Systems and methods for providing and operating anatomical catheters

Abstract

Systems, instruments, and methods for operating catheters are disclosed. The methods include: sliding a scissor actuator within a conduit in a first direction; when the scissor actuator slides in the first direction, a thrust force is applied to the scissor nippers; transitioning the scissor nippers from a first position to a second position using thrust (the scissor nippers comprising a pair of pivotally coupled engagement members at least partially disposed within the catheter at the distal end of the catheter, each engagement member comprising a free distal end and a proximal end coupled to a scissor actuator); sliding the scissor actuator within the conduit in an opposite second direction; when the scissor actuator slides in an opposite second direction, a pulling force is applied to the scissor nippers; and transitioning the scissor nippers back to the first position using the pulling force.

Description

Background Art

[0001] Catheter interventions in medical procedures continue to grow. Newer catheters are robotically controlled and include cameras that enable direct visualization of the tissue being manipulated. Tools are typically designed to be atraumatic (i.e., cause minimal tissue damage) unless directly engaging tissue. Common tools include brushes, needles, electrocautery devices, and forceps.

[0002] Forceps are hand-held hinged instruments used to grasp and hold objects during surgical procedures or laboratory experiments. Surgical forceps are usually made of high-grade metals so that they can withstand repeated sterilization in an autoclave. Metals may include, but are not limited to, carbon steel, stainless steel, titanium, chromium, and vanadium alloys. These surgical forceps are non-disposable forceps. Surgical forceps may be non-locking, with a hinge at the distal end opposite the proximal gripping end. Some forceps are blunt before opening, while others may be more pointed to achieve dissecting functions. When opened, the distal end is separated into two spaced apart engagement members. Each gripping member may have perforated teeth or a clamping effect. Summary of the invention

[0003] The present disclosure relates to implementing systems and methods for operating a dissecting catheter. These methods include: sliding a scissor actuator in a first direction within a tube of a catheter; causing a thrust to be applied to the scissor jaws when the scissor actuator slides in the first direction; using the thrust to transition the scissor jaws from a first position (e.g., a closed position) to a second position (e.g., an open position); sliding the scissor actuator in an opposite second direction within the tube of the catheter; causing a pulling force to be applied to the scissor jaws when the scissor actuator slides in the opposite second direction; and using the pulling force to transition the scissor jaws back to the first position.

[0004] The scissor forceps include a pair of pivotally coupled engagement members at least partially disposed within the tube at the distal end of the catheter. Each engagement member includes a free distal end and a proximal end coupled to the scissor actuator.

[0005] In some scenarios, the methods also include: allowing the proximal end of the engaging member to advance to the outside of the tube while the scissors are transitioning to the second position; using the teeth of the engaging member to grasp or cut tissue; retaining a tissue sample in the internal cavity of one or more engaging members; sliding one or more sensors, one or more fluid delivery devices, and one or more fluid removal devices through the internal cavity of one or more scissor actuators and the scissors; generating sensor data by a sensor that is at least partially disposed in one or more engaging members of the scissors; applying heat or current to the tissue using one or more electrodes that are connected to one or more engaging members of the scissors; cutting tissue using a blade that is disposed in the internal cavity of one or more engaging members; supplying current or power to one or more electronic components of the scissors actuator using a scissors actuator; and / or delivering current to the tissue using a plate that is correspondingly disposed in the engaging member.

[0006] The present document also relates to a catheter. The catheter comprises a tube, a scissor actuator slidably disposed in the tube, and a scissor forceps. The scissor forceps comprises a pair of pivotally connected engagement members at least partially disposed in the tube at the distal end of the catheter. Each engagement member comprises a free distal end and a proximal end coupled to the scissor actuator.

[0007] When the scissor actuator slides in a first direction within the tube, a pushing force is applied to the scissor jaws. When the scissor actuator slides in an opposite second direction within the tube, a pulling force is applied to the scissor jaws. The pushing force causes the scissor jaws to transition from a first position (e.g., a closed position) to a second position (e.g., an open position). The pulling force causes the scissor jaws to transition back to the first position.

[0008] Openings may be formed in the tube through which the proximal end of the engagement member travels out of the tube when the scissor jaws are transitioning to the second position. The engagement member may include teeth for grasping or cutting tissue and / or an internal cavity in which a tissue sample may be held.

[0009] One or more sensors, one or more fluid delivery devices and / or one or more fluid removal devices may be slidably disposed in an internal cavity of the scissors actuator and / or the scissors. Additionally or alternatively, one or more sensors are at least partially disposed in one or more engaging members of the scissors. One or more electrodes may be coupled to one or more engaging members of the scissors. One or more electrodes may be configured to apply heat or current to the tissue. The blade may be disposed in the internal cavity of one or more engaging members. The plate may be correspondingly disposed in the engaging member and configured to deliver current to the tissue. The scissors actuator may have the following dual purposes: (i) actuating the scissors; and (ii) supplying current or power to at least one electronic component of the scissors actuator.

[0010] The foregoing and other objects, features, and advantages of the invention will be apparent from the following more particular description of exemplary embodiments of the invention as illustrated in the accompanying drawings, wherein like reference numerals generally represent like parts of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The following drawings are illustrative of specific embodiments of the present disclosure and therefore do not limit the scope of the present disclosure. These drawings are not drawn to scale and are intended to be used in conjunction with the explanations in the following detailed description.

[0012] Figure 1 An illustration of a catheter having a scissor clamp at its distal end is provided.

[0013] Figure 2 Provided Figure 1 Cross-sectional view of a catheter with the scissor clamps in the closed position.

[0014] Figure 3 Provided Figure 1 Cross-sectional view of a catheter with the scissor clamp in the open position.

[0015] Figure 4 An illustration is provided showing another catheter design having a scissor clamp at its distal end.

[0016] Figure 5 An illustration is provided showing another catheter design having at least one of one or more sensors and one or more fluid delivery devices and having a scissor clamp at its distal end.

[0017] Figure 6 An illustration is provided showing another catheter design having at least one of one or more sensors and one or more electrodes and having a scissor clamp at its distal end.

[0018] Figure 7 An illustration is provided showing another catheter design having a blade at its distal end provided with a scissor forceps.

[0019] Figures 8 to 11 Each provides a diagram showing a different architecture of an engagement member for a scissor pliers.

[0020] Fig.12 An illustration is provided showing another architecture of an engagement member for a scissor pliers.

[0021] Fig.13 A graphical representation of the system is provided.

[0022] Fig.14 A diagram of a computing device is provided.

[0023] Fig.15 A flow chart of an illustrative method for operating a catheter is provided.

[0024] Figure 16 to Figure 17 Each provides an illustration of another architecture for a catheter with a scissor clamp. DETAILED DESCRIPTION

[0025] The following discussion omits or only briefly describes certain conventional features associated with surgical systems for treating the spine, which features are clear to those skilled in the art. It should be noted that various embodiments are described in detail with reference to the accompanying drawings, wherein the same reference numerals represent the same parts and components throughout several figures. Reference to various embodiments does not limit the scope of the appended claims. In addition, any examples set forth in this specification are intended to be non-limiting and merely set forth some of the many possible embodiments of the appended claims. Further, specific features described herein may be used in combination with other described features in each of the different possible combinations and permutations.

[0026] Unless otherwise specifically defined herein, all terms are to be given their broadest possible interpretation, including the meaning implied from the specification and the meaning understood by those skilled in the art and / or as defined in dictionaries, papers, etc. It must also be noted that, as used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless otherwise indicated, and that the terms "comprises" and / or "comprising" when used in this specification specify the presence of stated features, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0027] More than half of all lesions in an individual's airway are located outside the airway wall and provide no visual evidence of their presence. It would be advantageous to provide a forceps design that allows for invasive dissection of the airway wall to allow the physician to directly visualize the tumor or nodule to be engaged for diagnostic and / or therapeutic purposes.

[0028] Embodiments of the present disclosure generally relate to implementing systems and methods for operating a catheter. These methods include: sliding a scissor actuator in a first direction within a tube of a catheter; causing a thrust to be applied to the scissor jaws as the scissor actuator slides in the first direction; using the thrust to transition the scissor jaws from a first position (e.g., a closed position) to a second position (e.g., an open position); sliding the scissor actuator in an opposite second direction within the tube of the catheter; causing a pulling force to be applied to the scissor jaws as the scissor actuator slides in the opposite second direction; and using the pulling force to transition the scissor jaws back to the first position.

[0029] The scissor forceps include a pair of pivotally coupled engagement members at least partially disposed within the tube at the distal end of the catheter. Each engagement member includes a free distal end and a proximal end coupled to the scissor actuator.

[0030] In some scenarios, the methods also include: allowing the proximal end of the engaging member to advance to the outside of the tube as the scissors are transitioning to a closed position; using the teeth of the engaging member to grasp or cut tissue; retaining a tissue sample in the internal cavity of one or more engaging members; sliding one or more sensors, one or more fluid delivery devices, and one or more fluid removal devices through the internal cavity of one or more scissor actuators and the scissors; generating sensor data by a sensor that is at least partially disposed in one or more engaging members of the scissors; applying heat or current to the tissue using one or more electrodes that are connected to one or more engaging members of the scissors; cutting the tissue using a blade that is disposed in the internal cavity of one or more engaging members; using a scissor actuator to supply current or power to one or more electronic components of the scissors actuator; and / or using a plate that is correspondingly disposed in the engaging member to deliver current to the tissue.

[0031] The document also relates to a catheter. The catheter comprises a tube, a scissor actuator and a scissor forceps. The scissor actuator is slidably disposed in the tube. The scissor forceps comprises a pair of pivotally connected engagement members at least partially disposed in the tube at the distal end of the catheter. Each engagement member comprises a free distal end and a proximal end coupled to the scissor actuator.

[0032] When the scissor actuator slides in a first direction within the tube, a pushing force is applied to the scissor jaws. When the scissor actuator slides in an opposite second direction within the tube, a pulling force is applied to the scissor jaws. The pushing force causes the scissor jaws to transition from a first position (e.g., a closed position) to a second position (e.g., an open position). The pulling force causes the scissor jaws to transition back to the first position.

