APPARATUS SYSTEMS AND METHODS FOR FORMING A WORKING PLATFORM OF A ROBOTIC INSTRUMENT SYSTEM BY MANIPULATION OF COMPONENTS HAVING CONTROLLABLY RIGIDITY
First Claim
1. An elongate medical instrument apparatus having a distal portion comprising a plurality of segments operatively coupled by one or more control elements, wherein the distal portion is controllable by manipulation of the one or more control elements to selectively form (i) a flexible structure that can be advanced through an elongate sheath lumen or body passage, or (ii) a substantially rigid structure in which the segments are drawn together in an interlocking configuration.
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Accused Products
Abstract
Robotic instrument systems, apparatus, and methods for controllably manipulating the rigidity of a distal portion of one or more sheath catheters advanced through an elongate sheath to controllably form a temporary, substantially rigid platform from which other robotically controlled instruments may be manipulated. The platform is formed by one or more multi-segment sheath catheters that can be controlled to be flexible during advancement and substantially rigid at the target site, thereby reducing the length of the operational lever arm of the instrument. For this purpose, a sheath catheter includes a plurality segments that interlock and do not rotate when drawn together, and are connected by a control element, the tension of which may be manipulated by a robotic instrument system to transform the sheath catheter between a flexible state during advancement through the elongate sheath and a substantially rigid state when the sheath catheter is to serve as a platform or component thereof.
189 Citations
18 Claims
- 1. An elongate medical instrument apparatus having a distal portion comprising a plurality of segments operatively coupled by one or more control elements, wherein the distal portion is controllable by manipulation of the one or more control elements to selectively form (i) a flexible structure that can be advanced through an elongate sheath lumen or body passage, or (ii) a substantially rigid structure in which the segments are drawn together in an interlocking configuration.
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10. A medical instrument system, comprising:
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an elongate, maneuverable sheath defining a lumen therethrough and having a distal opening in communication with the lumen; a platform instrument disposed in the sheath lumen, the platform instrument having a distal portion comprising a plurality of segments operatively coupled by one or more control elements, wherein the distal portion of the platform instrument is controllable by manipulation of the one or more control elements to selectively form (i) a flexible structure that can be advanced through the sheath lumen and at least partially out of the distal opening thereof, and (ii) a substantially rigid structure in which the segments are drawn together in an interlocking configuration. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification