Shape-transferring cannula system and method of use
AssigneeIntuitive Surgical Operations, Inc.
InventorsJaime S. Vargas, Scott 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.
Claims34
A method of rigidizing a plurality of serial links, wherein the plurality of serial links extends as a cantilever from a supported proximal link to a distal link, the method comprising:
- holding the distal link of the plurality of serial links in a substantially fixed position when the serial links are in a non-rigidized state, wherein the plurality of serial links are coupled together to articulate relative to one another in the non-rigidized state;
- and
- rigidizing the serial links by moving all the serial links proximal of the distal link toward the substantially fixed position distal link.
A method comprising:
- positioning a static anchor at a proximal end of a plurality of serial links, the plurality of serial links being coupled together to articulate relative to one another;
- anchoring a distal link in the plurality of serial links to the static anchor;
- and
- positioning a dynamic anchor at the proximal end of the plurality of serial links, the dynamic anchor being positioned and configured to move toward the anchored distal link.
An apparatus comprising:
- a plurality of serial links comprising a proximal end, a distal end, a distal link at the distal end, and a plurality of proximal links proximal of the distal link;
- a static anchor positioned at the proximal end of the plurality of serial links, the distal link being anchored to the static anchor;
- and
- a dynamic anchor positioned at the proximal end of the plurality of serial links, the dynamic anchor being configured to move the plurality of proximal links toward the anchored distal link,
- wherein the plurality of serial links are coupled together to articulate relative to one another.
A medical device comprising:
- a plurality of serial links extending as a cantilever from a supported proximal link to a free space distal link;
- and
- a tension element positioned through the plurality of serial links, there being a rigidized state and non-rigidized state of the links defined based on tension in the tension element;
- wherein the serial links other than the distal link are configured to move toward the distal link to place the serial links in the rigidized state;
- and
- wherein the device is configured to keep the distal link in a substantially fixed position in the rigidized state and the non-rigidized state of the links, and
- wherein the plurality of serial links are coupled together to articulate relative to one another in the non-rigidized state.
Dependencies are inferred from the claim text.