# US 8,771,224 B2 · Shape-transferring cannula system and method of use

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 8,771,224 B2
- Document ID: US8771224B2
- Status: Granted
- Kind: B2
- Application number: 13/632,478
- Filed: 2012-10-01
- Published: 2013-04-11
- Granted: 2014-07-08
- Earliest claimed: 2002-09-12
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical, Inc.
- Inventors: Jaime S. Vargas
- Web page: https://patentgrep.com/patent/US8771224B2

## CPC

- A61B 1/0058: {using shape-memory elements}
- A61B 1/018: for receiving instruments
- A61B 5/1076: {for measuring dimensions inside body cavities, e.g. using catheters (A61B3/1005 takes precedence)}
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/3423: {Access ports, e.g. toroid shape introducers for instruments or hands (access sites for liquids A61M39/0247)}
- A61B 34/30: Surgical robots
- A61M 25/00: Catheters; Hollow probes (dilators A61M29/00; {peritoneal catheters A61M1/285; tracheal tubes A61M16/04; for drainage A61M27/00; for uterus, vagina or rectum A61M31/00} ; for measuring or testing A61B; {materials for catheters A61L29/00})
- A61M 25/0105: {Steering means as part of the catheter or advancing means; Markers for positioning (systems for detection of markers A61B)}
- A61M 25/0136: {Handles therefor}
- A61M 25/0138: {having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils}
- A61M 25/0141: {having flexible regions as a result of using materials with different mechanical properties}
- A61M 25/0144: {having flexible regions as a result of inner reinforcement means, e.g. struts or rods}
- A61M 25/0147: {with movable mechanical means, e.g. pull wires}
- A61M 25/0158: {with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials}
- A61B 2017/00305: {Constructional details of the flexible means}
- A61B 2017/00318: {Steering mechanisms}
- A61B 2017/0034: {adapted to be inserted through a working channel of an endoscope}
- A61B 2017/3433: {with different outer diameters of the cannula}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61M 2025/0058: {having an electroactive polymer material, e.g. for steering purposes, for control of flexibility, for locking, for opening or closing}
- A61M 2025/0161: {wherein the distal tips have two or more deflection regions}
- 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

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.

## Claims

### Claim 1

A rigidizable medical device comprising:
a plurality of links positioned end-to-end to form an elongate member, the links being coupled together to articulate relative to one another;
a compliant cover positioned around at least some of the plurality of links; and
a pressure source in communication with the cover to actuate the cover between a first state and a second state,
wherein the cover in the first state is sufficiently compressed against the elongate member to prevent articulation of the links, and
wherein the cover in the second state does not significantly interfere with the plurality of links and allows the plurality of links to articulate relative to one another.

### Claim 2 (depends on 1)

The medical device of claim 1, wherein the pressure source creates a vacuum to place the cover in the first state.

### Claim 3 (depends on 1)

The medical device of claim 1, wherein the pressure source is a vacuum.

### Claim 4 (depends on 1)

The medical device of claim 1, wherein the pressure source creates a positive pressure to place the cover in the second state.

### Claim 5 (depends on 4)

The medical device of claim 4, wherein the pressure source inflates the cover by expanding a space between the cover and two or more of the plurality of links that are positioned within the cover.

### Claim 6 (depends on 1)

The medical device of claim 1, wherein the medical device is part of a cannula system.

### Claim 7 (depends on 6)

The medical device of claim 6,
wherein the medical device comprises a core of the cannula system, and
wherein the core is rigidized in the first state of the cover and flexible in the second state of the cover.

### Claim 8 (depends on 6)

The medical device of claim 6,
wherein the medical device comprises a sheath of the cannula system, and
wherein the sheath is rigidized in the first state of the cover and flexible in the second state of the cover.