[0033] Openings may be formed in the tube through which the proximal end of the engagement member travels out of the tube when the scissor jaws are transitioning to the second position. The engagement member may include teeth for grasping or cutting tissue and / or an internal cavity in which a tissue sample may be held.

[0034] One or more sensors, one or more fluid delivery devices and / or one or more fluid removal devices may be slidably disposed in an internal cavity of the scissors actuator and / or the scissors. Additionally or alternatively, one or more sensors are at least partially disposed in one or more engaging members of the scissors and / or one or more electrodes are coupled to one or more engaging members of the scissors. One or more electrodes may be configured to apply heat or current to the tissue and / or apply a radiated electric field and / or an electromagnetic field to cause cellular changes in the tissue (e.g., pulsed field ablation and / or microwave ablation). The blade may be disposed in the internal cavity of one or more engaging members, and / or the plate may be correspondingly disposed in the engaging member and configured to deliver current to the tissue. The scissors actuator may have the following dual purposes: (i) actuating the scissors; and (ii) supplying current or power to at least one electronic component of the scissors actuator.

[0035] Reference now Figure 1 , an illustration of a catheter 100 is provided. The catheter 100 includes a tube 102 for inserting at least partially through a narrow opening into a body cavity during a medical procedure. For example, the catheter 100 can be used to remove fluid from a patient's bladder. The present solution is not limited to the specific details of this example.

[0036] The tube 102 can be flexible or semi-rigid. The tube 102 can be disposable or non-disposable. The tube 102 can be formed of, for example, rubber, plastic, polymer, impregnated polymer, cloth, braided material, and / or metal. The metal can include, but is not limited to, stainless steel, titanium, and / or other alloys that are corrosion-resistant.

[0037] A handle 104 may optionally be provided with the catheter 100. The handle 104 is at the proximal end 106 of the tube 102. The tube 102 and the handle 104 may be integrally formed as one part (not shown), or alternatively may be attached to the catheter 100 via a detachable means such as a detachable means. Figure 1 to Figure 2 The coupling devices shown are connected to each other. The coupling devices may include, but are not limited to, one or more welds, one or more adhesives, one or more chemical bonds, and / or one or more mechanical couplings. In some situations, the handle is removably connected to the tube 102 so that the handle can be reused even when the tube is disposable. Therefore, the mechanical coupling may include one or more clamps, one or more latches, and / or one or more screws. The handle 104 may be formed of any material suitable for a given application. The material may include, but is not limited to, rubber, plastic, polymer, and / or metal (e.g., stainless steel, titanium, and / or other corrosion-resistant alloys). The handle 104 has a size and shape that allows an individual to easily grasp and manipulate the catheter 100 without discomfort.

[0038] The scissor jaws 120 are disposed at the distal end 108 of the catheter 100. The scissor jaws 120 can be formed of a rigid material such as plastic and metal. The metal can include, but is not limited to, stainless steel, titanium, and / or other corrosion-resistant alloys. The scissor jaws 120 are generally configured to grasp and / or cut tissue of an individual. In this regard, the scissor jaws 120 include engagement members 110, 112 that are pivotally coupled to each other via a pivot element 216 so that they can be moved in a controlled manner. Figure 1 to Figure 2 The closed position shown is Figure 3 When the scissors 120 are in the open position as shown, Figure 1 In the closed position shown, the central axes 124 of the engagement members 110, 112 are aligned with each other.

[0039] In the closed position, the teeth 114 of the engagement members 110, 112 are adjacent to and in contact with each other. The present solution is not limited in this respect. For example, in other scenarios, the teeth may be adjacent to each other, but not necessarily in contact with each other. Alternatively, the engagement member may not have any teeth. In the tooth scenario, a spacer may be provided to ensure that when the engagement members 110, 112 are in the closed position, the relative tooth groups are spaced a distance apart from each other. Depending on the given application of the catheter 100, the teeth 114 may be blunt or sharp. Each engagement member 110, 112 may be hollow so that the internal cavity 122 is provided for holding and removing samples (e.g., tissue samples) from an individual.

[0040] The scissor jaws 120 are actuated by a scissor actuator 200. The scissor actuator 200 may include, but is not limited to, a post, a rod, a wire, a cable, a hollow tube, and / or a pin / slot configuration (e.g., a pin at 202 is inserted into a slot on 214). The scissor actuator 200 is movable in two opposite directions 210 and 212, and is pivotally coupled to the proximal end 214 of the engagement members 110, 112 via pivot elements 202, 204, 206 and couplings 208, 220. Movement of the scissor actuator 200 in directions 210, 212 may be facilitated by a trigger mechanism 218 or other device provided with the handle 104 (e.g., via supplying an electric current to a shape memory material 414 coupled to the scissor actuator 200). The couplings 208, 220 may include, but are not limited to, a wire, a post, and / or a plate. When the scissor actuator 200 is as Figure 3 When sliding along direction 210, the couplings 208, 220 apply a push force to the proximal ends 214 of the engagement members 110, 112, respectively, causing these proximal ends to move away from each other. Conversely, when the scissors actuator 200 slides along direction 212, the couplings 208, 220 apply a pull force to the proximal ends 214 of the engagement members 110, 112, respectively, causing these proximal ends to move toward each other. The push and pull forces promote the transition of the engagement members 110, 112 between their open and closed positions.

