Shape-transferring cannula system and method of use

• US 20040054322A1
• Filed: 09/12/2003
• Published: 03/18/2004
• Est. Priority Date: 09/12/2002
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Vargas, Jaime Salvador
• Granted Patent: US 8,298,161 B2
• Time in Patent Office: Days
• US Class Current: 604/95.04
• CPC Class Codes: A61B 1/0058 using shape-memory elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2017/00305 Constructional details of the flexible means
• CPC Class Codes: A61B 2017/00318 Steering mechanisms
• CPC Class Codes: A61B 2017/0034 adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/3433 with different outer diameters of the cannula
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61M 2025/0058 having an electroactive polymer material, e.g. for steering purposes, for control of flexibility, for locking, for opening or closing
• CPC Class Codes: A61M 2025/0161 wherein the distal tips have two or more deflection regions
• CPC Class Codes: A61M 25/00 Catheters; Hollow probes dilators A61M29/00; peritoneal catheters A61M1/285; tracheal tubes A61M16/04; for drainage A61M27/00; for uterus, vagina or rectum A61M31/00 ; for measuring or testing A61B; materials for catheters A61L29/00
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: A61M 25/0136 Handles therefor
• CPC Class Codes: A61M 25/0138 having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
• CPC Class Codes: A61M 25/0141 having flexible regions as a result of using materials with different mechanical properties
• CPC Class Codes: A61M 25/0144 having flexible regions as a result of inner reinforcement means, e.g. struts or rods
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: A61M 25/0158 : with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials

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.

Claims

1. A shape transferring cannula system comprising:

a first rigidizing section;

a steerable tip coupled to a distal end of said first rigidizing section;

a second rigidizing section coupled to said first rigidizing section, wherein said second rigidizing section is parallel to said first rigidizing section; and

a control mechanism coupled to said first rigidizing section and to said second rigidizing section for alternately advancing said first rigidizing section and said second rigidizing section.

2. The shape transferring cannula system of claim 1, wherein said first rigidizing section surrounds said second rigidizing section.

3. The shape transferring cannula system of claim 1, wherein said second rigidizing section surrounds said first rigidizing section.

4. The shape transferring cannula system of claim 1, further comprising an accessory lumen contained within said first rigidizing section.

5. The shape transferring cannula system of claim 1, further comprising an accessory lumen contained within said second rigidizing section.

6. The shape transferring cannula system of claim 1, wherein said first rigidizing structure and said second rigidizing section are coaxial.

7. The shape transferring cannula system of claim 1, wherein said first section and said second section are laterally parallel.

8. The shape transferring cannula system of claim 1, wherein said second rigidizing section is a linkage sheath comprising:

two cable-guiding channels an equal radial distance from a central axis of said linkage sheath;

a pulley at a distal end of said linkage sheath; and

a cable wrapping around said pulley and residing in said two cable-guiding channels.

9. The shape transferring cannula system of claim 8, wherein said pulley is positioned off-axis.

10. A shape transferring cannula system comprising:

a first section;

a second section laterally parallel to said first section and slidably coupled to said first section, wherein at least one of said first and second sections is a rigidizing section;

a steerable tip coupled to a distal end of said first section; and

a control mechanism coupled to said first section and to said second section for alternately advancing said first section and said second section.

11. The shape transferring cannula system of claim 10, further comprising an accessory lumen contained within said first section.

12. The shape transferring cannula system of claim 10, further comprising an accessory lumen contained within said second section.

13. The shape transferring cannula system of claim 10, wherein said first section is a rigidizing section.

14. The shape transferring cannula system of claim 10, wherein said second section is a rigidizing section.

15. The shape transferring cannula system of claim 10, wherein said first section is a rigidizing section and said second section is a rigidizing section.

16. A shape transferring cannula system comprising:

a first section;

a rigidizing second section slidably coupled to and surrounding said first section;

a steerable tip coupled to a distal end of one section; and

a control mechanism coupled to said first section and to said second section for alternately advancing said first section and said second section.

17. The shape transferring cannula system of claim 16, wherin a steerable tip is coupled to a distal end of said first section.