Cannula system for free-space navigation and method of use
AssigneeIntuitive Surgical Operations, Inc.
InventorsJaime S. Vargas, Scott Ryan Berggren
Life of this patent
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Abstract
The present invention is directed to a novel shape-transferring cannula system, which provides access to tortuous and unsupported paths. The shape-transferring cannula system and method enables exploration of hollow body structures, and creates a custom-contoured access port for insertion and removal of, for example, diagnostic, surgical, or interventional instruments to and from a site within the body to which the physician does not have line-of-sight access.
Claims14
A cannula system comprising:
- a plurality of serial links;
- a tensioning element comprising a proximal part and a distal part;
- a static anchor;
- and
- a dynamic anchor;
- wherein a distal one of the serial links is farther from the static anchor than a proximal one of the serial links;
- wherein the proximal part of the tensioning element is coupled to the static anchor, and the distal part of the tensioning element is coupled to the distal one of the serial links;
- wherein the dynamic anchor moves towards the distal one of the serial links to compress all the serial links towards the distal one of the serial links;
- and
- wherein the movement of the dynamic anchor towards the distal one of the serial links increases friction between adjacent serial links.
A cannula system, in which a distal end is positioned toward a surgical site and a proximal end is remote from the distal end, comprising:
- a first plurality of serial links;
- a first static plate coupled via a first tensioning element to a distal link of the first plurality of serial links;
- a first dynamic plate positioned to compress the first plurality of serial links towards the distal link of the first plurality of serial links;
- a first actuator coupled to move the first dynamic plate towards the distal link of the first plurality of serial links;
- a second plurality of serial links that extends through the first plurality of serial links;
- a second static plate coupled via a second tensioning element to a distal link of the second plurality of serial links;
- a second dynamic plate positioned to compress the second plurality of serial links towards the distal link of the second plurality of serial links;
- and
- a second actuator coupled to move the second dynamic plate towards the distal link of the second plurality of serial links.
A method of operating a medical device comprising a first plurality of serial links and a second plurality of serial links, the method comprising:
- placing the first plurality of serial links in a rigidized state by holding a distal link of the first plurality of serial links substantially stationary while applying a compressive force to the first plurality of serial links by moving all links in the first plurality of serial links in a distal direction towards the distal link of the first plurality of serial links;
- placing the second plurality of serial links in a flexible state and subsequently advancing the flexible state second plurality of serial links in the distal direction through the rigidized state first plurality of serial links;
- placing the advanced second plurality of serial links in a rigidized state by holding a distal link of the second plurality of serial links substantially stationary while applying a compressive force to the second plurality of serial links by moving all links in the second plurality of serial links in the distal direction towards the distal link of the second plurality of serial links;
- and
- placing the first plurality of serial links in a flexible state and subsequently advancing the flexible state first plurality of serial links in the distal direction over the rigidized state second plurality of serial links.
Dependencies are inferred from the claim text.