[0041] In some cases, the tube 102 is designed so that the proximal ends 214 of the engagement members 110, 112 remain in the tube throughout use of the catheter 100. Figure 4 In other instances shown, the tube includes a slit or other aperture 400 formed therein through which the proximal ends 214 of the engagement members 110 , 112 may be advanced when the scissor jaws 120 are being actuated.

[0042] The scissor jaws 120 are coupled to the tube 102 via any suitable means selected according to a given application of the catheter 100. In some scenarios, the scissor jaws 120 are securely coupled to the tube 102 by one or more pins (which may or may not include the pivot element 216). In other scenarios, the scissor jaws 120 are removably coupled to the tube 102 so that the scissor jaws can be reused even when the tube 102 is disposable. Such coupling of the scissor jaws 120 to the tube 102 can be achieved via one or more pins (which may or may not include the pivot element 216), a cap, and / or a bracket structure.

[0043] Figure 4 An illustrative cap 402 is shown in FIG. The cap 402 includes a coupling rim 404 and a flexible inner member 406. The coupling rim 404 can frictionally engage the side wall 412 of the tube. An orifice 408 is formed in the center of the flexible inner member 406, through which the proximal end 214 of the engagement member 110, 112 can pass. The orifice 408 expands when the engagement member 110, 112 is transformed into its open position, and becomes smaller when the engagement member 110, 112 is transformed into its closed position. The present solution is not limited to Figure 4 This cap architecture is shown.

[0044] Figure 4 Also shown in the figure are illustrative support structures 410. Each support structure 410 extends from the side wall 412 of the tube toward the center of the tube. Each support can be a column or disk with one or more orifices formed therein. Depending on a given application, any number of support structures 410 can be provided. Where multiple support structures 410 are provided, the multiple support structures can be equally or unequally spaced along the length of the tube. The support structure 410 is designed to allow the scissors actuator to slide on or through the support structure without moving toward the side wall 412 of the tube, i.e., to keep the position of the scissors actuator the same relative to the tube throughout the use of the catheter and / or scissors forceps.

[0045] Figure 5A catheter 500 is shown, which is configured to generate sensor data, take tissue samples and / or deliver fluids during a medical procedure. In this regard, the catheter 500 can be equipped with a hollow scissor actuator 502, through which a sensor or fluid delivery / removal device 504 can pass. The sensor or fluid delivery / removal device 504 can slide in two opposite directions 514, 516 in the hollow scissor actuator 502 so that the sensor or fluid delivery / removal device can selectively extend, extend in and / or extend out of the distal end 506 of the engagement member 510, 512 adjacent to the scissor forceps 508. The sensor device may include, but is not limited to, one or more temperature sensors, one or more cameras, one or more shape sensors, one or more liquid sensors, one or more odor sensors, one or more navigation sensors and / or one or more density sensors. The fluid delivery device may include a tube connected to a pump (not shown), a needle port (not shown) and / or a valve (not shown). The fluid removal device may include, but is not limited to, a tube connected to a vacuum (not shown), a needle port (not shown) and / or a valve (not shown).

[0046] Figure 6 A catheter 600 is shown, which is configured to generate sensor data and / or current passing through tissue during a medical procedure. In this regard, one or more sensors and / or one or more electrodes 602 can be disposed at one or more distal tips 604 of one or more engagement members 606, 608 of a scissor forceps 610 and / or disposed at other locations 612, 614 of the elongated sidewalls of one or more engagement members 606, 608 along the scissor forceps 610. One or more sensors and / or one or more electrodes are electrically connected to one or more external devices (e.g., a power supply and / or a processor) via one or more conductive cables, one or more etched traces, and / or one or more wires. One or more conductive cables and / or one or more wires can extend through a tube 616, a scissor forceps 610, and / or a scissor actuator 618. One or more etched traces can, for example, extend the internal length of a tube 616 or a body 618.

[0047] In some cases, one or more wires 620, 624 are disposed in or integrated with the scissor actuator 618, the coupling 622, and the scissor jaws 610, such as Figure 6As shown. These components 618, 622, 610 can be formed of, surrounded by, or otherwise covered with a non-conductive and / or insulating material 626 (e.g., rubber). Alternatively, the scissor actuator 618, the coupling 622, and / or the scissor jaws 610 serve as electrically conductive members for supplying power, voltage, current, and / or other signals to one or more sensors and / or one or more electrodes 602. Therefore, these components 618, 622, 610 can have a dual purpose.

[0048] For example, the scissor actuator 618 can have the following dual purposes: (1) actuating the scissor jaws 610; and / or (2) facilitating the supply of power and / or signals to / from the one or more sensors / one or more electrodes 602. The one or more couplings 622 have the following dual purposes: (1) facilitating actuation of the scissor jaws 610 via movement of the scissor actuator 618; and / or (2) facilitating the supply of power and / or signals to / from the one or more sensors / one or more electrodes 602. The scissor jaws have the following dual purposes: (1) facilitating the holding or cutting of tissue; and (2) facilitating the supply of power and / or signals to / from the one or more sensors / one or more electrodes 602. The present solution is not limited to the specific details of this example.

[0049] Figure 7 An illustration of another catheter 700 having one or more blades 702 is provided. The one or more blades 702 are disposed in an interior cavity 704 of a scissor jaw 706. The one or more blades 702 can be configured to be completely within the interior cavity 704 (e.g., Figure 7 ) or partially in the internal cavity 704 (not shown). In the second case, when the scissors are in their closed position, one or more blades extend at least partially out and away from the joint member to which they are connected, and extend toward the other joint member.

[0050] One or more blades may be stationary or movable. In the latter case, movement of one or more blades in two opposite directions 710, 712 may be facilitated and / or controlled via an external device (not shown) (e.g., a processor or computing device) that is communicatively coupled and / or electrically coupled to one or more blades. One or more blades may be disposed on a track 708. Tracks are well known and will not be described herein. Power or other one or more signals may be provided to a controller, motor, and / or gear of the track via lines 714, 716, 718.

[0051] The overall design of the scissors and pliers is not limited to Figures 1 to 7 The scissors can have the following designs: Figures 8 to 11 Other shapes and / or sizes as shown. Figure 8As shown, the engagement members 804, 806 of the scissor forceps 800 may be shaped and / or sized to provide a sharp or blunt dissector 802 for open dissection of a bronchial enterotomy and / or other purposes.

[0052] like Fig. 9 As shown, the engagement members 904, 906 of the scissor forceps 900 may be shaped and / or sized to provide a curved Maryland dissector 902. The Maryland dissector 902 may have a thin tip to grasp small amounts of tissue, but a relatively long length to allow the engagement members 904, 906 to be spread apart when used for blunt dissection.

[0053] like Fig.10 As shown, the shape and / or size of the engagement members 1004, 1006 of the scissor forceps 1000 can be determined to provide a dolphin dissector 1002. An electrocautery component 1008 can be disposed on the tip of the dolphin dissector 1002. The electrocautery component 1008 can include one or more electrodes 1010, 1012. Reference numerals 1010, 1012 refer to a single electrode or two electrodes of opposite polarity. The electrocautery component 1008 can be used to generate heat from an electric current to destroy tissue (e.g., a tumor) and / or control bleeding.

[0054] like Fig.11 As shown, the engagement members 1104, 1106 of the scissor forceps 1100 can be shaped and / or sized to provide a Metzenbaum-style pair of scissors 1102 for cutting. The tips of the scissor forceps 1100 can be slightly blunt.

[0055] Reference now Fig.12 , provides another architecture for the engagement member of the scissors. The engagement member 1200 includes teeth 1202, which extend along the periphery of the engagement member. The teeth 1200 can be offset by a given amount from the edge 1204 of the engagement member 1200. A plate 1206 is disposed in the engagement member 1200. The plate 1206 can be used to clamp and seal the tissue in the scissors. Additionally or alternatively, the plate 1206 can provide a device for passing an electric current through the tissue clamped between itself and other engagement members of the scissors.

[0056] The catheters described above may be manually operated, automatically operated and / or remotely operated. Fig.13An illustrative system 1300 for automatically operating a catheter is provided in FIG. The system 1300 includes one or more computing devices 1302, one or more servers 1308, one or more data stores 1310, one or more robotic systems 1312, and one or more catheters 1306. The components 1302, 1306, 1308, 1312 are communicatively coupled to each other via a network 1304 (e.g., the Internet or an intranet). An operator 1314 can control the robotic system 1312 and / or the one or more catheters 1306 using a software application executed on the computing device 1302.

[0057] The one or more conduits 1306 may include electronics, motors, and / or gears. The electronics may include, but are not limited to, a processor, a computing device, a wireless communication device, and / or a power source. The wireless communication device allows one or more command signals to be wirelessly sent from the one or more computing devices 1302 and / or one or more robotic systems to the one or more conduits 1306 and / or one or more components of the one or more conduits 1306 (e.g., one or more sensors).

[0058] The robotic system 1312 may include an articulated arm having a gripping mechanism at its distal end. The gripping mechanism allows the robotic system to grip and move the catheter according to instructions from an operator 1314 via user software interaction with the computing device 1302. The robotic system may alternatively or additionally include other operating components for manipulating, moving and / or otherwise operating the catheter and / or its components. These components may include, but are not limited to, sensors configured to generate sensor data. The sensor data may be stored in one or more data stores 1310 for analysis.

[0059] Fig.14 A schematic illustration of a computing device 1400 is provided. Fig.13 The computing device 1302, server 1308, and / or robotic system 1312 may be the same as or similar to the computing device 1400. Thus, the discussion of the computing device 1400 is sufficient to understand the present invention. Fig.13 Components 1302, 1308, 1312.

