Mechanism for manipulating a tool and flexible elongate device using the same

• US 5,389,072 A
• Filed: 06/05/1992
• Issued: 02/14/1995
• Est. Priority Date: 06/05/1992
• Status: Expired due to Fees

• Current Assignee: Percusurge Inc. (Medtronic Plc)
• Original Assignee: Micron Biomedical, Inc.
• Inventors: Imran, Mir A.
• Primary Examiner(s): Rosenbaum, C. Fred
• Assistant Examiner(s): Bockelman, Mark
• Application Number:
  US07/893,770
• Time in Patent Office: 984 Days
• Field of Search: 604/95, 604/281, 606/78, 606/174, 30/228, 148/402, 128/4 S M, 128/751, 60/527-529
• US Class Current: 604/95.05
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3478 Endoscopic needles, e.g. for infusion biopsy needles A61B10/0233; catheters with injection needles A61M25/0067
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61F 2002/30092 using shape memory or superelastic materials, e.g. nitinol
• CPC Class Codes: A61F 2210/0019 operated at only one temperature whilst inside or touching the human body, e.g. constrained in a non-operative shape during surgery, another temperature only occurring before the operation
• CPC Class Codes: A61F 2210/0033 electrically, e.g. heated by resistor
• 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 25/0158 with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
• CPC Class Codes: B26B 15/00 Hand-held shears with motor-driven blades

Abstract

Flexible elongate device comprising a flexible elongate member having proximal and distal extremities and a tool actuator member mounted on the distal extremity of the flexible elongate member. An elongate element having a negative coefficient of expansion is carried by the distal extremity of the flexible elongate member and is connected to the tool actuator member for causing movement of the tool actuating member. A control console is provided for supplying electrical energy to the elongate element.

Claims

1. A flexible elongate device in the form of a small diameter guide wire or catheter for entering a vessel of a human body comprising a flexible elongate member having proximal and distal extremities, a tool actuator member mounted in the distal extremity of the flexible elongate tubular member, actuator element means having a negative coefficient of expansion disposed within the distal extremity of the flexible elongate member, said actuator element means including first and second opposing heat actuatable actuator elements said actuator element means having a transition temperature which is above the body temperature, electrical control means at the proximal extremity for supplying electrical energy to the actuator element means and means coupling the actuator elements to the tool actuator member for causing movement of the tool actuator member and to cause operation of the operable tool when heat is supplied to the actuator element means.

2. A device as in claim 1 wherein said actuator element means and the coupling means are constructed to supply linear motion to the tool actuator member when heat is supplied to the actuator element means.

3. A device as in claim 2 wherein the tool actuator member includes means carried thereby for providing movement in directions which are offset with respect to the longitudinal axis of the flexible elongate member.

4. A device as in claim 1 wherein said actuator element means includes first and second springs whereby when electrical energy is supplied to the first spring, the tool actuator member is moved in one direction and when electrical energy is supplied to the second spring the tool actuator member is moved in an opposite direction.

5. A device as in claim 4 wherein the coupling means includes a flange secured to a cylindrical tool actuator member and wherein said tool actuator member is cylindrical in form and has said first and second springs coaxially mounted thereon.

6. A device as in claim 1 wherein said actuator element means and the coupling means are constructed to supply rotational movement to the tool actuator member when heat is supplied to the actuator element means.

7. A device as in claim 3 wherein the actuator element means and the coupling means includes cooperative means in the form of a helical structure and an annular protrusion carried by the tool actuator member and the flexible elongate member for imparting rotational movement to the tool actuator member as the tool actuator member is moved rectilinearly.

8. A device as in claim 6 together with means for providing rectilinear motion of the tool actuator member independent of rotation of the tool actuator member.

9. A device as in claim 1 wherein said actuator element means includes an elongate element having first and second ends, means securing the first end within the flexible elongate member to prevent rotation thereof, means securing the second end of the elongate element to the tool actuator member to permit rectilinear movement of the tool actuator member but preventing rotation of the tool actuator member with respect to the second end of the elongate element whereby as the second end of the elongate element is rotated, the tool actuator member is rotated.

10. A device as in claim 1 including a tool wherein said tool is in the form of first and second members movable towards and away from each other and a linkage connecting at least one of said first and second members to said tool actuator member for causing movement of said first and second members toward and away from each other.

11. A device as in claim 1 together with valve means carried by the distal extremity of the flexible elongate member and being movable between open and closed positions to permit a tool to pass therethrough so that when a tool is advanced therethrough liquid is prevented from entering the distal extremity of the flexible elongate device and when a tool is retracted so that the tool no longer extends through the valve member the valve member closes.

12. A device as in claim 1 wherein said tool is provided with a flow passage extending therethrough and wherein said tool actuator member includes means for providing a flow passage in communication with the flow passage in the tool.

13. A device as in claim 1 wherein said flexible elongate member has a diameter of 7 French or less.

14. A mechanism for use in the medical field for manipulating a tool carried by the distal extremity of a flexible elongate tubular member having proximal and distal extremities and having a lumen therein extending from the proximal to the distal extremities and being adapted to be inserted into a vessel of a human body, comprising a tool actuator member disposed in said lumen and adapted to be connected to said tool, and actuation element means having a negative coefficient of expansion, said actuation element means including first and second opposing heat actuator elements having a transition temperature which is above the body temperature, means coupling the actuation element means to the tool actuator member and electrical means for supplying electrical energy to heat the actuation element means to cause motion to be supplied to tool actuator member to cause it to move in said lumen.

15. A mechanism as in claim 14 together with a console connected to the proximal extremity of the flexible elongate tubular member, said control console having manually controlled means for controlling the electrical means for causing the movement of the tool actuator member in said lumen.

16. A mechanism as in claim 15 wherein the coupling means is constructed to cause rectilinear movement of the tool actuator member in said lumen when the actuation element means is heated above body temperature.

17. A mechanism as in claim 16 wherein the coupling means includes means for translating rectilinear movement to rotational movement of the tool actuator member.

18. A mechanism as in claim 17 wherein the coupling means includes means for causing rotational movement of the tool actuator member independent of rectilinear of the tool actuator member.

19. A mechanism as in claim 15 wherein the coupling means is constructed to cause rotational movement of the tool actuator member in said lumen when the actuation element means is heated above body temperature.

20. A mechanism as in claim 15 wherein said flexible elongate tubular member has a longitudinal axis together with electrical means connected to the distal extremity of the flexible elongate tubular member for causing movement offset from the longitudinal axis of the elongate tubular member and extending through 360°

for steering the distal extremity of the flexible elongate member.

21. A mechanism as in claim 14 wherein said flexible elongate member has a diameter of 7 French or less.