft mount with the drive unit.
Claim 5
Dependent Claim
25 words
4 . The instrument of claim 3 , wherein the drive unit is engageable with and disengageable from the receiver, the drive unit being portable.
Claim 6
Dependent Claim
23 words
5 . The instrument of claim 1 , wherein the shaft mount and the receiver are engagable with and disengagable from each other.
Claim 7
Dependent Claim
27 words
6 . The instrument of claim 1 , wherein the shaft, the shaft mount, and the tool are constructed and arranged as a single piece portable unit.
Claim 8
Dependent Claim
34 words
7 . The instrument of claim 1 , including a cabling pathway extending from the drive unit to the flexible segment, for actuation of controlled bending at the flexible segment by the drive unit.
Claim 9
Dependent Claim
29 words
8 . The instrument of claim 1 , including a cabling pathway extending from the drive unit to the tool, for actuation of the tool by the drive unit.
Claim 10
Dependent Claim
21 words
9 . The instrument of claim 8 , wherein the shaft supports the tool via a wrist, the wrist being pivotable.
Claim 11
Dependent Claim
20 words
10 . The instrument of claim 1 , wherein the flexible segment comprises a series of slots defining spaced ribs.
Claim 12
Dependent Claim
38 words
11 . The instrument of claim 1 , further comprising a receiver for engaging the shaft mount, the receiver supported by a carriage slideably engaging rails controlled to translate the shaft toward and away from the operative site.
Claim 13
Dependent Claim
40 words
12 . The instrument of claim 1 , wherein the shaft is an inner shaft, the instrument further comprising a guide shaft for coaxially receiving the inner shaft, the guide shaft capable of disposing the tool at the operative site.
Claim 14
Dependent Claim
26 words
13 . The instrument of claim 12 , wherein the guide shaft also has at least one flexible segment, the bending of which is remotely controllable.
Claim 15
Dependent Claim
28 words
14 . The instrument of claim 1 , wherein the shaft is remote controllably drivable by a user via a manually controllable input device remote from the subject.
Claim 16
Dependent Claim
116 words
15 . A remotely controllable surgical instrument, comprising: a user input device, for inputting a command; a slave station for receiving the command from the input device, the user input device being remotely disposed from the slave station, the slave station further comprising a mechanically drivable mechanism comprising a shaft having a proximal end, a distal end supporting a tool and a flexible portion between the proximal and distal ends; and an electronic signal link between the user input device and the slave station, the command from the input device being communicated via the link for controlling bending of the flexible portion so as to controllably position the tool at an operative site of a subject.
Claim 17
Dependent Claim
116 words
15 . A remotely controllable surgical instrument, comprising: a user input device, for inputting a command; a slave station for receiving the command from the input device, the user input device being remotely disposed from the slave station, the slave station further comprising a mechanically drivable mechanism comprising a shaft having a proximal end, a distal end supporting a tool and a flexible portion between the proximal and distal ends; and an electronic signal link between the user input device and the slave station, the command from the input device being communicated via the link for controlling bending of the flexible portion so as to controllably position the tool at an operative site of a subject.
Claim 18
Dependent Claim
36 words
16 . The instrument of claim 15 , further comprising a plurality of motors coupled to the controller and drivably coupled to the shaft, for controlling at least one degree of freedom of the flexible segment.
Claim 19
Dependent Claim
21 words
17 . The instrument of claim 15 , further comprising cables extending between the proximal and distal ends of the shaft.
Claim 20
Dependent Claim
26 words
18 . The instrument of claim 17 , wherein the electronic signal link activates the cables to effect flexure of the shaft at the flexible segment.
Claim 21
Dependent Claim
22 words
19 . The instrument of claim 15 , wherein the shaft is an inner shaft, the instrument further comprising an outer shaft.
Claim 22
Dependent Claim
60 words
20 . The instrument of claim 15 , wherein said master station includes a user interface manipulated by a user, and the electronic signal link is provided by a computer system responsive to the user interface manipulations, and the slave station further comprises a drive unit coupled from the computer system to the shaft for controlling actuation of the shaft.
Claim 23
Dependent Claim
86 words
21 . A remotely controllable catheter comprising: a tube having a proximal end and a distal end, at least a segment of the tube being controllably flexible; a drivable bending mechanism mechanically coupled to and interactive with the controllably flexible segment of the tube; and a computer remote from and interconnected to the bending mechanism, the computer having a program receiving input from a user, and the program directing the bending mechanism to controllably flex the flexible segment of the tube according to the user input.
Claim 24
Dependent Claim
86 words
21 . A remotely controllable catheter comprising: a tube having a proximal end and a distal end, at least a segment of the tube being controllably flexible; a drivable bending mechanism mechanically coupled to and interactive with the controllably flexible segment of the tube; and a computer remote from and interconnected to the bending mechanism, the computer having a program receiving input from a user, and the program directing the bending mechanism to controllably flex the flexible segment of the tube according to the user input.
