Selective Rigidization of Flexible Medical Instruments

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Solution Overview

Problem

Minimally invasive medical instruments face challenges in navigating tortuous anatomical paths while needing to apply forces effectively at target locations without causing tissue damage, as they require flexibility to navigate but rigidity to apply forces without buckling or deflection.

Innovation Solution

A system comprising a flexible delivery device with an elongated instrument that includes a flexible section and a rigidizable section, equipped with a selective rigidization system and sensor system, which transitions the rigidizable section from a bendable to a rigid state based on position information, allowing the instrument to remain flexible for navigation and rigid for force application.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the instrument is made flexible to navigate tortuous anatomical paths, then navigability is improved, but the ability to apply forces at target locations deteriorates due to buckling and deflection

Engineering Contradiction:

ImprovenavigabilityVSAvoidforce application capability

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

The instrument incorporates a rigidizable section that can dynamically transition between flexible and rigid states. This section includes rigidizable elements that remain flexible during navigation but can be activated to provide rigidity when force application is required, allowing the instrument to adapt its mechanical properties based on operational needs

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The instrument changes its physical parameters by transitioning the rigidizable section from a flexible state during navigation to a rigid state during force application. This parameter change enables the instrument to optimize its properties for different operational phases without compromising either navigability or force application capability

Inventive Principle:

Principle #35Parameter changes

2Strength

If the instrument is made rigid to apply forces effectively, then force application capability is improved, but navigability through tortuous paths deteriorates

Engineering Contradiction:

Improveforce application capabilityVSAvoidnavigability

Core Design Contradiction:

StrengthVSAdaptability or versatility

Solution Approach 1:

The rigidizable section provides dynamic rigidity only when needed for force application. During navigation through tortuous paths, this section remains flexible, allowing the instrument to navigate effectively. The transition to rigidity occurs only when the instrument reaches the target location and force application is required

Inventive Principle:

Principle #15Dynamics

3Strength

If the entire instrument is rigidized, then force application capability is improved, but the ability to navigate and access target locations deteriorates

Engineering Contradiction:

Improveforce application capabilityVSAvoidaccessibility to target locations

Core Design Contradiction:

StrengthVSEase of operation

Solution Approach 1:

Only a specific portion of the instrument (the rigidizable section) is capable of rigidization, while other portions remain flexible. This local quality ensures that the instrument maintains overall flexibility for navigation while providing localized rigidity for effective force application at the target site

Inventive Principle:

Principle #3Local quality

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables the instrument to effectively navigate complex anatomical paths while applying forces at target locations without causing unwanted motion or tissue damage, maintaining flexibility for navigation and rigidity for force application.

Implementation Method 1

The rigidizable section may house a magnetorheological fluid. The selective rigidization system may include a magnet system at a distal portion of the delivery device. The magnetorheological fluid may be responsive to the magnet system to transition a portion of the rigidizable section from a bendable state to a rigid state

Methodology Applied

Scientific EffectMagnetorheological fluid: Magnetorheological Fluid

Data Source

PatentUS20240358232A1Systems and methods for selectively rigidizing a flexible instrument

Publication Date: 2024.10.31 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A system may comprise a flexible delivery device including a tool channel extending therethrough and an elongated instrument configured to extend within the tool channel. The elongated instrument may include a flexible section and a rigidizable section. The system may also include a selective rigidization system at least partially extending within the elongated instrument and a sensor system configured to determine position information for the rigidizable section relative to a distal portion of the delivery device. The selective rigidization system, responsive to the position information, may be configured to transition a portion of the rigidizable section of the instrument from a bendable state to a rigid state.