Drive systems and methods of use

• US 10,617,848 B2
• Filed: 11/22/2016
• Issued: 04/14/2020
• Est. Priority Date: 05/18/2007
• Status: Active Grant

• Current Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Original Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Inventors: Weitzner, Barry, Smith, Paul, Barenboym, Michael, Kappel, Gary, Golden, John
• Primary Examiner(s): Mehta, Bhisma
• Assistant Examiner(s): Engel, Matthew A
• Application Number:
  US15/358,804
• Publication Number:
  US 20170072167A1
• Time in Patent Office: 1,239 Days
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00446 for use only by lefthanded or only by righthanded persons
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61M 25/0136 Handles therefor
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires

Abstract

Drive systems and methods of use are disclosed herein for performing medical procedures on a patient. The drive systems include various handle types and triggers for controlling catheters and end effectors. The various handle types include a flexible handle and ambidextrous handles that can alter the handedness of the handle for particularized use. The handles drive articulation sections of the catheter and end effectors with various degrees of freedom, and include locks for holding the catheter and/or end effector in place. The catheter systems include structures for allowing degrees of freedom, such as notches, mechanical interlocks, and articulation joints. In addition, the catheters articulate via cables or fluids.

Claims

1. A medical system comprising:

a control member including a body and a handle coupled to the body via a shaft, wherein the handle is rotatable relative to the body about a first axis and a second axis different than the first axis, and a longitudinal axis of the shaft defines the first axis or the second axis;

a plurality of control cables including a first control cable, a second control cable, and a third control cable;

a first disk coupled to the second control cable;

a second disk coupled to the third control cable; and

a catheter;

wherein the shaft extends through an aperture of each of the first disk and the second disk;

wherein rotating the handle about the first axis tensions the first control cable to deflect a distal tip of the catheter along a first plane; and

wherein rotating the handle about the second axis in a first direction tensions the second control cable without tensioning the third control cable to deflect the distal tip of the catheter in one direction along a second plane, and rotating the handle about the second axis in a second direction tensions the third control cable without tensioning the second control cable to deflect the distal tip of the catheter in another direction along the second plane.

2. The medical system of claim 1, wherein rotating the handle clockwise about the second axis tensions the second control cable without tensioning the first control cable or the third control cable, and rotating the handle counterclockwise about the second axis tensions the third control cable without tensioning the first control cable or the second control cable.

3. The medical system of claim 1, wherein the handle is coupled to a trunnion.

4. The medical system of claim 3, wherein the trunnion includes posts that define the first axis.

5. The medical system of claim 1, wherein the first disk is a pulley comprising a groove that receives the second control cable.

6. The medical system of claim 1, wherein the first disk includes a rut, and tensioning of the second control cable is driven by engaging a pin with the rut.

7. The medical system of claim 1, wherein the body of the control member includes a locking element that inhibits or prevents rotation of the catheter relative to the control member when the locking element is engaged with the catheter.

8. The medical system of claim 1, wherein the handle includes a trigger that actuates an end effector at a distal end of the catheter, the trigger being coupled to the end effector by a fourth control cable.

9. The medical system of claim 1, wherein the first disk is parallel to the second disk.