Claim 25
Dependent Claim
53 words
22 . The catheter of claim 21 , wherein: the bending mechanism comprises a cable extending from the flexible segment and a motor mechanism; the motor mechanism is interconnected to the computer; and the cable being driven by the motor mechanism to direct bending of the flexible portion according to the user input.
Claim 26
Dependent Claim
54 words
23 . The catheter of claim 21 , further comprising a user input device interconnected to the computer, the user input device being remotely mounted relative to the tube and adapted to receive the user input, the program processing the commands capable of directing movement of the bending mechanism according to the user input.
Claim 27
Dependent Claim
127 words
24 . A catheter, comprising: a shaft having proximal and distal ends and at least one flexible segment along a length of the shaft, the distal end being insertable within a body cavity or vessel; a tool supported at the distal end of the shaft for performing a medical procedure; at least two cables extending along the shaft between the proximal and distal ends, at least one of the cables associated with the flexible segment of the shaft and at least another of the cables associated with the tool; an electronic control mechanism drivably coupled to the cables, the electronic control mechanism capable of communicating drive signals from a user input device to the cables to effect bending of the flexible segment and operation of the tool.
Claim 28
Dependent Claim
127 words
24 . A catheter, comprising: a shaft having proximal and distal ends and at least one flexible segment along a length of the shaft, the distal end being insertable within a body cavity or vessel; a tool supported at the distal end of the shaft for performing a medical procedure; at least two cables extending along the shaft between the proximal and distal ends, at least one of the cables associated with the flexible segment of the shaft and at least another of the cables associated with the tool; an electronic control mechanism drivably coupled to the cables, the electronic control mechanism capable of communicating drive signals from a user input device to the cables to effect bending of the flexible segment and operation of the tool.
Claim 29
Dependent Claim
47 words
25 . The catheter of claim 24 , wherein the flexible segment comprises a deformable material, at least one of the cables exerting a pulling or pushing force on the flexible portion of the shaft to effect controlled deformational bending of the flexible portion of the shaft.
Claim 30
Dependent Claim
33 words
26 . The catheter of claim 24 , wherein the shaft is an inner shaft and the catheter further comprises an outer shaft, the inner shaft being coaxially insertable into the outer shaft.
Claim 31
Dependent Claim
16 words
27 . The catheter of claim 24 , wherein the flexible segment comprises a coiled section.
Claim 32
Dependent Claim
29 words
28 . The catheter of claim 26 , wherein the at least one cable associated with the flexible segment is operable to bend the shaft at the flexible segment.
Claim 33
Dependent Claim
34 words
29 . The catheter of claim 28 , wherein the at least one cable is secured to an outer surface of the shaft between the flexible segment and the distal-most point of the shaft.
Claim 34
Dependent Claim
26 words
30 . The catheter of claim 29 , wherein the at least one cable extends along the shaft from the secured point to the proximal end.
Claim 35
Dependent Claim
26 words
31 . The catheter of claim 28 , wherein the at least one cable extends between the inner and outer shafts along the proximal shaft section.
Claim 36
Dependent Claim
45 words
32 . The catheter of claim 28 , wherein the proximal end of the shaft extends to a mechanically drivable mechanism comprising a first control element for controlling the at least one cable to bend the distal end of the shaft at the flexible segment.
Claim 37
Dependent Claim
24 words
33 . The catheter of claim 32 , further comprising a second control element that controls rotation of the outer shaft about the co-axis.
Claim 38
Dependent Claim
24 words
34 . The catheter of claim 33 , further comprising a third control element that controls rotation of the inner shaft about the co-axis.
Claim 39
Dependent Claim
25 words
35 . The catheter of claim 34 , further comprising a fourth control element associated with an actuating link to control rotation of the tool.
Claim 40
Dependent Claim
28 words
36 . The catheter of claim 32 , wherein the mechanically drivable mechanism, the shaft and the tool are constructed as a single piece unit that is disposable.
Claim 41
Dependent Claim
36 words
37 . The catheter of claim 32 , wherein the mechanically drivable mechanism engages a receiver which is supported by a carriage, the carriage slideably engaging rails to translate the catheter to and from the subject.
Claim 42
Dependent Claim
45 words
38 . The catheter of claim 24 , further comprising a user interface, wherein the electronic control mechanism couples the user interface to a drive unit remote from the body cavity or vessel, the drive unit capable of mechanically driving the at least two cables.
Claim 43
Dependent Claim
19 words
39 . The catheter of claim 38 , wherein manipulations at the user interface control operation of the tool.
Claim 44
Dependent Claim
29 words
40 . The catheter of claim 39 , wherein the tool comprises a pair of jaws and the user interface manipulations control the opening and closing of the jaws.
References Cited (Backward Citations)
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