MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS
First Claim
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1. A minimally invasive robotic interventional system, comprising:
- a. a first instrument driver operatively coupled to a first flexible instrument assembly;
b. a second instrument driver operatively coupled to a second flexible instrument assembly; and
c. an elongate junction sheath having a proximal end, a distal end, and a body portion therebetween, wherein the distal end is coupled to an image capture device and configured to be positioned inside a patient'"'"'s body adjacent one or more targeted tissue structures, the proximal portion is configured to be positioned external to an opening in the patient'"'"'s body, and the body portion is configured to contact an entry point of the junction sheath into the patient'"'"'s body;
wherein a distal portion of the of the first flexible instrument assembly is movably coupled through a first lumen defined through the junction sheath between the proximal and distal ends of the junction sheath, wherein a distal portion of the second flexible instrument assembly is movably coupled through a second lumen defined through the junction sheath between the proximal and distal ends of the junction sheath, and wherein the image capture device is positioned substantially equidistantly in between the first and second lumens of the junction sheath to have a field of view configured to capture activity of each of the flexible instrument assembly distal portions.
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Abstract
Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.
1279 Citations
20 Claims
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1. A minimally invasive robotic interventional system, comprising:
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a. a first instrument driver operatively coupled to a first flexible instrument assembly; b. a second instrument driver operatively coupled to a second flexible instrument assembly; and c. an elongate junction sheath having a proximal end, a distal end, and a body portion therebetween, wherein the distal end is coupled to an image capture device and configured to be positioned inside a patient'"'"'s body adjacent one or more targeted tissue structures, the proximal portion is configured to be positioned external to an opening in the patient'"'"'s body, and the body portion is configured to contact an entry point of the junction sheath into the patient'"'"'s body; wherein a distal portion of the of the first flexible instrument assembly is movably coupled through a first lumen defined through the junction sheath between the proximal and distal ends of the junction sheath, wherein a distal portion of the second flexible instrument assembly is movably coupled through a second lumen defined through the junction sheath between the proximal and distal ends of the junction sheath, and wherein the image capture device is positioned substantially equidistantly in between the first and second lumens of the junction sheath to have a field of view configured to capture activity of each of the flexible instrument assembly distal portions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification