Flexible instrument
First Claim
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1. A robotic medical system, comprising:
- a support that is positionable relative to a patient table;
a carriage assembly removably mounted to the support;
a flexible guide shaft mounted on the carriage assembly and having a distal end configured for being disposed at a predetermined location in a patient'"'"'s body, the carriage assembly comprising a plurality of actuating elements operatively coupled to a corresponding plurality of control elements extending through the flexible guide shaft;
a distal tool coupled to the flexible guide shaft and configured for performing a medical procedure in the patient'"'"'s body; and
a drive unit operatively coupled to the flexible guide shaft through the carriage assembly to thereby control distal bending movement of the flexible guide shaft in at least one bending plane by selective actuation of one or more actuating elements.
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Abstract
A robotic medical system comprises a catheter having an elongated shaft with a plurality of flexible segments spaced apart along the catheter, and a drive unit coupled to the catheter. The catheter may have a plurality of cables respectively terminating at the flexible segments, in which case, the drive unit will be coupled to the plurality of cables. The robotic medical system further comprises a user interface remote from the drive unit and configured for generating at least one command, and an electric controller configured, in response to the command(s), for directing the drive unit to independently bend the flexible segments (e.g., three flexible segments).
910 Citations
13 Claims
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1. A robotic medical system, comprising:
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a support that is positionable relative to a patient table; a carriage assembly removably mounted to the support; a flexible guide shaft mounted on the carriage assembly and having a distal end configured for being disposed at a predetermined location in a patient'"'"'s body, the carriage assembly comprising a plurality of actuating elements operatively coupled to a corresponding plurality of control elements extending through the flexible guide shaft; a distal tool coupled to the flexible guide shaft and configured for performing a medical procedure in the patient'"'"'s body; and a drive unit operatively coupled to the flexible guide shaft through the carriage assembly to thereby control distal bending movement of the flexible guide shaft in at least one bending plane by selective actuation of one or more actuating elements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A robotic medical system, comprising:
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a support arm that is positionable relative to a patient table; a carriage assembly removably mounted to the support arm; a surgical instrument assembly mounted to the carriage assembly, the surgical instrument assembly comprising an elongate flexible outer shaft defining a working lumen, and an elongate flexible inner shaft at least partially disposed in the outer shaft lumen, the inner shaft configured for performing a medical procedure on a patient, the carriage assembly comprising a plurality of actuating elements operatively coupled to a corresponding plurality of control elements extending through the respective outer and inner shafts; a drive unit configured operatively coupled to the surgical instrument assembly via the carriage assembly to thereby independently control distal bending movement of the respective outer and inner shafts; and a remote controller configured for directing the drive unit to control the bending movements of the surgical instrument assembly by selective actuation of one or more actuating elements. - View Dependent Claims (10, 11, 12, 13)
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Specification