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System with guides and tools of different flexibility

An introducer and flexible technology, applied in surgical navigation systems, manufacturing tools, catheters, etc., can solve problems such as damaged biopsy needles or catheters, and difficulty in inserting tools

Active Publication Date: 2017-08-18
INTUITIVE SURGICAL OPERATIONS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the interaction of the needle with the wall of the tool lumen causes friction and can cause the needle to poke into the catheter, making insertion of the tool difficult
Additionally, excessive insertion force can damage the biopsy needle or catheter
Similarly, when removing a tool from a convoluted introducer tube, the hard part of the tool may be difficult to pull out through sharp bends without applying potentially damaging forces

Method used

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  • System with guides and tools of different flexibility
  • System with guides and tools of different flexibility
  • System with guides and tools of different flexibility

Examples

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Embodiment Construction

[0017] Many minimally invasive medical procedures involve inserting an introducer tube to a target site, then inserting and removing one or more tools through the introducer tube. In some of these procedures, the introducer tube is sufficiently flexible to conform to the natural lumen and position the distal tip of the introducer tube at the target site in the target orientation. The introducer tube after being steered to its target position has what is referred to herein as the target configuration, and in the target configuration the introducer tube may have a shape that conforms to the shape of the natural lumen with no or minimal distortion. Steering the introducer tube to the target structure is often a process that may require a physician's time and attention. For example, the physician may use a control device (e.g., a joystick) to control the steerable portion of the introducer tube, and may control the steerable portion of the introducer tube based on the view from th...

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PUM

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Abstract

A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. With the tip backed up to that location, the needle can be inserted into or removed from the catheter. The control system can automatically move the catheter between the target configuration and the retracted configuration of the guide tube.

Description

[0001] related application [0002] This patent application claims priority from the filing date of U.S. Provisional Patent Application 62 / 048,210, filed September 9, 2014, entitled "SYSTEM WITH GUIDES AND TOOLSOF DIFFERENT FLEXIBILITY" right and interest, the Provisional Patent Application is hereby incorporated by reference in its entirety. Background technique [0003] Many types of minimally invasive medical procedures involve insertion of an introducer tube to a target site, followed by insertion and removal of one or more tools through the introducer tube. In some procedures, the introducer tube may be flexible enough to conform to the natural lumen, but the tool or part of the tool may not be as flexible as the introducer tube. Therefore, insertion or removal of tools may be difficult. For example, a biopsy needle at the distal end of a lung biopsy instrument may be stiffer than a lung catheter used to guide the lung biopsy instrument. During lung biopsy, the lung ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B10/02A61B34/10A61B34/30
CPCA61B34/10A61B34/30A61B10/0233A61M25/0116A61M25/0113A61M2025/0166A61B2034/301A61B2034/306A61B2090/3614A61B2090/306A61B34/20A61B2034/2061A61B2034/303A61B34/32B25J9/161B25J9/1689
Inventor S·K·W·澳
Owner INTUITIVE SURGICAL OPERATIONS INC