Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities

• US 10,327,625 B2
• Filed: 08/05/2016
• Issued: 06/25/2019
• Est. Priority Date: 04/03/2000
• Status: Expired due to Fees

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Belson, Amir, Ohline, Robert Matthew
• Primary Examiner(s): Neal, Timothy J
• Application Number:
  US15/229,177
• Publication Number:
  US 20170027419A1
• Time in Patent Office: 1,054 Days
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0053 using distributed actuators, e.g. artificial muscles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0058 using shape-memory elements
• CPC Class Codes: A61B 1/0125 Endoscope within endoscope
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00296 mounted on an endoscope
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2018/00351 Heart
• CPC Class Codes: A61B 2018/00446 Brain
• CPC Class Codes: A61B 2018/0212 using an instrument inserted into a body lumen, e.g. catheter
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: G02B 23/2469 using optical fibres
• CPC Class Codes: G02B 23/2476 Non-optical details, e.g. housings, mountings, supports
• CPC Class Codes: G02B 23/2484 Arrangements in relation to a camera or imaging device processing or control of video signals generated by an endoscope H04N23/60, H04N23/70

Abstract

Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by “straight-line” requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.

Claims

1. A surgical system comprising:

a first elongate device and a second elongate device, each of the first and second elongate devices having a steerable distal portion and a proximal portion, wherein the second elongate device is disposed at least partially within the first elongate device and is configured to extend and retract relative to the first elongate device;

a position system comprising a sensor configured to sense the position of at least one of the first elongate device and the second elongate device; and

a controller configured to;

receive user input,

receive sensed position information from the positioning system,

receive information identifying and localizing a physiological indication within a body, and

control movement of at least one of the first and second elongated devices along a pathway to reach a treatment area in the body based on the user input, the received sensed position information, and the received information identifying and localizing the physiological indication.

2. The surgical system of claim 1, wherein the information identifying the physiological indication includes information chosen from at least one of position, location, tissue type, and disease state of a physiological condition.

3. The surgical system of claim 2, wherein the controller is further configured to receive image data correlating the physiological indication to at least one of a position within the body and a frame of reference.

4. The surgical system of claim 1, wherein the first and second elongate devices each comprise steerable endoscopes.

5. The surgical system of claim 1, wherein the second elongate device is configured to traverse along a path defined within the first elongate device.

6. The surgical system of claim 1, wherein the controller is configured to control the movement of the second elongate device traversing along the path defined within the first elongate device.

7. The surgical system of claim 1, wherein the controller is further configured to maintain a position of the first elongate device while the second elongate device extends from the first elongate device to perform a treatment within the body.

8. The surgical system of claim 1, wherein the sensor comprises a motion transducer configured to measure at least one of axial and rotational displacement of at least one of the first elongate device and the second elongate device.

9. The surgical system of claim 1, wherein the second elongate device comprises a surgical tool configured to perform a surgical procedure.

10. The surgical system of claim 9, wherein the surgical tool comprises an ablation element.

11. The surgical system of claim 1, wherein the controller is configured to automatically control at least one of the first and second elongate devices.