US20120238952A1 - Endoluminal surgical tool with small bend radius steering section - Google Patents
Endoluminal surgical tool with small bend radius steering section Download PDFInfo
- Publication number
- US20120238952A1 US20120238952A1 US13/483,371 US201213483371A US2012238952A1 US 20120238952 A1 US20120238952 A1 US 20120238952A1 US 201213483371 A US201213483371 A US 201213483371A US 2012238952 A1 US2012238952 A1 US 2012238952A1
- Authority
- US
- United States
- Prior art keywords
- link
- steering
- links
- handle
- attached
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
Definitions
- the leading or distal end of the endoscopic surgical instrument can be introduced into the body, for example into the stomach via the throat, with the physician then steering the tip of instrument.
- the steering is typically achieved via four steering wires attached to wheels, levers, or other actuators on the handle of the instrument, which remains outside of the body.
- the physician can steer the tip of the instrument in the up/down and left/right directions. This allows the physician to position surgical tools as desired.
- the distal end of the instrument advantageously can bend into a tight radius, via control of the actuators on the handle.
- the bending radius is limited by certain factors.
- One factor is that the pivoting links that make up the skeleton or frame of the instrument can only pivot to limited angle relative to each other.
- Another factor is that the left/right and up/down steering movements are not entirely independent. Specifically, when the distal end of the instrument is steering to it maximum left or right steering position, the ability to also steer in the up or down direction becomes very limited, and vice versa. As a result, operating the instrument to position the instrument tip as desired can become difficult.
- an endoluminal surgical instrument has first and second steering controls on a handle.
- a flexible shaft attached to the handle has a distal steerable end including a first link and a second link separated by a plurality of intermediate links.
- First and second steering elements such as pairs of steering wires, are linked to first and second steering controls and to the first and second links.
- One or more of the links is pivotable through an angle of at least 30 degrees relative to an adjoining link. The set back position of the second steering elements and the pivoting capability of the links allows the steerable end to be steered into a small bend radius. This makes the instrument highly maneuverable for use in endoluminal surgery, such as incision-less surgery of the stomach.
- FIG. 1 is a back, top, and right side perspective view of an endoscopic system.
- FIG. 2 is a front, top, and left side perspective view of the shapelock assembly shown in FIG. 1 .
- FIG. 3 is a schematically illustrated side view of the distal end of the endoscopic system shown in FIG. 1 .
- FIG. 4 is an enlarged schematically illustrated side view of the tip of the instrument shown in FIG. 3 .
- FIG. 5 is a schematically illustrated section views taken along line 5 - 5 of FIG. 3 .
- FIGS. 6 and 7 are cross-sectional views of the endoscopic system of FIGS. 1-5 .
- FIG. 8 is a side view of the distal end of a tight bend radius instrument, with the sheath or outer covering removed for purpose of illustration.
- FIG. 9 is a side view of the instrument shown in FIG. 8 steered into a near maximum up position.
- an endoscopic system 30 includes a reusable shapelock assembly 34 that is adapted for use within a disposable assembly generally designated 32 .
- the disposable assembly 32 has a flexible sheath 38 attached to a relatively rigid handle 36 .
- the sheath 38 includes a tip 58 attached to the distal end of a steerable section 42 .
- a body section 40 of the sheath 38 extends proximally from the steerable section 42 to the handle 36 .
- a lock nut or similar attachment holds the proximal end of the body section 40 of the sheath 38 onto the handle 36 .
- the sheath tip 58 has one or more tool lumen openings 60 .
- a plurality of tool lumens extend through the interior of the sheath 38 .
- the tool lumens are defined by one or more structural guideway members provided within the interior of the sheath 38 .
- the tool lumens are defined by a plurality of sleeves or tubes 44 and 46 , each having an open distal end that is sealed around a respective lumen opening 60 in the tip 58 .
- the tubes 44 and 46 extend back from the tip 58 through the length of the sheath 38 to the handle 36 .
- the tubes may be flexible rubber or plastic tubes that act as guideways between the handle 36 and the tip 58 for tools and instruments.
- the tubes may alternatively be flexible tubes having a composite construction, such as a multi-layer extrusion, or coil and/or braid reinforced construction.
- the tubes may be constructed to reduce or eliminate the likelihood that the tubes will become twisted, kinked, tangled, torn, or to prevent the lumens of the tubes from collapsing under vacuum.
