Active cannula with concentric flexible tubes for navigating curved anatomy

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Solution Overview

Problem

Current minimally invasive surgical (MIS) tools lack the dexterity to navigate complex anatomical spaces, such as the head and neck, sinuses, and lungs, often requiring large incisions and causing collateral trauma due to their inability to bend and maneuver through curved trajectories and around obstacles.

Innovation Solution

An active cannula with a plurality of concentric flexible tubes, each with predetermined flexibility and pre-formed curvature, allowing for selective translation and rotation to take complex shapes, enabling navigation through both free space and tissue media by utilizing the resistance of the tissue medium for guidance, rather than relying on external heat or rigid structures.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If rigid laparoscopic devices are used, then structural stability is maintained, but the ability to navigate curved trajectories and reach confined spaces is lost

Engineering Contradiction:

Improveability to navigate curved trajectoriesVSAvoidstructural stability

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

The device is divided into multiple rigid segments connected by articulation joints, allowing each segment to maintain structural stability while the overall device can bend and navigate curved trajectories through coordinated movement of segments

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The device transitions from a static rigid structure to a dynamic articulated structure that can change its configuration in real-time, enabling it to adapt to curved anatomical pathways while maintaining rigidity in each individual segment

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If flexible shape memory alloy devices are used, then the ability to bend and navigate complex paths is improved, but unintended heat application to surrounding tissue occurs

Engineering Contradiction:

Improveability to bend and navigateVSAvoidunintended heat application to tissue

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The patent replaces the thermal actuation mechanism of shape memory alloys with a mechanical actuation system using motors and drive shafts, eliminating the need for heat application while maintaining the ability to change device configuration for navigating complex anatomical paths

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If thermal actuation of shape memory alloy is used, then shape change is achieved, but considerable time delay occurs due to thermal time constants

Engineering Contradiction:

Improveshape change capabilityVSAvoidtime delay for heat application and dissipation

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The patent substitutes thermal actuation with direct mechanical actuation through motors and transmission mechanisms, enabling immediate shape changes and position adjustments without the thermal time delays inherent in shape memory alloy actuation

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Measurement precision

If teleoperated surgical robots with rigid tools are used, then precision control is maintained, but dexterity to maneuver through curved trajectories is lost

Engineering Contradiction:

Improveprecision controlVSAvoiddexterity to maneuver through curved trajectories

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The rigid tool is segmented into multiple articulated sections that can independently rotate and bend, allowing the distal end to achieve precise positioning and dexterous maneuvering through curved anatomical pathways while maintaining overall control precision

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The device adds rotational and bending degrees of freedom to the traditionally straight rigid tool, enabling it to navigate three-dimensional curved trajectories while maintaining precision control through the articulated joints

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentEP1973595B1An active cannula for BIO-sensing and surgical intervention

Publication Date: 2018.10.31 JOHNS HOPKINS UNIVERSITY

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AI summary

Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre¬ formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.