# US 9,434,077 B2 · Articulating catheters > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,434,077 B2 - Document ID: US9434077B2 - Status: Granted - Kind: B2 - Application number: 12/766,822 - Filed: 2010-04-23 - Published: 2010-10-14 - Granted: 2016-09-06 - Earliest claimed: 2003-05-23 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: David J. Danitz; Adam Gold - Inventors: David J. Danitz; Adam Gold - Web page: https://patentgrep.com/patent/US9434077B2 ## CPC - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 1/0053: {using distributed actuators, e.g. artificial muscles} - A61B 1/0055: {Constructional details of insertion parts, e.g. vertebral elements} - A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously - A61B 17/07207: {the staples being applied sequentially} - A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)} - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 34/77: {Manipulators with motion or force scaling} - B25J 9/06: characterised by multi-articulated arms - B25J 9/104: {with cables, chains or ribbons} - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 18/06: flexible - A61B 2017/00323: {Cables or rods} - A61B 2017/00424: {ergonomic, e.g. fitting in fist} - A61B 2017/00438: {connectable to a finger} - A61B 2017/2905: {flexible} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2034/306: {Wrists with multiple vertebrae} - A61B 2090/038: {during shipment} - Y10S 901/21: Flaccid drive element - Y10T 74/20323: including flaccid drive element - Y10T 74/20402: Flexible transmitter [e.g., Bowden cable] - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue. ## Claims ### Claim 1 An articulating catheter system comprising: a proximal user interface having a catheter handle and a proximal articulating mechanism extending from a proximal end of the catheter handle, wherein the proximal articulating mechanism includes a plurality of serially arranged proximal links, each proximal link including a plurality of circumferentially spaced channels that are centered equidistantly at a first distance from a central axis of the proximal articulating mechanism and are spaced uniformly around the central axis of the proximal articulating mechanism; a distal articulating mechanism attached to a distal end of the catheter handle directly opposite the proximal end, wherein the distal articulating mechanism includes a plurality of serially arranged distal links, each distal link including a plurality of circumferentially spaced channels that are centered equidistantly at a second distance from a central axis of the distal articulating mechanism and are spaced uniformly around the central axis of the distal articulating mechanism, and wherein the distal articulating mechanism comprises a central lumen therethrough; multiple pairs of links, each pair of links including a proximal link of the plurality of proximal links located in the proximal articulating mechanism and a distal link of the plurality of distal links located in the distal articulating mechanism, each proximal link being maintained in a spaced apart relationship relative to the distal link of the pair; and multiple sets of cables, each set connecting and terminating at the proximal and distal links of a discrete pair of the multiple pairs of links and continuously extending through corresponding channels of the plurality of circumferentially spaced channels of each intervening distal link and proximal link between the links of the discrete pair and terminating at corresponding channels of the links of the discrete pair, wherein movement of the proximal link of the discrete pair located in the proximal articulating mechanism causes corresponding relative movement of the corresponding distal link of the discrete pair located in the distal articulating mechanism, wherein each of the distal and proximal links in a first discrete pair and a second discrete pair of the multiple pairs of links includes a first set of the circumferentially spaced channels occupied by cables of the multiple sets of cables and a second set of the circumferentially spaced channels that remain unoccupied by cables of the multiple sets of cables, wherein the channels of the first and second sets of circumferentially spaced channels are identical in size and wherein a number of channels in the first set is larger than a number of channels in the second set for the discrete pair and the number of channels in the second set is larger than a number of channels of the first set in the second discrete pair. ### Claim 2 (depends on 1) The catheter system of claim 1, wherein the distal articulating mechanism forms a distal tip of a catheter. ### Claim 3 (depends on 1) The catheter system of claim 1, wherein each of the multiple pairs of links include: the link located in the proximal user interface being a segment of a continuous flexible member; and the corresponding link of the pair located in the distal articulating mechanism being another segment of the continuous flexible member. ### Claim 4 (depends on 1) The catheter system of claim 1, wherein each of the multiple pairs of links includes: the link located in the proximal user interface being an individual link; and the corresponding link located in the distal articulating mechanism being another individual link. ### Claim 5 (depends on 1) The catheter system of claim 1, wherein each of the multiple pairs of links includes: the link located in the proximal user interface being an individual link; and the corresponding link of the pair located in the distal articulating mechanism being a segment of a continuous flexible member. ### Claim 6 An articulating catheter system comprising: a proximal user interface having a catheter handle and a proximal articulating mechanism extending from a proximal end of the catheter handle, wherein the proximal articulating mechanism includes a plurality of serially arranged proximal links, each proximal link including a plurality of circumferentially spaced channels that are centered equidistantly at a first distance from a central axis of the proximal articulating mechanism and are spaced uniformly around the central axis of the proximal articulating mechanism; a