# US 2008/0188890 A1 · Multi-part instrument systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2008/0188890 A1 - Document ID: US20080188890A1 - Status: Published application - Kind: A1 - Application number: 11/946,790 - Filed: 2007-11-28 - Published: 2008-08-07 - Earliest claimed: 2006-12-01 - Assignees: Boston Scientific Scimed, Inc. - Inventors: Barry Weitzner; Paul J. Smith; Kurt Geitz - Web page: https://patentgrep.com/patent/US20080188890A1 ## CPC - A61B 1/00042: {for mechanical operation} - A61B 1/00087: {Tools (A61B17/00234 takes precedence)} - A61B 1/00147: {Holding or positioning arrangements} - A61B 1/00154: {using guiding arrangements for insertion} - A61B 1/00165: {with light-conductive means, e.g. fibre optics (A61B1/07 takes precedence)} - A61B 1/018: for receiving instruments - A61B 1/0014: {Fastening element for attaching accessories to the outside of an endoscope, e.g. clips, clamps or bands} - A61B 1/00183: {for variable viewing angles} - A61B 1/0051: {with controlled bending of insertion part} - A61B 1/0052: {Constructional details of control elements, e.g. handles} - A61B 1/0057: {Constructional details of force transmission elements, e.g. control wires} - A61B 1/008: Articulations - A61B 1/012: characterised by internal passages or accessories therefor - A61B 1/045: Control thereof - A61B 1/12: with cooling or rinsing arrangements - A61B 1/3132: {for laparoscopy} - A61B 10/06: Biopsy forceps {, e.g. with cup-shaped jaws} - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 17/0218: {for minimally invasive surgery (A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 17/0469: {Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery} - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 17/320016: {Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes (A61B10/0233, A61B17/29, A61B17/3207 take precedence)} - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 34/74: {Manipulators with manual electric input means} - A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints - A61B 2017/00212: {using remote controls} - A61B 2017/00287: {Bags for minimally invasive surgery} - A61B 2017/00292: {mounted on or guided by flexible, e.g. catheter-like, means} - A61B 2017/00296: {mounted on an endoscope} - A61B 2017/003: {Steerable} - A61B 2017/00314: {Separate linked members} - A61B 2017/00323: {Cables or rods} - A61B 2017/00331: {with preformed bends} - A61B 2017/0034: {adapted to be inserted through a working channel of an endoscope} - A61B 2017/00353: {one mechanical instrument performing multiple functions, e.g. cutting and grasping} - A61B 2017/00362: {Packages or dispensers for MIS instruments (A61B2017/0479 takes precedence)} - A61B 2017/00371: {Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00469: {for insertion of instruments, e.g. guide wire, optical fibre} - A61B 2017/00876: {magnetic} - A61B 2017/00973: {pedal-operated} - A61B 2017/2905: {flexible} - A61B 2017/2906: {Multiple forceps} - A61B 2017/2931: {with releasable head} - A61B 2017/3445: {used as instrument channel for multiple instruments} - A61B 2017/3447: {Linked multiple cannulas} - A61B 2034/715: {Cable tensioning mechanisms for removing slack} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B 2090/374: {NMR or MRI} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Described herein are multi-part instrument systems and methods of use. The instrument can include an inner and outer body member where the inner body member is adapted to dock with the outer body member. When docked, driving the outer body member via a manipulation section can control the inner body. In use, an inner body member can be removed and replaced by a different inner body member to change the tool end effector. Alternatively, driving a manipulation section of the inner body member can control the outer body member. The outer body member can be disposable while the inner body member is reusable. ## Claims ### Claim 1 A two-part instrument system, comprising: an elongate guide tube having at least one channel; and a tool sized and shaped for passage through the at least one channel, the tool comprising a first and a second body member; the first body member including a controller, an elongate body having a lumen therein extending to a distal aperture, and a distal manipulation section, the controller adapted to control at least one degree of freedom of the distal manipulation section, and the second body member including an elongate body and a distal end effector, the elongate body and distal end effector sized and shaped for receipt in the lumen of the first body. ### Claim 2 (depends on 1) The system of claim 1, further comprising a detachable connection between the first and second body members. ### Claim 3 (depends on 1) The system of claim 1, wherein the detachable connection prevents substantial relative movement between the distal aperture of the first body member and the end effector of the second body member. ### Claim 4 (depends on 1) The system of claim 1, wherein the detachable connection prevents relative movement between the first and second body members at the detachable connection. ### Claim 5 (depends on 1) The system of claim 1, wherein the first body member includes a mating feature positioned proximate to the distal articulation section. ### Claim 6 (depends on 5) The system of claim 5, wherein the second body member includes a corresponding second mating feature for mating with the first body member. ### Claim 7 (depends on 1) The system of claim 1, wherein the second body member includes a controller adapted to control at least one degree of freedom of the distal end effector. ### Claim 8 (depends on 1) The system of claim 1, wherein the second body member includes a controller adapted to mate with the controller of the first body member. ### Claim 9 (depends on 8) The system of claim 8, wherein user inputs to the proximal controller of the first body member drives the proximal controller of the second body member. ### Claim 10 (depends on 9) The system of claim 9, wherein a user can control the first and second body members simultaneously with the controller of the first body member. ### Claim 11 (depends on 9) The system of claim 9, wherein a user can control the first and second body members simultaneously with a single hand. ### Claim 12 (depends on 1) The system of claim 1, wherein the tool has at least three degrees of freedom. ### Claim 13 (depends on 12) The system of claim 12, wherein the first body member has a least two degrees of freedom and the second body member has at least one degree of freedom. ### Claim 14 (depends on 1) The system of claim 1, wherein the distal end effector of the second body member is sized and shaped to extend at least partially through the distal aperture. ### Claim 15 (depends on 14) The system of claim 14, further comprising a stop to limit relative movement of the first and second body members. ### Claim 16 (depends on 15) The system of claim 15, wherein the stop is configured to prevent distal movement of the second body member relative to the first body member when the end effector of the second body member extends through the distal opening. ### Claim 17 (depends on 1) The system of claim 1, wherein a detachable connection between the first and second body members inhibits relative translational and/or rotational movement between the distal manipulation section of the first body member and the distal end effector of the second body member. ### Claim 18 (depends on 1) The system of claim 1, wherein a detachable connection inhibits one of relative rotational and longitudinal movement between the first and second body members and allows the other. ### Claim 19 (depends on 1) The system of claim 1, wherein the first and second body members mate with a fluid seal therebetween. ### Claim 20 A two-part instrument system, comprising: the first body member including a controller, an elongate body having a lumen therein extending to a distal aperture at the distal end of the elongate body, and a distal manipulation section, the proximal controller adapted to control at least one degree of freedom of the distal manipulation section, and the second body member including an elongate body and a distal end effector, the elongate body and distal end effector sized and shaped for receipt in the lumen of the first body, wherein the first and second body members are adapted to detachably mate with one another when the elongate body of the second body member resides within the elongate body of the first body member and the distal end effector of the second body member extends through the distal aperture in the first body member. ### Claim 21 (depends on 20) The system of claim 20, wherein the proximal controller is movably mated with a frame. ### Claim 22 (depends on 20) The system of claim 20, wherein the end effector is a surgical instrument. ### Claim 23 A method of using a two-part instrument, comprising: providing an elongate tool extending between a proximal and a distal end and having first and second body members, where the second body member is sized and shaped to sit within a lumen defined by the first body member and an end effector of the second body member is sized and shaped to extend through an opening at the distal end of the first body member; driving at least two degrees of freedom of the distal end effector via movement of the first body member; and driving an additional degree of freedom by actuating the distal end effector. ### Claim 24 (depends on 23) The method of claim 23, wherein the first and second body members include first and second proximal controllers. ### Claim 25 (depends on 24) The method of claim 24, further comprising the step of mating the first and second proximal controllers. ### Claim 26 (depends on 25) The method of claim 25, further comprising the step of driving the second controller by manipulating the first controller. ### Claim 27 (depends on 25) The method of claim 25, wherein both steps of driving are performed by manipulating the first controller. ### Claim 28 (depends on 25) The method of claim 25, further comprising the step of manipulating the first and second body members with a single hand. ### Claim 29 (depends on 23) The method of claim 23, wherein the step of driving at least two degrees of freedom includes bending a manipulation section of the first body member. ### Claim 30 (depends on 29) The method of claim 29, wherein the manipulation section is bent approximately 90 degrees. ### Claim 31 (depends on 30) The method of claim 30, further comprising moving the second body member through the manipulation section and directing the end effector in a transverse direction with respect to the elongate tool. ### Claim 32 A method of assembling a tool, comprising: providing an elongate tool extending between a proximal and a distal end and having first and second body members, where the second body member is sized and shaped to reside within a lumen defined by the first body member and wherein the second body member includes an end effector; inserting the second body member through a proximal opening in the first body member and into the lumen in the first body member; moving the end effector through the lumen and out through a distal opening in the first body member; and mating the first and second body members such that movement of the first body member moves the end effector on the second body member and such that relative proximal and distal movement of the first and second body members is inhibited. ### Claim 33 (depends on 32) The method of claim 32, further comprising the step of removing the second body member and end effector through the proximal opening in the first body member. ### Claim 34 (depends on 32) The method of claim 32, further comprising the step of removing the second body member and inserting a third body member. ### Claim 35 (depends on 32) The method of claim 32, wherein the first body member includes a first proximal controller. ### Claim 36 (depends on 35) The method of claim 35, further comprising the step of mating a proximal controller of the second body member with the first proximal controller. ### Claim 37 (depends on 32) The method of claim 32, further comprising the step of inserting a third body member into the first body member. ### Claim 38 A two-part instrument system, comprising: an elongate guide tube having at least one channel; and a tool sized and shaped for passage through the at least one channel, the tool comprising a first and a second body member; the first body member including a controller, an elongate body having a lumen therein, and a distal end effector, and the second body member including an elongate body sized and shaped for receipt in the lumen of the first body and a distal manipulation section for driving the first and second body members when the first body member is positioned within the second body member. ### Claim 39 (depends on 38) The system of claim 38, further comprising a detachable connection between the first and second body members. ### Claim 40 (depends on 38) The system of claim 38, wherein the first body member has a closed distal end. ### Claim 41 (depends on 38) The system of claim 38, wherein a control wire for actuating the distal end effector extends through at the second body member. ### Claim 42 (depends on 41) The system of claim 41, wherein the control wire detachably mates with a distal control wire proximate to the distal end of the lumen. ### Claim 43 (depends on 38) The system of claim 38, wherein the second body member manipulation section comprises a pre-bent section of the second body member. ### Claim 44 (depends on 38) The system of claim 38, wherein the detachable connection prevents relative movement between the first and second body members at the detachable connection.