- the steerable section 42 at the distal end of the sheath 38 may be formed by segments, links, or other generally rigid and pivotably interconnected elements.
- the steerable section 42 includes links, with the first link shown at 74 and the second link at 76 .
- the length and flexibility of the steerable section 42 is varied by selecting the number and size of the individual links making up the steerable section 42 .
- a first pair of steering wires 80 A or other steering elements are attached onto opposite sides of the first link 74 at attachment points 83 .
- the first link 74 is the front or leading link which the tip 58 attached to.
- a second pair of steering wires 80 B are attached to opposite sides of a second or proximal link 75 at attachment points 81 .
- the proximal link 75 is spaced 4-30, 8-24 or 12-20 cm behind the first link 74 , with several intervening links 77 between the first link 74 and the proximal link, for steering the steerable section 42 .
- the steering wires 80 A and 80 B extend back from the first link 74 and the proximal link 75 and subsequent proximal links of the steering section 42 , through the sheath 38 to the handle 36 .
- the subsequent proximal links i.e., links between the handle and the proximal link 75 may be omitted and replaced with a tubular structure not having any links.
- the links are pivotally attached to each, with alternating angular positions, i.e., with even links pivotable in the up/down direction and with odd links pivotable in the left/right direction.
- the links are designed to allow at least 30 , 35 , 40 , 45 , or more degrees of pivot movement or angular rotation between adjoining links.
- the steering wires may be provided within coils 82 or other column strength element.
- the coils 82 if used, allow the steering wires to be tensioned without buckling the sheath 38 .
- the steering section may be about 4-10 cm long, whereas the sheath 38 is typically between 20-200 cm.
- the sheath 38 has an outer skin or layer 206 formed of a material such as a polymeric or plastic material that is flexible and that provides a protective layer to prevent passage ingress of bodily fluids.
- the cylindrical proximal end 72 of the tip 58 is sealed onto the outer skin 206 via an adhesive or other bonding or attachment method.
- the tip 58 may be removably attached to the distal end of the sheath 38 , such as by screwing, friction fit, or other mechanism adapted to provide the user with the ability to exchange tips for various procedures.
- the tip 58 may be made of hard or soft plastic or rubber, or similar non-porous materials.
- passageways 212 for the steering wires may be provided within the walls Of the sheath 38 .
- Each passageway 212 may be located within the skin material, between first and second layers of braid or reinforcement material.
- the passageways 212 may be formed in straight or spiral, radially spaced alignment extending over the length of the sheath 38 .
- FIG. 2 shows a locking handle 172 that opens at its distal end.
- the shape lock body 150 is formed by segments, such as links that are pivotably attached to (or positioned next to) each other in a nested arrangement.
- the links may be formed as nested rings, so that the shapelock body 150 is tubular, or has an open internal through passageway.
- the steering wires 80 A exit from the passageways 212 , run inside of the steerable section 42 , and attach to the first link 74 of the steerable section 42 .
- the other pair of steering wires 80 B attach to the proximal link 75 spaced proximally apart from the first link.
- the steering wires are contained within the passageways 212 and extend to the handle 36 , where the steering wires 80 are operably connected to the control knobs 140 and 144 . Consequently, the shape lock 34 may be inserted into the central sheath opening 220 without contacting or interfering with the steering wires.
- the sheath 38 may have a composite construction, including an outer layer 322 , a body member 324 , and an inner layer 326 .
- the composite construction provides the shaft with improved strength, flexibility, and torque transmission capability over conventional endoscopic shaft constructions.
- the outer layer 322 and inner layer 326 may each include one, two, three, or more layers of a braided or woven mesh reinforcement material, such as polyethylene terephthalate (PET), nylon, metal or metallic fibers, or other suitable reinforcement material.
- PET polyethylene terephthalate
- the braided or woven mesh reinforcement layers are preferably porous, thereby providing the ability for a bonding material to penetrate the reinforcement layers.
- FIGS. 6 and 7 also show the tubes 44 and 46 , as well as two additional tubes 48 and 50 , which may optionally also be included within the sheath 38 .
- the tubes 44 and 46 may be larger diameter tubes having an ID of about 3 mm to about 9 mm, preferably about 6.3 mm, with tubes 48 and 50 having a smaller diameter tubes, with an ID of about 1.5 mm to about 7 mm, preferably about 4 mm.
- the outer diameter of the sheath 38 may preferably be in the range of about 10 mm to about 30 mm.
- the steering wires 80 extend from the steering controls 140 and 144 on the handle 36 through the sheath 38 to the distal end of the shaft at links 74 and 75 .
- the steering wire coils 82 receive and retain the steering wires 80 .
- the steering wire coils 82 may be formed integrally with or embedded in the sheath structure. Alternatively, the steering wire coils 82 , along with the tubes 44 - 50 , may float within the inner lumen 220 .
Abstract
Description
- This Application is a Continuation-in-Part of U.S. patent application No. 12/061,591, filed Apr. 2, 2008, now pending and incorporated herein by reference.
- Various endoscopic systems have been successfully used to perform a wide variety of diagnostic and surgical procedures. Most of these types of systems having a steering capability. Specifically, the leading or distal end of the endoscopic surgical instrument can be introduced into the body, for example into the stomach via the throat, with the physician then steering the tip of instrument. The steering is typically achieved via four steering wires attached to wheels, levers, or other actuators on the handle of the instrument, which remains outside of the body. By manipulating the actuators, the physician can steer the tip of the instrument in the up/down and left/right directions. This allows the physician to position surgical tools as desired.
- In order to provide the most steering flexibility, the distal end of the instrument advantageously can bend into a tight radius, via control of the actuators on the handle. However, the bending radius is limited by certain factors. One factor is that the pivoting links that make up the skeleton or frame of the instrument can only pivot to limited angle relative to each other. Another factor is that the left/right and up/down steering movements are not entirely independent. Specifically, when the distal end of the instrument is steering to it maximum left or right steering position, the ability to also steer in the up or down direction becomes very limited, and vice versa. As a result, operating the instrument to position the instrument tip as desired can become difficult.
- Accordingly, engineering challenges remain in designing endosurgical systems allow for highly flexible positioning options.
- In a first aspect, an endoluminal surgical instrument has first and second steering controls on a handle. A flexible shaft attached to the handle has a distal steerable end including a first link and a second link separated by a plurality of intermediate links. First and second steering elements, such as pairs of steering wires, are linked to first and second steering controls and to the first and second links. One or more of the links is pivotable through an angle of at least 30 degrees relative to an adjoining link. The set back position of the second steering elements and the pivoting capability of the links allows the steerable end to be steered into a small bend radius. This makes the instrument highly maneuverable for use in endoluminal surgery, such as incision-less surgery of the stomach.
-
FIG. 1 is a back, top, and right side perspective view of an endoscopic system. -
FIG. 2 is a front, top, and left side perspective view of the shapelock assembly shown inFIG. 1 . -
FIG. 3 is a schematically illustrated side view of the distal end of the endoscopic system shown inFIG. 1 . -
FIG. 4 is an enlarged schematically illustrated side view of the tip of the instrument shown inFIG. 3 . -
FIG. 5 is a schematically illustrated section views taken along line 5-5 ofFIG. 3 . -
FIGS. 6 and 7 are cross-sectional views of the endoscopic system ofFIGS. 1-5 . -
FIG. 8 is a side view of the distal end of a tight bend radius instrument, with the sheath or outer covering removed for purpose of illustration. -
FIG. 9 is a side view of the instrument shown inFIG. 8 steered into a near maximum up position. - Turning to the drawings, as shown in
FIGS. 1 and 2 , anendoscopic system 30 includes areusable shapelock assembly 34 that is adapted for use within a disposable assembly generally designated 32. Thedisposable assembly 32 has aflexible sheath 38 attached to a relativelyrigid handle 36. - The