distal articulating mechanism attached to a distal end of the catheter handle directly opposite the proximal end, wherein the distal articulating mechanism includes a plurality of serially arranged distal links, each distal link including a plurality of circumferentially spaced channels that are centered equidistantly at a second distance from a central axis of the distal articulating mechanism and are spaced uniformly around the central axis of the distal articulating mechanism, and wherein the distal articulating mechanism comprises a central lumen therethrough; multiple pairs of links, each pair of links including a proximal link of the plurality of proximal links located in the proximal articulating mechanism and a distal link of the plurality of distal links located in the distal articulating mechanism, each proximal link being maintained in a spaced apart relationship relative to the distal link of the pair; and multiple sets of cables, each set connecting and terminating at the proximal and distal links of a discrete pair of the multiple pairs of links and continuously extending through corresponding channels of the plurality of circumferentially spaced channels of each intervening distal link and proximal link between the links of the discrete pair and terminating at corresponding channels of the links of the discrete pair, wherein movement of the proximal link of the discrete pair located in the proximal articulating mechanism causes corresponding relative movement of the corresponding distal link of the discrete pair located in the distal articulating mechanism, wherein for at least one pair of the distal and proximal links, each link has a first set of the plurality of circumferentially spaced channels occupied by one set of terminating cables of the multiple sets of cables, a second set of the plurality of circumferentially spaced channels occupied by one set of slip-fit cables of the multiple sets of cables, and a third set of the plurality of circumferentially spaced channels being unoccupied by cables. ### Claim 7 (depends on 6) The catheter system of claim 6, wherein the distal articulating mechanism forms a distal tip of a catheter. ### Claim 8 (depends on 6) The catheter system of claim 6, wherein each of the multiple pairs of links include: the link located in the proximal user interface being a segment of a continuous flexible member; and the corresponding link of the pair located in the distal articulating mechanism being another segment of the continuous flexible member. ### Claim 9 (depends on 6) The catheter system of claim 6, wherein each of the multiple pairs of links includes: the link located in the proximal user interface being an individual link; and the corresponding link located in the distal articulating mechanism being another individual link. ### Claim 10 (depends on 6) The catheter system of claim 6, wherein unoccupied channels of the plurality of circumferentially spaced channels in the discrete pair correspond to occupied channels of an intervening discrete pair. ### Claim 11 An articulating catheter system comprising: a proximal user interface having a catheter handle and a proximal articulating mechanism extending from a proximal end of the catheter handle, wherein the proximal articulating mechanism includes a plurality of serially arranged proximal links, each proximal link including a plurality of circumferentially spaced channels that are centered equidistantly at a first distance from a central axis of the proximal articulating mechanism and are spaced uniformly around the central axis of the proximal articulating mechanism; a distal articulating mechanism attached to a distal end of the catheter handle directly opposite the proximal end, wherein the distal articulating mechanism includes a plurality of serially arranged distal links, each distal link including a plurality of circumferentially spaced channels that are centered equidistantly at a second distance from a central axis of the distal articulating mechanism and are spaced uniformly around the central axis of the distal articulating mechanism, and wherein the distal articulating mechanism comprises a central lumen therethrough; multiple pairs of links, each pair of links including a proximal link of the plurality of proximal links located in the proximal articulating mechanism and a distal link of the plurality of distal links located in the distal articulating mechanism, each proximal link being maintained in a spaced apart relationship relative to the distal link of the pair; and multiple sets of cables, each set connecting and terminating at the proximal and distal links of a discrete pair of the multiple pairs of links and continuously extending through corresponding channels of the plurality of circumferentially spaced channels of each intervening distal link and proximal link between the links of the discrete pair and terminating at corresponding channels of the links of the discrete pair, wherein movement of the proximal link of the discrete pair located in the proximal articulating mechanism causes corresponding relative movement of the corresponding distal link of the discrete pair located in the distal articulating mechanism, wherein for at least one pair of the distal and proximal links, each link has a first set of the plurality of circumferentially spaced channels occupied by one set of terminating cables of the multiple sets of cables, a second set of the plurality of circumferentially spaced channels occupied by one set of slip-fit cables of the multiple sets of cables, and a set quantity of the plurality of circumferentially spaced channels being unoccupied by cables, wherein the third set is larger than the second set and the first set, second set, and third set of the plurality of circumferentially spaced channels are identical in size. ### Claim 12 (depends on 11) The catheter system of claim 11, wherein each of the multiple pairs of links include: the link located in the proximal user interface being a segment of a continuous flexible member; and the corresponding link of the pair located in the distal articulating mechanism being another segment of the continuous flexible member.