Flexible instrument
First Claim
1. A medical instrument assembly, comprising:
- an outer probe having an elongated shaft;
an inner probe having an elongated shaft coaxially disposed within the outer probe shaft;
a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom; and
a support on which the plurality of actuating elements is slidably disposed to distally advance and proximally retract the outer and inner probes.
1 Assignment
0 Petitions
Accused Products
Abstract
A medical instrument assembly and robotic medical system are provided. The medical instrument comprises an outer probe having an elongated shaft, an inner probe having an elongated shaft coaxially disposed within the outer probe shaft, and actuating elements. The robotic medical system comprises the medical instrument assembly, a support on which the medical instrument assembly is slidably disposed, a user interface configured for generating at least one command, a drive unit coupled to the actuating elements, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating elements to independently effect movement of the outer and inner probes within at least one degree-of-freedom, and to linearly translate the medical instrument assembly along the support.
241 Citations
27 Claims
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1. A medical instrument assembly, comprising:
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an outer probe having an elongated shaft; an inner probe having an elongated shaft coaxially disposed within the outer probe shaft; a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom; and a support on which the plurality of actuating elements is slidably disposed to distally advance and proximally retract the outer and inner probes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A robotic medical system, comprising:
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a medical instrument assembly having a coaxial arrangement of an outer probe and an inner probe, and a plurality of actuating elements coupled to the coaxial arrangement; a support on which the medical instrument assembly is slidably disposed; a user interface configured for generating at least one command; a drive unit coupled to the actuating elements; and an electric controller configured, in response to the at least one command, for directing the drive unit to drive the actuating elements to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom, and to linearly translate the medical instrument assembly along the support. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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Specification