sheath 38 includes atip 58 attached to the distal end of asteerable section 42. Abody section 40 of thesheath 38 extends proximally from thesteerable section 42 to thehandle 36. A lock nut or similar attachment holds the proximal end of thebody section 40 of thesheath 38 onto thehandle 36. - Referring to
FIGS. 3 and 4 , thesheath tip 58 has one or moretool lumen openings 60. A plurality of tool lumens extend through the interior of thesheath 38. The tool lumens are defined by one or more structural guideway members provided within the interior of thesheath 38. In the embodiments shown, the tool lumens are defined by a plurality of sleeves ortubes tip 58. Thetubes tip 58 through the length of thesheath 38 to thehandle 36. The tubes may be flexible rubber or plastic tubes that act as guideways between thehandle 36 and thetip 58 for tools and instruments. The tubes may alternatively be flexible tubes having a composite construction, such as a multi-layer extrusion, or coil and/or braid reinforced construction. The tubes may be constructed to reduce or eliminate the likelihood that the tubes will become twisted, kinked, tangled, torn, or to prevent the lumens of the tubes from collapsing under vacuum. - Referring still to
FIGS. 3 and 4 , thesteerable section 42 at the distal end of thesheath 38 may be formed by segments, links, or other generally rigid and pivotably interconnected elements. In the example shown, thesteerable section 42 includes links, with the first link shown at 74 and the second link at 76. The length and flexibility of thesteerable section 42 is varied by selecting the number and size of the individual links making up thesteerable section 42. - As shown in
FIG. 8 , a first pair ofsteering wires 80A or other steering elements are attached onto opposite sides of thefirst link 74 atattachment points 83. Generally thefirst link 74 is the front or leading link which thetip 58 attached to. A second pair ofsteering wires 80B are attached to opposite sides of a second orproximal link 75 atattachment points 81. Theproximal link 75 is spaced 4-30, 8-24 or 12-20 cm behind thefirst link 74, with severalintervening links 77 between thefirst link 74 and the proximal link, for steering thesteerable section 42. Thesteering wires first link 74 and theproximal link 75 and subsequent proximal links of thesteering section 42, through thesheath 38 to thehandle 36. - Alternatively, the subsequent proximal links, i.e., links between the handle and the
proximal link 75 may be omitted and replaced with a tubular structure not having any links. The links are pivotally attached to each, with alternating angular positions, i.e., with even links pivotable in the up/down direction and with odd links pivotable in the left/right direction. The links are designed to allow at least 30, 35, 40, 45, or more degrees of pivot movement or angular rotation between adjoining links. The attachment of thesecond steering wires 80B onto the proximal link spaced behind thefirst link 74, and the pivoting capability of the links, allows the steerable end to be steered into a small bend radius. This makes the instrument highly maneuverable for use in endoluminal surgery. - The steering wires may be provided within
coils 82 or other column strength element. Thecoils 82, if used, allow the steering wires to be tensioned without buckling thesheath 38. The steering section may be about 4-10 cm long, whereas thesheath 38 is typically between 20-200 cm. - Referring to
FIGS. 4 and 5 , thesheath 38 has an outer skin orlayer 206 formed of a material such as a polymeric or plastic material that is flexible and that provides a protective layer to prevent passage ingress of bodily fluids. The cylindricalproximal end 72 of thetip 58 is sealed onto theouter skin 206 via an adhesive or other bonding or attachment method. Thetip 58 may be removably attached to the distal end of thesheath 38, such as by screwing, friction fit, or other mechanism adapted to provide the user with the ability to exchange tips for various procedures. Thetip 58 may be made of hard or soft plastic or rubber, or similar non-porous materials. As the sleeves ortubes lumen openings 60 of thetip 58, gases and liquids encountered during use of thesystem 30 within the body are substantially prevented from entering into thesheath 38, except through the tubes. - As shown in
FIG. 5 ,passageways 212 for the steering wires may be provided within the walls Of thesheath 38. Eachpassageway 212 may be located within the skin material, between first and second layers of braid or reinforcement material. Thepassageways 212 may be formed in straight or spiral, radially spaced alignment extending over the length of thesheath 38. -
FIG. 2 shows alocking handle 172 that opens at its distal end. Theshape lock body 150 is formed by segments, such as links that are pivotably attached to (or positioned next to) each other in a nested arrangement. The links may be formed as nested rings, so that theshapelock body 150 is tubular, or has an open internal through passageway. - Referring to
FIG. 3 , atposition 180, thesteering wires 80A exit from thepassageways 212, run inside of thesteerable section 42, and attach to thefirst link 74 of thesteerable section 42. The other pair ofsteering wires 80B attach to theproximal link 75 spaced proximally apart from the first link. - Toward the proximal end of the
sheath 38, the steering wires are contained within thepassageways 212 and extend to thehandle 36, where thesteering wires 80 are operably connected to the control knobs 140 and 144. Consequently, theshape lock 34 may be inserted into thecentral sheath opening 220 without contacting or interfering with the steering wires. - Turning to
FIGS. 6 and 7 , cross-section views of theendoscopic system 32 shown inFIG. 1 . Thesheath 38 may have a composite construction, including anouter layer 322, abody member 324, and aninner layer 326. The composite construction provides the shaft with improved strength, flexibility, and torque transmission capability over conventional endoscopic shaft constructions. Theouter layer 322 andinner layer 326 may each include one, two, three, or more layers of a braided or woven mesh reinforcement material, such as polyethylene terephthalate (PET), nylon, metal or metallic fibers, or other suitable reinforcement material. The braided or woven mesh reinforcement layers are preferably porous, thereby providing the ability for a bonding material to penetrate the reinforcement layers. -
FIGS. 6 and 7 also show thetubes additional tubes sheath 38. If used, thetubes tubes sheath 38 may preferably be in the range of about 10 mm to about 30 mm. Thesteering wires 80 extend from the steering controls 140 and 144 on thehandle 36 through thesheath 38 to the distal end of the shaft atlinks steering wires 80. The steering wire coils 82 may be formed integrally with or embedded in the sheath structure. Alternatively, the steering wire coils 82, along with the tubes 44-50, may float within theinner lumen 220. - Thus, novel methods and apparatus have been shown and described. Various changes and substitutions may of course be made without departing from the spirit and scope of the invention. The invention, therefore, should not be limited except by the following claims, and their equivalents.
Claims (12)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/483,371 US20120238952A1 (en) | 2008-04-02 | 2012-05-30 | Endoluminal surgical tool with small bend radius steering section |
PCT/US2013/039672 WO2013180904A1 (en) | 2012-05-30 | 2013-05-06 | Endoluminal surgical tool with small bend radius steering section |
US14/141,237 US20140107570A1 (en) | 2008-04-02 | 2013-12-26 | Endoluminal surgical tool with small bend radius steering section |
US14/612,118 US9504371B2 (en) | 2008-04-02 | 2015-02-02 | Endoscopic system with torque transmitting sheath |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/061,591 US9055864B2 (en) | 2008-04-02 | 2008-04-02 | Endoscopic system with torque transmitting sheath |
US13/483,371 US20120238952A1 (en) | 2008-04-02 | 2012-05-30 | Endoluminal surgical tool with small bend radius steering section |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/061,591 Continuation-In-Part US9055864B2 (en) | 2008-04-02 | 2008-04-02 | Endoscopic system with torque transmitting sheath |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/141,237 Continuation US20140107570A1 (en) | 2008-04-02 | 2013-12-26 | Endoluminal surgical tool with small bend radius steering section |
Publications (1)
Publication Number | Publication Date |
