DIRECT DRIVE METHODS
First Claim
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1. A method of knot tying at a distance, the method comprising the steps of:
- providing a direct drive system including;
a first tool including a first distal end effector and a first proximal controller, the first distal end effector and first proximal controller connected via a first elongate, flexible body configured to transmit inputs from the first controller to the first end effector, wherein the first controller can direct at least two degrees of freedom with respect to the distal end effector;
a second tool including a second distal end effector and a second proximal controller, the second distal end effector and second proximal controller connected via a second elongate, flexible body configured to transmit inputs from the second controller to the second end effector, wherein the controller can direct at least two degrees of freedom with respect to the second distal end effector; and
a frame, the first and second tools movably mated with the frame to provide each of the first and second tools two degrees of freedom with respect to the frame;
grasping a suture filament with the first distal end effector;
wrapping or twisting the suture filament around the second distal end effector to create a loop of suture around the second distal end effector, wherein the step of wrapping is performed by moving the first and/or second distal end effector relative the other of the first and/or second distal end effector;
grasping the suture filament with the second distal end effector; and
pulling the suture grasped by the second distal end effector through the loop formed around the second distal end effector.
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Abstract
Described herein are various method of using a direct drive system to perform procedures at a distance. One exemplary method include tying a knot or suturing at a distance with a first and second end effector. The direct drive system can enable sufficient end effector dexterity, including the ability to control various degrees of freedom of end effector movement, and allow a user to perform complicated task at a distance. In one aspect the direct drive system includes flexible tools that permit access to surgical site via a natural orifice.
186 Citations
12 Claims
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1. A method of knot tying at a distance, the method comprising the steps of:
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providing a direct drive system including; a first tool including a first distal end effector and a first proximal controller, the first distal end effector and first proximal controller connected via a first elongate, flexible body configured to transmit inputs from the first controller to the first end effector, wherein the first controller can direct at least two degrees of freedom with respect to the distal end effector; a second tool including a second distal end effector and a second proximal controller, the second distal end effector and second proximal controller connected via a second elongate, flexible body configured to transmit inputs from the second controller to the second end effector, wherein the controller can direct at least two degrees of freedom with respect to the second distal end effector; and a frame, the first and second tools movably mated with the frame to provide each of the first and second tools two degrees of freedom with respect to the frame; grasping a suture filament with the first distal end effector; wrapping or twisting the suture filament around the second distal end effector to create a loop of suture around the second distal end effector, wherein the step of wrapping is performed by moving the first and/or second distal end effector relative the other of the first and/or second distal end effector; grasping the suture filament with the second distal end effector; and pulling the suture grasped by the second distal end effector through the loop formed around the second distal end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of knot tying at a distance, the method comprising the steps of:
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providing a direct drive system including first and second flexible elongate tools, the first and second tools including first and second proximal controllers and first and second end effectors, wherein the first and second tools allow a single user to control at least six degrees of freedom of the end effectors via the proximal controllers; inserting the first and second tools through a natural orifice; movably mating the first and second controllers with a frame; manipulating the first and/or second proximal controller to form a loop of suture; grasping the suture filament with the first end effector; and pulling the suture filament through the loop. - View Dependent Claims (10, 11)
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12. A method of directing distal end effectors at a distance, the method comprising the steps of:
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providing a direct drive system including first and second flexible elongate tools, the first and second tools including first and second proximal controllers and first and second end effectors, wherein the first and second tools allow a single user to control at least eight degrees of freedom of the end effectors via the proximal controllers; inserting the first and second tools through a natural orifice; manipulating the first proximal controller to grasp a suture filament with the first end effector; looping the suture filament, wherein the looping step include manipulating the second proximal controller to independently control at least four degrees of freedom of the second end effector with respect to the first end effector while the first end effector grasps the suture filament; and manipulating the first and second controllers to pull a portion of the filament through the looped suture filament.
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Specification