[0060] The computing device 1400 may include Fig.14 There may be more or fewer components than those shown in . However, the components shown are sufficient to disclose an illustrative embodiment for implementing the present solution. Fig.14 The hardware architecture represents one embodiment of a computing device configured to facilitate the processing of one or more catheters (e.g., Figures 1 to 3 The catheter 100, Figure 5 500 Figure 6 of 600 and / or Figure 7700), one or more sensors (e.g., Figure 5 One or more sensors 504 and / or Figure 6 602), one or more electrodes (e.g., Figure 6 One or more electrodes 602 and / or Fig.10 1010, 1012), one or more fluid delivery / removal devices (e.g., Figure 5 of fluid delivery / removal device 504) and / or one or more blades (e.g., Figure 7 The blade 702 is controlled.

[0061] Some or all components of computing device 1400 may be implemented as hardware, software, and / or a combination of hardware and software. Hardware includes, but is not limited to, one or more electronic circuits. Electronic circuits may include, but are not limited to, passive components (e.g., resistors and capacitors) and / or active components (e.g., amplifiers and / or microprocessors). Passive components and / or active components may be adapted, arranged, and / or programmed to perform one or more of the methodologies, procedures, or functions described herein.

[0062] like Fig.14 As shown, the computing device 1400 includes a user interface 1402, a processing unit (PU) 1406, a system bus 1410, a memory 1412 connected to and accessible by other parts of the computing device 1400 through the system bus 1410, and a hardware entity 1414 connected to the system bus 1410. The PU 1406 may include, but is not limited to, a central processing unit (CPU) and / or a graphics processing unit (GPU). The GPU may include graphics processing and algorithm processing for deep learning or machine learning actions. The user interface may include input devices (e.g., a keypad 1450, a mouse 1434, and a microphone 1436) and output devices (e.g., a speaker 1452, a display 1454, a vibration device 1458, and / or a light emitting diode 1456) that facilitate user software interaction for controlling the operation of the computing device 1400.

[0063] At least some of the hardware entities 1414 perform actions involving access to and use of the memory 312 , which may be random access memory (RAM), a disk drive, and / or a compact disk read only memory (CD-ROM).

[0064] The hardware entity 1414 may include a disk drive unit 1416, which includes a computer-readable storage medium 1418, on which is stored one or more sets of instructions 1420 (e.g., software code) configured to implement one or more of the methodologies, procedures, or functions described herein. The instructions 1420 may also reside completely or at least partially within the memory 1412 and / or within the CPU 1406 during execution thereof by the computing device 1400. The memory 1412 and the CPU 1406 may also constitute machine-readable media. As used herein, the term "machine-readable medium" refers to a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) storing one or more sets of instructions 1420. As used herein, the term "machine-readable medium" also refers to any medium capable of storing, encoding, or carrying a set of instructions 1420 for execution by the computing device 1400 and causing the computing device 1400 to perform any one or more of the methodologies of the present disclosure.

[0065] Reference now Fig.15 , a flow chart of an illustrative method 1500 for operating a catheter is provided. The method 1500 begins at 1502 and continues to 1504, where a tube (e.g., Figures 1 to 3 Next, the elongated scissor actuator (e.g., Figure 2 The scissor actuator 200) is arranged in a first direction (eg, Figure 2 The elongated scissors actuator slides in the first direction (210), as shown in 1506. At 1508, a thrust is applied to the scissors jaws when the elongated scissors actuator slides in the first direction. The thrust is used at 1510 to move the scissors jaws from a closed position (e.g., Figure 1 to Figure 2 position shown) to an open position (e.g. Figure 3 The scissor forceps include a pair of pivotally coupled engagement members (e.g., Figures 1 to 3 Each engagement member includes a free distal end (e.g., Figure 1 108) and a proximal end coupled to an elongated scissor actuator (e.g., Figure 2 Optionally, the proximal end (e.g., Figure 2 The proximal end 214 of the tube 214 travels out of the tube (e.g., Figure 4 as shown).

[0066] At 1514, the scissor actuator moves within the tube of the catheter in an opposite second direction (e.g., Figure 2At 1516, when the scissor actuator slides in the opposite second direction, a pulling force is applied to the scissor jaws. At 1518, the pulling force is used to transform the scissor jaws back to the closed position.

[0067] Method 1500 may then proceed to one or more optional steps 1520-1532. These steps involve: using the teeth of the scissors (e.g., Figure 1 teeth 114) to grasp or cut tissue; to hold the tissue sample in the internal cavity of the scissors (e.g., Figure 1 one or more sensors and / or one or more fluid delivery / removal devices (eg, Figure 5 The device 504) slides through the internal cavity of the scissors actuator and the scissors jaws; uses the scissors actuator to supply current or power to one or more electronic components of the scissors actuator; generates sensor data from one or more sensors of the scissors jaws; uses one or more electrodes (e.g., Figure 6 One or more electrodes 602 and / or Fig.10 1010, 1012) to apply heat or current to the tissue; and / or using a blade (e.g., Figure 7 The blade 702 is then used to cut the tissue. Subsequently, 1534 is performed, where the method 1500 ends or performs other operations (e.g., returns to 1502).

[0068] The present solution is not limited to the specific mechanical architecture described above. In other scenarios, an elastic member (eg, a spring) and a trigger mechanism (eg, a depressible button coupled to a linkage mechanism) for actuating the elastic member may be used to facilitate the opening and closing of the engagement member.

[0069] Fig.16 An illustration of a catheter 1600 is provided. The catheter 1600 includes a tube 1602 for inserting at least partially through a narrow opening into a body cavity during a medical procedure. For example, the catheter 1600 can be used to remove fluid from a patient's bladder. The present solution is not limited to the specific details of this example.

[0070] Tube 1602 can be flexible or semi-rigid. Tube 1602 can be disposable or non-disposable. Tube 1602 can be formed of, for example, rubber, plastic, polymer, impregnated polymer, cloth, braided material, and / or metal. Metals can include, but are not limited to, stainless steel, titanium, and / or other alloys that are corrosion-resistant.

[0071] A handle 1604 may optionally be provided with the catheter 1600. The handle 1604 is at the proximal end 1606 of the tube 1602. The tube 1602 and the handle 1604 may be integrally formed as one part (not shown), or alternatively may be connected via a Figure 16 to Figure 17 The coupling devices shown are connected to each other. The coupling devices may include, but are not limited to, one or more welds, one or more adhesives, one or more chemical bonds, and / or one or more mechanical couplings. In some situations, the handle is removably connected to the tube 1602 so that the handle can be reused even when the tube is disposable. Therefore, the mechanical coupling may include one or more clamps, one or more latches, and / or one or more screws. The handle 1604 may be formed of any material suitable for a given application. The material may include, but is not limited to, rubber, plastic, polymer, and / or metal (e.g., stainless steel, titanium, and / or other corrosion-resistant alloys). The handle 1604 has a size and shape that allows an individual to easily grasp and manipulate the catheter 1600 without discomfort.

[0072] The scissor jaws 1620 are disposed at the distal end 108 of the catheter 100. The scissor jaws 1620 can be formed of a rigid material such as plastic and metal. The metal can include, but is not limited to, stainless steel, titanium, and / or other corrosion-resistant alloys. The scissor jaws 1620 are generally configured to grasp and / or cut tissue of an individual. In this regard, the scissor jaws 1620 include engagement members 1610, 1612 that are pivotally coupled to each other via a pivot element 1616 so that they can be moved in a controlled manner. Fig.16 The closed position shown is Fig.17 When the scissors 1620 are in the open position as shown, Fig.16 In the closed position shown, the central axes 1624 of the joined members 1610, 1612 are aligned with each other.

[0073] In the closed position, the surfaces 1614, 1616 of the engagement members 1610, 1612 are adjacent to and in contact with each other. The present solution is not limited in this respect. For example, in other scenarios, the surfaces 1614, 1616 may be adjacent to each other, but not necessarily in contact with each other. The surfaces 1614, 1616 may have teeth formed thereon or coupled thereto. Spacers may be provided to ensure that when the engagement members 1610, 1612 are in the closed position, the opposing sets of teeth are spaced a distance apart from each other. Depending on the given application of the catheter 1600, the teeth may be blunt or sharp. Each engagement member 1610, 1612 may be hollow so that the internal cavity is provided for holding and removing samples (e.g., tissue samples) from an individual.

[0074] The scissor jaws 1620 are actuated by a scissor actuator 1630. The scissor actuator 1630 may include, but is not limited to, a post, a rod, a wire, a cable, a hollow tube, and / or a pin / slot configuration (e.g., a pin at 1632 inserted into a slot on 1630). The scissor actuator 1630 is movable in two opposite directions 1650 and 1652 and is pivotally coupled to the proximal end 1634 of the engagement members 1610, 1612 via pivot elements 1632, 1636, 1638 and couplings 1640, 1642. Movement of the scissor actuator 1630 in direction 1650 is achieved via application of a thrust force on the free end 1660 of the scissor actuator 1630. Movement of the scissor actuator 1630 in direction 1650 causes the scissor jaws 1620 to open.

[0075] When the free end 1660 is no longer pushed, the scissors actuator 1630 is automatically caused to move in direction 1652 via the elastic member 1662. The elastic member 1662 may include, but is not limited to, a spring. The spring is usually in an uncompressed state and is compressed between the pins 1664, 1666 when the scissors actuator 1630 is pushed in direction 1650. When the scissors actuator 1630 is released, the spring is converted from its compressed state to its uncompressed state. This state transition of the spring causes the scissors actuator 1630 to move in direction 1652, thereby causing the scissors pliers 1620 to close.

[0076] The couplings 1640, 1642 may include, but are not limited to, wires, posts, and / or plates. When the scissor actuator 1630 slides in direction 1650, the couplings 1640, 1642 apply thrusts to the proximal ends 1634 of the engagement members 1610, 1612, respectively, causing these proximal ends to move away from each other. Conversely, when the scissor actuator 1630 slides in direction 1652, the couplings 1640, 1642 apply pulls to the proximal ends 1634 of the engagement members 1610, 1612, respectively, causing these proximal ends to move toward each other. The thrusts and pulls promote the transition of the engagement members 1610, 1612 between their open and closed positions.

[0077] The scissor jaws 1620 are coupled to the tube 1602 via any suitable means selected according to a given application of the catheter 1600. In some scenarios, the scissor jaws 1620 are securely coupled to the tube 1602 by one or more pins (which may or may not include the pivot element 1616). In other scenarios, the scissor jaws 1620 are removably coupled to the tube 1602 so that the scissor jaws can be reused even when the tube 1602 is disposable. Such coupling of the scissor jaws 1620 to the tube 1602 can be achieved via one or more pins (which may or may not include the pivot element 1616), a cap, and / or a support structure.

[0078] This solution is not limited to Fig.16 specific details. Fig.17 Another architecture for catheter 1700 is provided in . Catheter 1700 is similar to catheter 1600, but is configured to operate in an opposite manner, i.e., the scissor jaws 1720 of catheter 1700 are normally in an open position (i.e., when resilient member 1762 is in its uncompressed state) and are transitioned to their closed position (i.e., when resilient member 1762 is compressed) via actuation of scissor actuator 1730.

[0079] It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be interpreted as limiting, but merely as an illustration of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the appended claims.

Claims

1. A method for operating a catheter, the method comprising: sliding a scissor actuator within a tube of the catheter in a first direction; When the scissor actuator slides in the first direction, a thrust force is applied to the scissor jaws; transitioning the scissor jaws from a first position to a second position using the thrust, the scissor jaws comprising a pair of pivotally coupled engagement members at least partially disposed within the tube at a distal end of the catheter, each engagement member comprising a free distal end and a proximal end coupled to the scissor actuator; sliding the scissor actuator in an opposite second direction within the tube of the catheter; When the scissor actuator slides in an opposite second direction, a pulling force is applied to the scissor jaws; as well as The pulling force is used to transition the scissor jaws back to the first position.

2. The method of claim 1, further comprising allowing the proximal end of the engagement member to advance outside of the tube while the scissor jaws are transitioning to the second position. 3 . The method of claim 1 , further comprising using the teeth of the engagement member to grasp or cut tissue.

4. The method of claim 3, further comprising retaining a tissue sample within an interior cavity of at least one of the engagement members.

5. The method of claim 1, further comprising sliding at least one of a sensor, a fluid delivery device, and a fluid removal device through an internal cavity of at least one of the scissor actuator and the scissor jaws.

6. The method of claim 1, further comprising generating sensor data by a sensor disposed at least partially in at least one of the engagement members of the scissor jaws.

7. The method of claim 1, further comprising applying heat or electrical current to the tissue using one or more electrodes coupled to at least one of the engagement members of the scissor jaws.

8. The method of claim 1, further comprising cutting tissue using a blade disposed within an interior cavity of at least one of the engagement members. 9 . The method of claim 1 , further comprising additionally using the scissor actuator to supply current or power to at least one electronic component of the scissor actuator.

10. The method of claim 1, further comprising delivering electrical current to tissue using plates correspondingly disposed in the engagement members.

11. A catheter, comprising: Tube; a scissor actuator slidably disposed in the tube; as well as a scissor forceps including a pair of pivotally coupled engagement members disposed at least partially within the tube at a distal end of the catheter, each engagement member including a free distal end and a proximal end coupled to the scissor actuator; wherein the scissor actuator is configured to cause a pushing force to be applied to the scissor jaws when the scissor actuator slides in a first direction within the tube, and to cause a pulling force to be applied to the scissor jaws when the scissor actuator slides in an opposite second direction within the tube; wherein the pushing force causes the scissors jaws to transition from a first position to a second position, and the pulling force causes the scissors jaws to transition back to the first position.

12. The catheter according to claim 11, wherein An opening is formed in the tube through which the proximal end of the engagement member travels out of the tube when the scissor jaws are transitioning to the second position.

13. The catheter according to claim 11, wherein The engagement member includes teeth for grasping or cutting tissue.

14. The catheter according to claim 13, wherein At least one of the engagement members includes an interior cavity in which a tissue sample can be retained.

15. The catheter of claim 11, further comprising at least one of a sensor, a fluid delivery device, and a fluid removal device slidably disposed in an interior cavity of at least one of the scissor actuator and the scissor jaws.

16. The catheter of claim 11, further comprising at least one sensor at least partially disposed in at least one of the engagement members of the scissor jaws.

17. The catheter of claim 11, further comprising one or an electrode coupled to at least one of the engagement members of the scissor jaws and configured to apply heat or electric current to tissue.

18. The catheter of claim 11, further comprising a blade disposed in an inner cavity of at least one of the engagement members.

19. The catheter of claim 11, wherein: The scissor actuator has the dual purpose of: (i) actuating the scissor jaws; and (ii) supplying current or power to at least one electronic component of the scissor actuator.

20. The catheter of claim 11, further comprising a plate respectively disposed in the engagement member and configured to deliver electrical current to tissue.

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