---|---|
US20120238952A1 true US20120238952A1 (en) | 2012-09-20 |
Family
ID=46829027
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/483,371 Abandoned US20120238952A1 (en) | 2008-04-02 | 2012-05-30 | Endoluminal surgical tool with small bend radius steering section |
US14/141,237 Abandoned US20140107570A1 (en) | 2008-04-02 | 2013-12-26 | Endoluminal surgical tool with small bend radius steering section |
US14/612,118 Active US9504371B2 (en) | 2008-04-02 | 2015-02-02 | Endoscopic system with torque transmitting sheath |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/141,237 Abandoned US20140107570A1 (en) | 2008-04-02 | 2013-12-26 | Endoluminal surgical tool with small bend radius steering section |
US14/612,118 Active US9504371B2 (en) | 2008-04-02 | 2015-02-02 | Endoscopic system with torque transmitting sheath |
Country Status (1)
Country | Link |
---|---|
US (3) | US20120238952A1 (en) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100312186A1 (en) * | 2009-06-09 | 2010-12-09 | Vascular Technology Inc. | Soft tissue dissector |
CN104667413A (en) * | 2015-01-28 | 2015-06-03 | 深圳市科奕顿生物医疗科技有限公司 | Pusher |
US9314593B2 (en) | 2012-09-24 | 2016-04-19 | Cook Medical Technologies Llc | Medical devices for the identification and treatment of bodily passages |
US9375138B2 (en) | 2011-11-25 | 2016-06-28 | Cook Medical Technologies Llc | Steerable guide member and catheter |
US9549748B2 (en) | 2013-08-01 | 2017-01-24 | Cook Medical Technologies Llc | Methods of locating and treating tissue in a wall defining a bodily passage |
WO2017122215A1 (en) * | 2016-01-17 | 2017-07-20 | T.A.G. Medical Devices - Agriculture Cooperative Ltd. | Flexible bone tool |
US9826985B2 (en) | 2014-02-17 | 2017-11-28 | T.A.G. Medical Devices—Agriculture Cooperative Ltd. | Flexible bone tool |
US9833130B2 (en) | 2011-07-22 | 2017-12-05 | Cook Medical Technologies Llc | Irrigation devices adapted to be used with a light source for the identification and treatment of bodily passages |
US9895055B2 (en) | 2013-02-28 | 2018-02-20 | Cook Medical Technologies Llc | Medical devices, systems, and methods for the visualization and treatment of bodily passages |
US9937323B2 (en) | 2014-02-28 | 2018-04-10 | Cook Medical Technologies Llc | Deflectable catheters, systems, and methods for the visualization and treatment of bodily passages |
US10195398B2 (en) | 2014-08-13 | 2019-02-05 | Cook Medical Technologies Llc | Tension member seal and securing mechanism for medical devices |
US10653861B2 (en) | 2014-05-02 | 2020-05-19 | Intellimedical Technologies Pty. Ltd. | Elongate steerable devices for insertion into a subjects body |
US10960182B2 (en) | 2016-02-05 | 2021-03-30 | Board Of Regents Of The University Of Texas System | Steerable intra-luminal medical device |
US11064871B2 (en) * | 2015-02-27 | 2021-07-20 | Nicholas Matthew Gerbo | Flexible endoscope |
US11504144B2 (en) | 2016-02-05 | 2022-11-22 | Board Of Regents Of The University Of Texas System | Surgical apparatus |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016100072A1 (en) * | 2014-12-19 | 2016-06-23 | University Hospitals Health System, Inc. | Accessory medical device introduction apparatus for endoscopes |
CN110430797B (en) * | 2017-03-20 | 2022-07-05 | 柯惠有限合伙公司 | Endoscopic reusable surgical device |
WO2021258113A1 (en) | 2020-06-19 | 2021-12-23 | Remedy Robotics, Inc. | Systems and methods for guidance of intraluminal devices within the vasculature |
US20220133138A1 (en) * | 2020-10-29 | 2022-05-05 | Clearmind Biomedical, Inc. | Dilator-less and obturator-less introducer for viewing and acting on internal passageways or tissue |
WO2023278789A1 (en) | 2021-07-01 | 2023-01-05 | Remedy Robotics, Inc. | Vision-based position and orientation determination for endovascular tools |
US11707332B2 (en) | 2021-07-01 | 2023-07-25 | Remedy Robotics, Inc. | Image space control for endovascular tools |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3557780A (en) * | 1967-04-20 | 1971-01-26 | Olympus Optical Co | Mechanism for controlling flexure of endoscope |
US4873965A (en) * | 1987-07-31 | 1989-10-17 | Guido Danieli | Flexible endoscope |
US20040044270A1 (en) * | 2002-05-30 | 2004-03-04 | Barry James P. | Articulating vertebrae with asymmetrical and variable radius of curvature |
