# US 12,594,128 B2 · Locking and drive mechanisms for positioning and stabilization of catheters and endoscopic tools > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,128 B2 - Document ID: US12594128B2 - Status: Granted - Kind: B2 - Application number: 17/742,242 - Filed: 2022-05-11 - Published: 2022-12-01 - Granted: 2026-04-07 - Earliest claimed: 2021-05-27 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: Evan M. Gustafson; Nathan J. Knutson; Franklin J. Burquest - Web page: https://patentgrep.com/patent/US12594128B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 5/062: {using magnetic field} - A61B 5/08: Measuring devices for evaluating the respiratory organs - A61B 10/04: Endoscopic instruments, e.g. catheter-type instruments - A61M 25/0113: {Mechanical advancing means, e.g. catheter dispensers} - A61M 25/0147: {with movable mechanical means, e.g. pull wires} - A61B 1/2676: {Bronchoscopes} - A61B 6/032: {Transmission computed tomography [CT]} - A61B 6/12: Arrangements for detecting or locating foreign bodies - A61B 6/4441: {the rigid structure being a C-arm or U-arm} - A61B 6/485: {involving fluorescence X-ray imaging} - A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61M 2025/0166: {Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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)} ## Abstract A cannister system for containing a catheter, the cannister including a drive mechanism for driving the catheter from the cannister and into a luminal network of a patient, the cannister including an entrance point for insertion of a tool into the catheter. ## Claims ### Claim 1 A system for navigation of a lung comprising: an electromagnetic (EM) field generator; a sensor located on a distal end of a catheter, the sensor configured to receive EM signals and transmit them to a locating module; a computing device in communication with the locating module and configured to display a 3D model of the lungs and to depict the location of the catheter in the 3D model; a cannister configured to retain the catheter in a coiled form within the cannister, the cannister having an entrance point centrally located on a top surface of the cannister and an exit point centrally located on a bottom surface of the cannister; an arm configured to support the cannister; a drive mechanism configured to advance the catheter from the cannister through the exit point and into the lungs of a patient, the drive mechanism including a pair of driven wheels, the pair of driven wheels contacting opposite sides of the catheter and configured to act on an exterior surface of the catheter; and a first articulation motor mechanically coupled to a first pair of pull-wires, the first pair of pull wires being retained within a first pair of lumens formed in the catheter, wherein actuation of the articulation motor results in articulation of a distal end of the catheter in at least one direction. ### Claim 2 (depends on 1) The system for navigation of a lung of claim 1, wherein the catheter further includes an entrance point, the entrance point of the catheter being located proximate the entrance point of the cannister. ### Claim 3 (depends on 1) The system for navigation of a lung of claim 1, further comprising a second articulation motor connected to a second pair of pull-wires, the second pair of pull wires being retained within a second pair of lumens of the catheter, wherein the first and second articulation motors are configured to articulate the catheter in at least four orthogonal directions. ### Claim 4 (depends on 1) The system for navigation of a lung of claim 1, further comprising a second cannister, the second cannister including a second drive mechanism configured to drive a tool from the second cannister via a second exit point formed on a bottom of the second cannister. ### Claim 5 (depends on 4) The system for navigation of a lung of claim 4, wherein the second cannister is configured to mate with the cannister such that when the tool is driven from the second cannister, it is driven through the entrance point of the catheter and into a central lumen of the catheter proximate the entrance point of the cannister. ### Claim 6 (depends on 5) The system for navigation of a lung of claim 5, wherein the second cannister includes a second entrance point. ### Claim 7 (depends on 6) The system for navigation of a lung of claim 6, wherein the second entrance point is formed on a side of the second cannister. ### Claim 8 (depends on 5) The system for navigation of a lung of claim 5, wherein the tool is an imaging tool. ### Claim 9 (depends on 5) The system for navigation of a lung of claim 5, wherein the tool is a therapeutic tool. ### Claim 10 (depends on 5) The system for navigation of a lung of claim 5, wherein the tool is a biopsy tool. ### Claim 11 (depends on 10) The system for navigation of a lung of claim 10, wherein the second cannister includes an entrance point in fluid communication with a lumen formed in the tool. ### Claim 12 (depends on 11) The system for navigation of a lung of claim 11, wherein the tool is a biopsy device, and the entrance point on the second cannister is configured to receive a fluid or vacuum source. ### Claim 13 A catheter system for use with a luminal navigation system comprising: a cannister configured to retain a catheter in a coiled form, the cannister having an entrance point and an exit point; a drive mechanism including a pair of drive wheels, the pair of driven wheels contacting opposite sides of the catheter and configured to advance the catheter from the cannister through the exit point and into a luminal network of a patient; and an articulation motor mechanically coupled to a pair of pull-wires, the pull wires being retained within lumens formed in the catheter, wherein actuation of the articulation motor results in articulation of a distal end of the catheter in at least one direction. ### Claim 14 (depends on 13) The catheter system of claim 13, further comprising a removable lid allowing access to an internal volume of the cannister for inserting or removing a catheter. ### Claim 15 (depends on 14) The catheter system of claim 14, wherein the articulation motor is attached to the lid. ### Claim 16 (depends on 13) The catheter system of claim 13, further comprising an entrance point formed on a side of the cannister and configured to receive a tool. ### Claim 17 (depends on 13) The catheter system of claim 13 further comprising a support configured to mate with an arm to support the cannister proximate a head of a patient. ### Claim 18 A catheter system for use with a luminal navigation system comprising: a first cannister having an entrance point and an exit point; a disposable catheter configured for receipt and retention in the first cannister in a coiled form; a second cannister having an entrance point and an exit point; a flexible disposable tool configured for receipt and retention in the second cannister in a coiled form; a drive mechanism in the first cannister including a pair of driven wheels, the pair of driven wheels contacting opposite sides of the catheter and configured to advance the catheter from the first cannister through the exit point in the first cannister and into a luminal network of a patient; a drive mechanism in the second cannister configured to advance the tool through the exit point in the second cannister and into the entrance point of the first cannister and into a lumen in the disposable catheter; and an articulation motor mechanically coupled to a pair of pull-wires, the pull wires being retained within lumens formed in the disposable catheter, wherein actuation of the articulation motor results in articulation of a distal end of the catheter in at least one direction. ### Claim 19 (depends on 18) The catheter system of claim 18, wherein the flexible disposable tool is a tool selected from the group consisting of a biopsy tool, a therapeutic tool, or an imaging tool. ### Claim 20 (depends on 18) The catheter system of claim 18 wherein the entrance point of the second cannister is in fluid communication with a distal end of the flexible disposable tool enabling connection of a vacuum or fluid source to the flexible disposable tool.