Systems and methods for use of a variable stiffness flexible elongate device
AssigneeIntuitive Surgical Operations, Inc.
InventorsJoseph D. Bogusky, Kyle R. Miller, Randall L. Schlesinger, Serena H. Wong
Life of this patent
Estimating the term…
Abstract
The following describes various applications and uses for a controllably rigidizable flexible device or sheath. Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.
Claims21
A system, comprising:
- an elongate device having a proximal end, a distal end, a plurality of segments positioned along a length of the elongate device between the proximal end and the distal end, and stiffening mechanisms to alter rigidity of the plurality of segments;
- and
- a processor configured to:
- monitor insertion of the elongate device relative to a reference location;
- maintain, via control of the stiffening mechanisms, each of the plurality of segments that are proximal to the reference location in a first rigidity state to provide anti-buckling support of the elongate device at the plurality of segments that are proximal to the reference location;
- and
- transition, via control of the stiffening mechanisms, each of the plurality of segments that are distal to the reference location to a second rigidity state as the elongate device is inserted, wherein the second rigidity state is less rigid than the first rigidity state.
A method of using an elongate, variable stiffness device having a proximal end, a distal end, a plurality of segments positioned along a length of the variable stiffness device, and stiffening mechanisms to alter rigidity of the plurality of segments such that each of the plurality of segments is individually configurable between a rigid state and a flexible state, the method comprising:
- monitoring insertion of the variable stiffness device relative to a first reference location;
- maintaining, via control of the stiffening mechanisms, a first set of the plurality of segments in a first state, wherein the first set of the plurality of segments are proximal to the first reference location, wherein the first state is a rigidity state to provide anti-buckling support of the first set of the plurality of segments proximal to the first reference location;
- and
- transitioning, via control of the stiffening mechanisms, a second set of the plurality of segments to a second state, wherein the second set of the plurality of segments are distal to the first reference location,
- wherein the first state is a rigid state and the second state is a less rigid state than the first state.
A system comprising:
- an elongate device having a proximal end, a distal end, and a plurality of segments positioned along a length of the elongate device between the proximal end and the distal end;
- a first insertion device movable along an insertion direction and coupled to the elongate device;
- and
- a processor configured to:
- monitor insertion of the elongate device relative to a reference location;
- maintain each of the plurality of segments that are proximal to the reference location in a first rigidity state to provide anti-buckling support of the elongate device at the plurality of segments that are proximal to the reference location;
- and
- transition each of the plurality of segments that are distal to the reference location to a second rigidity state as the elongate device is inserted, wherein the second rigidity state is less rigid than the first rigidity state,
- wherein each of the plurality of segments that are between the first insertion device and the reference location are unsupported.
Dependencies are inferred from the claim text.