US20060111615A1 (en) * | 2004-11-23 | 2006-05-25 | Novare Surgical Systems, Inc. | Articulating sheath for flexible instruments |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5329887A (en) | 1992-04-03 | 1994-07-19 | Vision Sciences, Incorporated | Endoscope control assembly with removable control knob/brake assembly |
DE4305376C1 (en) | 1993-02-22 | 1994-09-29 | Wolf Gmbh Richard | Medical instrument shaft |
US5575755A (en) | 1994-02-23 | 1996-11-19 | Welch Allyn, Inc. | Fluid insensitive braking for an endoscope |
US7637905B2 (en) | 2003-01-15 | 2009-12-29 | Usgi Medical, Inc. | Endoluminal tool deployment system |
US6790173B2 (en) | 2002-06-13 | 2004-09-14 | Usgi Medical, Inc. | Shape lockable apparatus and method for advancing an instrument through unsupported anatomy |
US20060058582A1 (en) | 2002-06-13 | 2006-03-16 | Usgi Medical Inc. | Disposable shapelocking system |
US20040249367A1 (en) | 2003-01-15 | 2004-12-09 | Usgi Medical Corp. | Endoluminal tool deployment system |
US20050272977A1 (en) | 2004-04-14 | 2005-12-08 | Usgi Medical Inc. | Methods and apparatus for performing endoluminal procedures |
US7837615B2 (en) | 2004-05-10 | 2010-11-23 | Usgi Medical, Inc. | Shape lockable apparatus and method for advancing an instrument through unsupported anatomy |
US20060178562A1 (en) | 2005-02-10 | 2006-08-10 | Usgi Medical Inc. | Apparatus and methods for obtaining endoluminal access with a steerable guide having a variable pivot |
US8052597B2 (en) * | 2005-08-30 | 2011-11-08 | Boston Scientific Scimed, Inc. | Method for forming an endoscope articulation joint |
JP4827598B2 (en) | 2006-04-26 | 2011-11-30 | Hoya株式会社 | Endoscope bending retention mechanism |
JP4847783B2 (en) * | 2006-04-26 | 2011-12-28 | Hoya株式会社 | Endoscope bending operation device |
US20080262300A1 (en) | 2007-04-20 | 2008-10-23 | Usgi Medical, Inc. | Endoscopic system with disposable sheath |
US20080262294A1 (en) | 2007-04-20 | 2008-10-23 | Usgi Medical, Inc. | Endoscopic system with disposable sheath |
US9055864B2 (en) | 2008-04-02 | 2015-06-16 | Usgi Medical, Inc. | Endoscopic system with torque transmitting sheath |
US20100286478A1 (en) | 2009-04-23 | 2010-11-11 | Usgi Medical, Inc. | Flexible surgery access systems |
-
2012
- 2012-05-30 US US13/483,371 patent/US20120238952A1/en not_active Abandoned
-
2013
- 2013-12-26 US US14/141,237 patent/US20140107570A1/en not_active Abandoned
-
2015
- 2015-02-02 US US14/612,118 patent/US9504371B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3557780A (en) * | 1967-04-20 | 1971-01-26 | Olympus Optical Co | Mechanism for controlling flexure of endoscope |
US4873965A (en) * | 1987-07-31 | 1989-10-17 | Guido Danieli | Flexible endoscope |
US20040044270A1 (en) * | 2002-05-30 | 2004-03-04 | Barry James P. | Articulating vertebrae with asymmetrical and variable radius of curvature |
US20060111615A1 (en) * | 2004-11-23 | 2006-05-25 | Novare Surgical Systems, Inc. | Articulating sheath for flexible instruments |
Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100312186A1 (en) * | 2009-06-09 | 2010-12-09 | Vascular Technology Inc. | Soft tissue dissector |
US9980631B2 (en) | 2011-07-22 | 2018-05-29 | Cook Medical Technologies Llc | Irrigation devices adapted to be used with a light source for the identification and treatment of bodily passages |
US9833130B2 (en) | 2011-07-22 | 2017-12-05 | Cook Medical Technologies Llc | Irrigation devices adapted to be used with a light source for the identification and treatment of bodily passages |
US10342414B2 (en) | 2011-11-25 | 2019-07-09 | Cook Medical Technologies Llc | Steerable guide member and catheter |
US9375138B2 (en) | 2011-11-25 | 2016-06-28 | Cook Medical Technologies Llc | Steerable guide member and catheter |
US9314593B2 (en) | 2012-09-24 | 2016-04-19 | Cook Medical Technologies Llc | Medical devices for the identification and treatment of bodily passages |
US10426925B2 (en) | 2012-09-24 | 2019-10-01 | Cook Medical Technologies Llc | Medical devices for the identification and treatment of bodily passages |
US9895055B2 (en) | 2013-02-28 | 2018-02-20 | Cook Medical Technologies Llc | Medical devices, systems, and methods for the visualization and treatment of bodily passages |
US9549748B2 (en) | 2013-08-01 | 2017-01-24 | Cook Medical Technologies Llc | Methods of locating and treating tissue in a wall defining a bodily passage |
US10136907B2 (en) | 2013-08-01 | 2018-11-27 | Cook Medical Technologies Llc | Methods of locating and treating tissue in a wall defining a bodily passage |
US9826985B2 (en) | 2014-02-17 | 2017-11-28 | T.A.G. Medical Devices—Agriculture Cooperative Ltd. | Flexible bone tool |
US9937323B2 (en) | 2014-02-28 | 2018-04-10 | Cook Medical Technologies Llc | Deflectable catheters, systems, and methods for the visualization and treatment of bodily passages |
US10814098B2 (en) | 2014-02-28 | 2020-10-27 | Cook Medical Technologies Llc | Deflectable catheters, systems, and methods for the visualization and treatment of bodily passages |
US10653861B2 (en) | 2014-05-02 | 2020-05-19 | Intellimedical Technologies Pty. Ltd. | Elongate steerable devices for insertion into a subjects body |
US10195398B2 (en) | 2014-08-13 | 2019-02-05 | Cook Medical Technologies Llc | Tension member seal and securing mechanism for medical devices |
CN104667413A (en) * | 2015-01-28 | 2015-06-03 | 深圳市科奕顿生物医疗科技有限公司 | Pusher |
US11064871B2 (en) * | 2015-02-27 | 2021-07-20 | Nicholas Matthew Gerbo | Flexible endoscope |
US10524805B2 (en) | 2016-01-17 | 2020-01-07 | T.A.G. Medical Devices—Agriculture Cooperative Ltd. | Flexible bone tool |
WO2017122215A1 (en) * | 2016-01-17 | 2017-07-20 | T.A.G. Medical Devices - Agriculture Cooperative Ltd. | Flexible bone tool |
US10960182B2 (en) | 2016-02-05 | 2021-03-30 | Board Of Regents Of The University Of Texas System | Steerable intra-luminal medical device |
US11504144B2 (en) | 2016-02-05 | 2022-11-22 | Board Of Regents Of The University Of Texas System | Surgical apparatus |
US11607238B2 (en) | 2016-02-05 | 2023-03-21 | Board Of Regents Of The University Of Texas System | Surgical apparatus |
US11850378B2 (en) | 2016-02-05 | 2023-12-26 | Board Of Regents Of The University Of Texas System | Steerable intra-luminal medical device |
US11918766B2 (en) | 2016-02-05 | 2024-03-05 | Board Of Regents Of The University Of Texas System | Steerable intra-luminal medical device |
Also Published As
Publication number | Publication date |
---|---|
US20140107570A1 (en) | 2014-04-17 |
US20150173589A1 (en) | 2015-06-25 |
US9504371B2 (en) | 2016-11-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20140107570A1 (en) | Endoluminal surgical tool with small bend radius steering section | |
CN108778387B (en) | Steerable catheter with multiple bend radii via steering mechanism with telescoping tubular member | |
US9055864B2 (en) | Endoscopic system with torque transmitting sheath | |
US20080262300A1 (en) | Endoscopic system with disposable sheath | |
US20080262294A1 (en) | Endoscopic system with disposable sheath | |
CN101939042B (en) | Catheter shaft and method of manufacture | |
US6458076B1 (en) | Multi-lumen medical device | |
US8206343B2 (en) | Reinforced catheter with articulated distal tip | |
US9565994B2 (en) | Elongate medical device with articulating portion | |
US10531787B2 (en) | Steerable multilumen catheter shaft | |
EP3490652B1 (en) | Steerable multilumen catheter shaft | |
US20110213202A1 (en) | Endoscope working channel with multiple functionality | |
KR20230027067A (en) | hardening device | |
JP2019502420A (en) | Steering assembly and use of medical devices | |
JP7361260B2 (en) | Articulating shafts, catheters, and fabrication methods for steerable catheter systems | |
WO2013180904A1 (en) | Endoluminal surgical tool with small bend radius steering section | |
WO2023154743A2 (en) | Dynamically rigidizing composite medical structures | |
EP4142564A1 (en) | An insertion tube sub-assembly for an endoscope |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: USGI MEDICAL, INC., CALIFORNIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:MITCHELL, SEAN;EWERS, RICHARD C.;MAAHS, TRACY D.;SIGNING DATES FROM 20120518 TO 20120529;REEL/FRAME:028287/0233 |
|
AS | Assignment |
Owner name: ETHICON ENDO-SURGERY, INC., OHIO Free format text: SECURITY AGREEMENT;ASSIGNOR:USGI MEDICAL, INC.;REEL/FRAME:031727/0655 Effective date: 20130925 |
|
AS | Assignment |
Owner name: USGI MEDICAL, INC., CALIFORNIA Free format text: RELEASE BY SECURED PARTY;ASSIGNOR:ETHICON ENDO-SURGERY, INC.;REEL/FRAME:032601/0493 Effective date: 20140328 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |