# US 10,500,373 B2 · Lateral articulation anchors for catheters and other uses > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,500,373 B2 - Document ID: US10500373B2 - Status: Granted - Kind: B2 - Application number: 15/369,426 - Filed: 2016-12-05 - Published: 2017-06-08 - Granted: 2019-12-10 - Earliest claimed: 2015-12-04 - Assignees: Project Moray, Inc. - Applicants: Project Moray, Inc. - Inventors: Mark D. Barrish; Keith Phillip Laby - Web page: https://patentgrep.com/patent/US10500373B2 ## CPC - A61M 25/0155: {with hydraulic or pneumatic means, e.g. balloons or inflatable compartments} - A61B 34/00: Computer-aided surgery; Manipulators or robots specially adapted for use in surgery - A61M 25/0074: {Dynamic characteristics of the catheter tip, e.g. openable, closable, expandable or deformable} - A61M 25/0116: {self-propelled, e.g. autonomous robots (A61M25/0122 takes precedence)} - A61M 25/0136: {Handles therefor} - A61M 25/04: in the body, e.g. expansible {(A61M25/10, A61M16/0488 take precedence)} - A61M 25/1011: {Multiple balloon catheters} - A61B 2017/003: {Steerable} - A61B 2017/00309: {Cut-outs or slits} - A61B 2017/00314: {Separate linked members} - A61B 2017/00323: {Cables or rods} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61M 2210/125: Heart - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Medical devices, systems, and methods provide improved control over the flexing of an articulated catheter adjacent a therapeutic or diagnostic tool by laterally bending the catheter so as to anchor an articulated portion of the catheter locally relative to an internal tissue site. Alternative embodiments may be used for a wide variety of non-medical applications, including with borescope systems and for other industrial applications. ## Claims ### Claim 1 A device for use in a lumen system having opposed surface regions, the device comprising: an elongate flexible body having a proximal end and a distal end and defining an axis therebetween; the elongate body having an articulatable portion adjacent the distal end, the articulatable portion comprising a first axial segment and a second axial segment distal of the first segment; the second segment having a first end and a first articulation orientation; the first segment comprising an anchoring segment, wherein the first segment is configured to, in response to an anchor command, laterally bend toward an anchor configuration such that the first segment engages the opposed surface regions of the lumen system and releasably anchors the first end of the second segment; an input; and a housing having a connector coupling the housing with the proximal end of the elongate body, the housing having a plurality of drive components coupled to the input by a processor; wherein the input is configured to transmit the anchor command to the processor in response to actuation of the input by a user; and wherein the processor is configured to direct the drive components to drive the first segment toward the anchor configuration in response to the anchor command. ### Claim 2 (depends on 1) The medical device of claim 1, the device comprising a medical device, the lumen system comprising a body lumen of a patient body, the surface regions comprising tissue surface regions, wherein the first segment in the anchor configuration has a first lateral bend in a first orientation transverse to the axis. ### Claim 3 (depends on 2) The medical device of claim 2, wherein the first segment in the anchor configuration has a second lateral bend in an orientation opposed to the first orientation. ### Claim 4 (depends on 2) The medical device of claim 2, wherein the first segment in the anchor configuration has a serpentine or sinusoidal shape. ### Claim 5 (depends on 2) The medical device of claim 2, wherein the first bend comprises a circumferential bend, and wherein a plurality of circumferential bends extend along the first segment in the anchor configuration so that the first segment has a helical shape. ### Claim 6 (depends on 2) The device of claim 2, wherein the first segment is further configured to form an orientation bend in response to the anchor command, the orientation bend orienting the flexible body distal of the first segment along a body lumen axis with separation between the flexible body and the opposed surface regions of the lumen. ### Claim 7 (depends on 1) The device of claim 1, wherein the first segment has a compliant actuation system, the command comprising a variable anchor force command and the first segment being urged toward the anchor configuration so as to impose anchoring forces that vary selectably in response to the anchor force command. ### Claim 8 (depends on 7) The device of claim 7, wherein the actuation system of the first segment comprises a first actuation system, and wherein the second segment has a second actuation system, wherein the second actuation system is less compliant than the first actuation system. ### Claim 9 (depends on 7) The device of claim 7, wherein the actuation system of the first segment comprises a first balloon array system, and wherein the anchoring command is associated with a pressure of a gas in the first balloon array system. ### Claim 10 (depends on 9) The device of claim 9, wherein the second segment has a second actuation system, and wherein the second actuation system comprises a second balloon array system, and wherein articulation commands for the second actuation system are associated with volumes of liquid in the second balloon array system. ### Claim 11 (depends on 1) The device of claim 1, wherein the second segment has a second articulation orientation transverse to the first articulation orientation and to the axis. ### Claim 12 (depends on 11) The device of claim 11, further comprising a third articulatable segment distal of the second segment, the third segment having third and fourth transverse articulation orientations so that the distal end of the flexible body can be moved in at least four independent articulation orientations. ### Claim 13 (depends on 1) The device of claim 1, wherein the first articulation orientation extends along the axis, and further comprising a third articulatable segment distal of the second segment, the third segment configured to form an anchoring bend along a second orientation in response to another anchor command, a separation between the plurality of bends of the first segment and the at anchoring bend of the third segment varying in response to articulation of the second segment so as to allow locally anchored advancement of the flexible body along the lumen. ### Claim 14 (depends on 1) The device of claim 1 wherein the housing is configured for manual manipulation during use by a hand of the user so that when the first segment is not in the anchor configuration the second segment of the elongate flexible body moves within the lumen. ### Claim 15 (depends on 14) The device of claim 14, wherein the drive components comprise a canister containing a gas/liquid mixture and a plurality of valves providing fluid communication between the canister and a plurality of actuators coupled with the segments. ### Claim 16 (depends on 14) The device of claim 14, wherein the elongate body comprises a cardiac catheter, and wherein a heart valve tool is supported by a second end of the second segment.