ROBOTIC SYSTEMS AND METHODS FOR TREATING TISSUE
First Claim
1. A robotic system, comprising:
- an elongate member comprising a flexible proximal portion, a distal rigid needle attached to the proximal portion, and an operative element for treating tissue, the needle having a distal port; and
an elongate member holder having first and second rotary members configured to hold and manipulate the proximal portion of the elongate member, wherein the first rotary member defines a first rotational axis, and the second rotary member defines a second rotational axis,wherein the first and second rotary members are moveable relative to each other in opposite rotational directions about their respective axes to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member when the elongate member is held by the rotary members; and
wherein at least one of the first and second rotary members is moveable in a linear direction along its rotational axis to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member when the elongate member is held by the rotary members.
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Accused Products
Abstract
A method of manipulating an elongate member in at least two degrees of freedom includes holding an elongate member between two rotary members that define respective rotational axes, the elongate member having a flexible proximal portion, a distal rigid needle attached to the proximal portion, and an operative element for delivering energy, the needle having a distal port, actuating at least one of the rotary members in a rotational direction about its rotational axis to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member, and actuating at least one of the rotary members in a linear direction along its rotational axis to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member.
125 Citations
33 Claims
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1. A robotic system, comprising:
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an elongate member comprising a flexible proximal portion, a distal rigid needle attached to the proximal portion, and an operative element for treating tissue, the needle having a distal port; and an elongate member holder having first and second rotary members configured to hold and manipulate the proximal portion of the elongate member, wherein the first rotary member defines a first rotational axis, and the second rotary member defines a second rotational axis, wherein the first and second rotary members are moveable relative to each other in opposite rotational directions about their respective axes to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member when the elongate member is held by the rotary members; and wherein at least one of the first and second rotary members is moveable in a linear direction along its rotational axis to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member when the elongate member is held by the rotary members. - 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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21. A method of manipulating an elongate member in at least two degrees of freedom, comprising:
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holding an elongate member between two rotary members that define respective rotational axes, the elongate member having a flexible proximal portion, a distal rigid needle attached to the proximal portion, and an operative element for delivering energy, the needle having a distal port; actuating at least one of the rotary members in a rotational direction about its rotational axis to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member; and actuating at least one of the rotary members in a linear direction along its rotational axis to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification