Flexible instrument

A medical device comprising:

• a flexible guide shaft having a distal end for being disposed at a predetermined location in a subject;
• a flexible inner shaft having a proximal end and a distal end supporting at its distal end a tool, the inner shaft being insertable into the guide shaft so as to dispose the tool at an operative site;
• a drive unit coupled with the inner shaft for providing controlled actuation of the tool, the drive unit being remote controllably drivable by a user via a manually controllable device;
• wherein the flexible inner shaft includes at its proximal end a mechanically drivable mechanism drivably coupled to the tool;
• and
• a mounting mechanism drivably intercoupled with the drive unit, the mechanically drivable mechanism being readily mountable on the mounting mechanism to enable drivable intercoupling from the drive unit through the mounting mechanism to the mechanically drivable mechanism.

A medical device comprising:

• a flexible guide having a distal end for being disposed at a predetermined location in a subject;
• a flexible inner shaft having a proximal end and a distal end supporting at its distal end a tool, the inner shaft being insertable into the guide shaft so as to dispose the tool at an operative site;
• a drive unit coupled with the inner shaft for providing controlled actuation of the tool, the drive unit being remote controllably drivable by a user via an electrical controller from a remote manually controllable device;
• wherein the guide shaft supports an inflatable balloon, for holding the distal end of the flexible guide shaft at the predetermined location against an anatomic wall of the subject.

A medical device comprising:

• flexible guide shaft having a distal end for being disposed at a predetermined location in a subject;
• a flexible inner shaft having a proximal end and a distal end supporting at its distal end a tool, the inner shaft being insertable into the guide shaft so as to dispose the tool at an operative site;
• and
• a drive unit coupled with the inner shaft for providing controlled actuation of the tool, the drive unit being remote controllably drivable by a user from an electrical controller via a manually controllable device;
• wherein the flexible inner shaft has a controlled flexible segment controlled from the drive unit for controlling a bending action thereat;
• wherein the flexible guide shaft has a controlled flexible segment controlled from the drive unit for controlling a bending action thereat.

A medical device comprising:

• a flexible guide shaft having a distal end for being disposed at a predetermined location in a subject;
• a flexible inner shaft having a proximal end and a distal end that is connected to a tool used in performing a medical procedure, the inner shaft being insertable into the guide shaft so as to dispose the tool at an operative site;
• and
• a drive unit coupled with the inner shaft for providing controlled movement thereof and actuation of the tool, the drive unit being remote controllably drivable by a user from an electrical controller via a manually controllable device;
• wherein the drive unit also intercouples with the flexible guide shaft for controlled movement thereof;
• whereby user initiated independent control of movement of both the flexible guide shaft and the flexible inner shaft is a via the drive unit from the remote manually controllable device.

A medical device comprising:

• a flexible inner shaft inserted within a flexible guide shaft, a tool being disposed at a distal end of the inner shaft for insertion into a subject;
• a drive unit coupled with the inner shaft and the guide shaft separately, the drive unit capable of independently effecting movement of each shaft to at least one degree of freedom for the flexible guide shaft and at least two degrees of freedom for the flexible inner shaft;
• and
• a user input interface including an electrical controller remote from the drive unit, for remote controllable manipulating the inner and guide shafts;
• wherein at least one of said flexible inner shaft and said flexible guide shaft has a controlled flexible segment controlled from the user input interface via the drive unit for controlling a bending action thereat.

A medical device comprising:

• a flexible guide shaft having a distal end for being disposed at a predetermined location in a subject;
• a flexible disposable inner shaft having a proximal end and a distal end supporting at its distal end a tool, the inner shaft being insertable through the guide shaft so as to dispose the tool at an operative site;
• a drive unit coupled with the inner shaft for providing controlled actuation of the tool and controlled deformation of one or more flexible portions of the inner shaft, the drive unit being remote controllable drivable by a user via a manually controllable device;
• wherein the proximal end of the inner shaft includes a mechanically drivable mechanism drivably couplable to the drive unit, the mechanically drivable mechanism being disposable together with the tool as a unit;
• and
• a mounting mechanism drivably intercoupled with the drive unit, the mechanically drivable mechanism being removably mountable on the mounting mechanism to enable drivable intercoupling from the drive unit through the mounting mechanism to the mechanically drivable mechanism.

A remotely controllable flexible instrument system for performing a medical procedure on a subject, comprising:

• a flexible instrument shaft having proximal and distal ends, carrying a tool at the distal end thereof, and insertable into the subject so as to dispose the tool at an internal target site where the medical procedure is to be performed;
• a flexible guide shaft constructed and arranged so that at least some length thereof is inherently and sufficiently deformable so to readily flex and pass atraumatically through an anatomic lumen of the subject;
• said flexible instrument shaft nested in a receiving passage of the flexible guide shaft and adapted to pass and be guided therethrough for positioning the tool at the internal target site;
• a drive unit coupled with the flexible instrument shaft for providing controlled movement of the flexible instrument shaft with at least two degree of freedom, one of which is tool actuation and coupled with the flexible guide shaft for providing at least one degree of freedom of movement thereof;
• and
• a user input interface controlled by a medical practitioner, remote from the drive unit, and coupled via an electrical controller which receives commands from the interface and transmit signals to the drive unit in accordance with manipulations of the medical practitioner for controlling with movement of the flexible shafts.

A remotely controllable flexible instrument system for performing a medical procedure on a subject, comprising:

• a flexible guide shaft having a distal end for being disposed at a predetermined location in the subject;
• a flexible working shaft having a proximal end and a distal end, supporting at its distal end a tool, the flexible working shaft being insertable through the flexible guide shaft so as to be nested therewith and to dispose the tool at an internal operative site of the subject;
• an electrically driven drive unit mechanically coupled with the flexible working shaft for providing controlled actuation of the tool;
• and
• a user input interface controlled by a medical practitioner, remote from the drive unit, and coupled via an electrical controller which receives commands from the interface and transmits signals to the drive unit in accordance with manipulations of the medical practitioner for controlling the movement of the flexible working shaft;
• said drive unit comprising one or more stationary motors mechanically, removably and drivably interconnected to the proximal end of the flexible working shaft.

A method of remotely controlling a flexible instrument system, comprising:

• providing a flexible instrument shaft having a distal end that interconnects with a tool, the shaft further including at a proximal end thereof a mechanically drivable mechanism for controlling the tool at an operative site of a patient;
• providing a flexible guide shaft having a distal end directed to said operative site;
• inserting the flexible guide shaft into an anatomic vascular lumen, the flexible guide shaft adapted to conform to the configuration of the anatomic lumen;
• inserting the flexible instrument shaft into and through the flexible guide shaft so as to dispose the tool at the operative site;
• mechanically controlling the tool, via a drive unit and an electrical controller, and from an user input interface;
• and
• independently activating the flexible instrument shaft and the flexible guide shaft by operating the drive unit at a location remote from the shaft, so as to thereby effect positioning of the tool at the operative site.

A method of remotely controlling a flexible instrument, comprising:

• providing a flexible guide shaft;
• providing a flexible inner shaft having a working distal end adapted for insertion into a subject to an operative site;
• inserting the flexible guide shaft into the subject;
• inserting the flexible inner shaft into and through the flexible guide shaft so as to dispose the working end at the operative site;
• activating movement of the flexible inner shaft with at least three degrees of freedom including activation of the working distal end;
• activating the flexible guide shaft, independently from the flexible inner shaft, and with at least one degree of freedom;
• and
• controlling the activating from a user input interface remote from the shafts, for remote controllably manipulating the flexible inner and guide shafts.

A method of remotely controlling a flexible instrument, comprising:

• providing a flexible guide shaft;
• providing a flexible inner shaft carrying a tool that is actuable, disposed at a distal end of the flexible inner shaft and adapted for insertion into a subject to an operative site;
• inserting the flexible guide shaft into the subject through a vascular lumen;
• inserting the flexible inner shaft into and through the flexible guide shaft so as to dispose the tool at the operative site;
• controlling operation of said tool;
• activating the flexible guide shaft with at least one degree of freedom to, in turn, control disposition of said flexible inner shaft;
• and
• controlling the activating of said flexible guide shaft from a user input interface having a manually operable input device via an electrical interface for remote controllably manipulating the flexible guide shaft.

A remotely controllable flexible instrument, comprising:

• a flexible guide shaft;
• and
• a flexible inner shaft having a working distal end adapted for insertion into a subject to an operative site;
• said flexible guide shaft being inserted into the subject and receiving therethough the flexible guide shaft so as to dispose the working end at the operative site;
• said flexible inner shaft being controlled with at least two degrees of freedom, one of which is activation of the working distal end;
• said flexible guide shaft being controlled, independently from the flexible inner shaft, and with at least one degree of freedom;
• said shafts being controlled from a user input interface remote from the shaft, for remote controllably manipulating the flexible inner and guide shafts.

A method of remotely controlling a flexible instrument, comprising:

• providing a flexible guide shaft having at least one remotely controllable bendable segment disposed therealong;
• providing a flexible inner shaft carrying a tool disposed at a distal end of the flexible inner shaft and adapted for insertion into a subject to an operative site;
• inserting the flexible guide shaft into the subject through a vascular lumen;
• inserting the flexible inner shaft into and through the flexible guide shaft so as to dispose the tool at the operative site;
• activating the flexible guide shaft with at least one degree of freedom to, in turn, control disposition of said flexible inner shaft;
• and
• controlling the activating of said flexible guide shaft from a user input interface having a manually operable input device via an electrical controller for remote controllably manipulating the flexible guide shaft.

A medical device for performing a medical procedure at an operative site of a patient, said medical device comprising:

• a flexible guide shaft having a proximal end for being disposed outside the patient and a distal end for being disposed adjacent the operative site;
• said flexible guide shaft positioned for passage through a vascular lumen to the operative site;
• a flexible inner shaft having a proximal end and a distal end, said distal end supporting a tool used in performing the medical procedure;
• said flexible inner shaft nested in a receiving passage of the flexible guide shaft and adapted to be received in and threaded through the flexible guide shaft for positioning the tool at the internal target site;
• said flexible guide shaft having a flexible segment that is remotely controlled for controlling a bending action thereat so as to direct the location of the flexible inner shaft;
• said flexible guide shaft having at its proximal end a mechanically drivable mechanism for controlling said flexible segment.

A medical device for performing a medical procedure at an operative site of a patient, said medical device comprising:

• a flexible guide shaft having a proximal end for being disposed outside the patient and a distal end for being disposed adjacent the operative site;
• a flexible inner shaft having a proximal end and a distal end supporting at its distal end a tool;
• said flexible inner shaft nested in a receiving message passage of the flexible guide shaft and adapted to be received in and threaded through the flexible guide shaft for positioning the tool at the internal target size;
• said flexible guide shaft having a flexible segment that is remotely controlled for controlling a bending action thereat so as to direct the location of the flexible inner shaft;
• said flexible guide shaft having at its proximal end a mechanically drivable mechanism drivably coupled to said flexible segment;
• said mechanically drivable mechanism being removably mountable on a mounting mechanism to enable drivable intercoupling from an external drive through the mounting mechanism to the mechanically drivable mechanism.

A method of remotely controlling a flexible instrument, comprising:

• providing a flexible guide shaft;
• providing a flexible inner shaft carrying a tool that is cable actuated, disposed at a distal end of the flexible inner shaft and adapted for insertion into a subject to an operative site;
• inserting the flexible guide shaft into the subject through a vascular lumen;
• threading the flexible inner shaft into and through the flexible guide shaft so as to dispose the tool at the operative site;
• activating the flexible guide shaft with at least one degree of freedom to, in turn, control disposition of said flexible inner shaft;
• and
• controlling the operation of said tool.

A remotely controllable flexible instrument system for performing a medical procedure on a subject, comprising:

• a flexible instrument shaft having proximal and distal ends, and insertable into the subject so as to dispose the distal end at an internal target site where the medical procedure is to be performed;
• a flexible guide shaft constructed and arranged so that at least some length thereof is inherently and sufficiently deformable so to readily flex and pass atraumatically through an anatomic vascular lumen of the subject;
• said flexible instrument shaft nested in a receiving passage of the flexible guide shaft and adapted to pass and be threaded therethrough for positioning the distal end at the internal target site;
• a drive unit coupled with the flexible guide shaft for providing at least one degree of freedom of movement thereof;
• and
• a user input interface controlled by a medical practitioner, remote from the drive unit, and coupled via an electrical controller which receives commands from the interface and transmits signals to the drive unit in accordance with manipulations of the medical practitioner for controlling the movement of the flexible guide shaft.

A method of remotely controlling a flexible instrument system, comprising:

• providing a flexible instrument shaft having a working distal end;
• providing a flexible guide shaft having a distal end directed to said operative site, the flexible guide shaft further including at a proximal end thereof a mechanically drivable mechanism for controlling the position of the flexible guide shaft;
• inserting the flexible guide shaft into an anatomic lumen;
• threading the flexible instrument shaft into and through the flexible guide shaft so as to dispose the working end at the operative site;
• mechanically controlling the working end;
• and
• activating a controllable flexible section of the flexible guide shaft by operating a stationary drive unit form a user interface input device that is remote from the shaft via an electrical controller, so as to thereby effect positioning of the flexible instrument shaft.

A medical device of performing a medical procedure at an internal operative site of a patient, said medical device comprising:

• a flexible guide shaft having a proximal end for being disposed outside the patient and a distal end for being disposed adjacent the operative site;
• said flexible guide shaft positioned for passage through an anatomic lumen to the operative site;
• a flexible inner shaft having a proximal end and a working distal end used in performing the medical procedure;
• said flexible inner shaft nested in a receiving passage of the flexible guide shaft and adapted to be received in and threaded through the flexible guide shaft for positioning the working distal end at the operative site;
• said flexible guide shaft having a flexible segment that is remotely controlled for controlling a bending action thereat so as to direct the location of the flexible inner shaft;
• said flexible guide shaft having at its proximal end a mechanically drivable mechanism for controlling said flexible segment;
• said mechanically drivable mechanism comprising at least one rotatable body from which a tendon controls said flexible segment.