Endoluminal tool deployment system
First Claim
1. An endoluminal tool deployment system comprising:
- an elongated main body having a distal end, a proximal end, and at least two arm guide lumens extending through at least a distal section of the elongated main body, wherein said arm guide lumens extend fully to a distal tip of the main body;
at least two tool arms adapted to extend through the arm guide lumens of the elongated main body, said tool arms emerging from the distal tip of the main body and at least one tool arm having a distal end which is positionable relative to and independently of the elongated main body; and
further comprising a deployment frame extending from the distal tip of the main body and having a peak portion that extends distally of the distal end of at least one of the tool arms, the frame comprising at least two supports each attached to one of the at least two tool arms so that manipulation of the deployment frame deflects the attached tool arms.
9 Assignments
0 Petitions
Accused Products
Abstract
Systems, devices and methods are provided for endoscopic procedures involving tissue manipulations beyond the capabilities of traditional endoscopic instruments. Embodiments of the systems include an elongated main body having a scope therethrough and at least one steerable tool arm which extends from the distal end of the main body. In preferred embodiments, the system includes two tool arms, each arm steerable to form a curve laterally outward which then bends laterally inward so that the arms form an angular shape. In addition, end effectors extend from the distal ends of each tool arm for use in manipulation of tissue. The angular shape brings the end effectors together in view of the scope for cooperative movements which are continuously visible by the surgeon. In addition, the tool arms may be steerable in any additional direction and may be rotatable to allow grasping, elevation and more complex manipulation of tissue.
-
Citations
20 Claims
-
1. An endoluminal tool deployment system comprising:
-
an elongated main body having a distal end, a proximal end, and at least two arm guide lumens extending through at least a distal section of the elongated main body, wherein said arm guide lumens extend fully to a distal tip of the main body; at least two tool arms adapted to extend through the arm guide lumens of the elongated main body, said tool arms emerging from the distal tip of the main body and at least one tool arm having a distal end which is positionable relative to and independently of the elongated main body; and further comprising a deployment frame extending from the distal tip of the main body and having a peak portion that extends distally of the distal end of at least one of the tool arms, the frame comprising at least two supports each attached to one of the at least two tool arms so that manipulation of the deployment frame deflects the attached tool arms. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A laterally stabilized, steerable tool arm comprising:
-
a shaft extending distally from an elongate main body which is adapted for endoluminal advancement, the shaft having a proximal end and a distal end, wherein a distal section of the shaft comprises a plurality of adjacent links pivotally attached by hinge structures which limit deflection of the distal section to within a single plane, wherein the distal section of the shaft is adapted to selectively deflect within the single plane when actuated from its proximal end such that the distal end is positioned directly in line with a longitudinal axis of the elongate main body and wherein the shaft is axially and rotationally translatable relative to the elongate main body; wherein the hinge structures each include a pin, wherein the pins are disposed in parallel to limit the deflection of the distal section to within the single plane; further comprising at least one pullwire or one pushwire for selectively deflecting the distal section, and at least one spring which is configured to straighten the distal section in opposition to the pullwire or pushwire. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
-
Specification