Basket apparatus
First Claim
1. A device comprising a basket apparatus for removing an object from within a patient, the basket apparatus comprising:
- a plurality of pull wires, each pull wire physically coupled to a different capstan configured to individually actuate one of the pull wires by unspooling and spooling pull wires;
an outer shaft comprising a plurality of channels through which the pull wires traverse; and
a basket formed from the pull wires, the basket located on an opposite side of the outer shaft from the capstans, the pull wires attached together at a tip located at a distal end of the basket apparatus, anda first robotic arm wherein the capstans are coupled to the first robotic arm.
2 Assignments
0 Petitions
Accused Products
Abstract
A basket apparatus is described that assists in removing objects from within a patient. The apparatus includes a number of pull wires, each pull wire physically coupled to a different capstan that individually actuates one of the pull wires. The apparatus also includes an outer support shaft itself including a number of channels through which the pull wires traverse. The portions of the pull wires extending out of the outer support shaft form a basket of adjustable size, shape, and position. The pull wires are attached together at a tip located at a distal end of the basket apparatus. By controlling the actuation of the various pull wires, the basket'"'"'s shape, position size can be manipulated to reposition the basket around an object located within a patient, independent of or in conjunction with motion of the remainder of the apparatus or an associated endoscope.
311 Citations
26 Claims
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1. A device comprising a basket apparatus for removing an object from within a patient, the basket apparatus comprising:
- a plurality of pull wires, each pull wire physically coupled to a different capstan configured to individually actuate one of the pull wires by unspooling and spooling pull wires;
an outer shaft comprising a plurality of channels through which the pull wires traverse; and
a basket formed from the pull wires, the basket located on an opposite side of the outer shaft from the capstans, the pull wires attached together at a tip located at a distal end of the basket apparatus, anda first robotic arm wherein the capstans are coupled to the first robotic arm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
- a plurality of pull wires, each pull wire physically coupled to a different capstan configured to individually actuate one of the pull wires by unspooling and spooling pull wires;
Specification