Endoscope with single step guiding apparatus
First Claim
1. A method of advancing an instrument along an arbitrary path, comprising:
- selectively steering a distal portion of the instrument to assume a selected shape along an arbitrary path such that a portion of an elongate guide conforms to and assumes the selected shape; and
maintaining a position of said guide while advancing said instrument along said guide such that a proximal portion of said instrument assumes the selected shape defined by said guide, wherein said instrument is freely slidable along said guide such that advancing said instrument along said guide is unconstrained.
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Accused Products
Abstract
An endoscope with guiding apparatus is described herein. A steerable endoscope is described having an elongate body with a manually or selectively steerable distal portion, an automatically controlled portion, a flexible and passively manipulated proximal portion, and an externally controlled and manipulatable tracking rod or guide. The tracking rod or guide is positioned within a guide channel within the endoscope and slides relative to the endoscope. When the guide is in a flexible state, it can conform to a curve or path defined by the steerable distal portion and the automatically controlled portion. The guide can then be selectively rigidized to assume that curve or path. Once set, the endoscope can be advanced over the rigidized guide in a monorail or “piggy-back” fashion so that the flexible proximal portion follows the curve held by the guide until the endoscope reaches a next point of curvature within a body lumen.
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Citations
34 Claims
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1. A method of advancing an instrument along an arbitrary path, comprising:
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selectively steering a distal portion of the instrument to assume a selected shape along an arbitrary path such that a portion of an elongate guide conforms to and assumes the selected shape; and
maintaining a position of said guide while advancing said instrument along said guide such that a proximal portion of said instrument assumes the selected shape defined by said guide, wherein said instrument is freely slidable along said guide such that advancing said instrument along said guide is unconstrained. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of advancing an instrument along an arbitrary path, comprising:
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providing an instrument having a proximal end, a controllable proximal portion, and a selectively steerable distal portion, and further providing an elongate guide having a distal portion positioned substantially adjacent to said distal portion of said instrument;
selectively steering said distal portion of said instrument to assume a selected shape along a desired path;
advancing said instrument distally along said desired path while controlling said controllable proximal portion to assume the selected shape of said distal portion such that said guide also assumes substantially the selected shape; and
maintaining a position of said guide while advancing said instrument along said guide such that a proximal portion of said instrument assumes the selected shape defined by said guide, wherein said instrument is freely slidable along said guide such that advancing said instrument along the guide is unconstrained. - View Dependent Claims (10, 11, 12, 13)
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14. An apparatus for insertion into a body cavity, comprising:
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an elongate body having a selectively steerable distal portion adapted to assume a selected shape along an arbitrary path, a controllable proximal portion located proximal to said steerable distal portion, adapted to propagate the selected shape, and a flexible proximal portion proximal to said controllable proximal portion; and
an elongate guide having an axial length that is less than an axial length of said elongate body, wherein said guide is configured to conform to and selectively maintain the selected shape assumed by said steerable distal portion;
wherein said flexible proximal portion of said elongate body is adapted to conform to a selected shape maintained by said guide. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. An apparatus for inserting into a body cavity comprising:
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an elongate body having a proximal portion and a selectively steerable distal portion and defining a lumen therebetween, the steerable distal portion being configurable to assume a selected shape along an arbitrary path;
a suction device for withdrawing a gas from the body cavity and through the elongate body, wherein the suction device is in fluid communication with a suction port defined on an outer surface of said elongate body;
an elongate guide having a proximal section, a distal section, and a length therebetween, said guide being slidably disposed without constraint within said lumen for selectively supporting said body, wherein said guide is configured to conform to and selectively maintain the selected shape assumed by said steerable distal portion, and wherein said proximal portion of said elongate body when advanced distally is configured to conform to the selected curve maintained by said guide.
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Specification