Steerable Apparatus With Slidable Imaging Probe For Tool Exchange

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Solution Overview

Problem

Conventional minimally invasive medical tools, such as ureteroscopes, face challenges in simultaneously performing fragmentation and removal of larger materials due to restricted channel size, difficulty in maintaining a stable position during tool exchange, and inefficiencies in navigating tortuous anatomical paths.

Innovation Solution

A steerable apparatus with a slidable imaging probe and dual channels, allowing for simultaneous suction, irrigation, and tool delivery, along with deployable standoff elements and rigidizable features to maintain position and navigate complex anatomy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a fixed imaging probe is integrated into the shaft, then imaging capability is provided, but the working channel size is restricted and tool exchange becomes difficult

Engineering Contradiction:

Improveimaging capabilityVSAvoidtool exchange

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The imaging probe is made slidable along the first channel rather than fixed, allowing it to be dynamically positioned during delivery and then removed to create a large working channel for tool exchange. This dynamic reconfiguration resolves the contradiction between maintaining imaging capability and enabling easy tool exchange.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The device is segmented into functional components: a removable imaging probe assembly that can be separated from the shaft. This segmentation allows the imaging function to be isolated and the working channel to be opened when needed, resolving the conflict between integrated imaging and tool accessibility.

Inventive Principle:

Principle #1Segmentation

2Device complexity

If a single channel is used for both imaging and tool delivery, then device simplicity is maintained, but simultaneous suction and irrigation cannot be performed

Engineering Contradiction:

Improvechannel configurationVSAvoidsimultaneous suction and irrigation

Core Design Contradiction:

Device complexityVSProductivity

Solution Approach 1:

The device uses a two-channel configuration where the first channel carries the imaging probe and the second channel is dedicated to fluid circulation. This segmentation allows simultaneous suction and irrigation operations that would be impossible in a single-channel design, while keeping each channel simple and dedicated to its specific function.

Inventive Principle:

Principle #1Segmentation

3Object-affected harmful factors

If the shaft diameter is reduced for minimally invasive delivery, then tissue damage is reduced, but navigation through tortuous anatomical paths becomes difficult

Engineering Contradiction:

Improvetissue damageVSAvoidnavigation through tortuous paths

Core Design Contradiction:

Object-affected harmful factorsVSEase of operation

Solution Approach 1:

The shaft incorporates rigidizable features that can dynamically change from a flexible state during delivery through tortuous anatomy to a rigid state for stable positioning. This dynamic property allows the shaft to navigate complex paths while maintaining sufficient rigidity when needed, resolving the contradiction between small diameter and navigation capability.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The shaft's rigidity parameter is made variable through rigidizable elements that can be activated or deactivated. During delivery, the shaft maintains flexibility to navigate tortuous paths; during operation, rigidity can be activated to maintain stable positioning, thus resolving the contradiction between small diameter delivery and navigation through complex anatomy.

Inventive Principle:

Principle #35Parameter changes

4Ease of operation

If the imaging probe is removed to create a large working channel, then tool delivery is improved, but imaging capability is lost

Engineering Contradiction:

Improvetool deliveryVSAvoidimaging capability

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The imaging probe is designed to be slidable and removable rather than fixed, allowing it to be dynamically positioned during delivery and then removed to create a large working channel for tool exchange. This dynamic reconfiguration resolves the contradiction between maintaining imaging capability and enabling easy tool exchange.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS20250204761A1Steerable apparatus having a slideable imaging probe and associated methods of use

Publication Date: 2025.06.26 INTUITIVE SURGICAL OPERATIONS INC

AI summary

An apparatus of the present technology generally includes an elongated shaft having a proximal portion and a distal portion, a first elongated channel extending from the proximal portion to the distal portion, a second channel extending from the proximal portion to the distal portion, and a slidable imaging probe disposed within the first elongated channel. The apparatus can be manually, robotically, and/or teleoperably steerable and is configured for delivery to a subject and/or positioning within a subject near or at a target location. Once the steerable apparatus has been successfully positioned at the target location, the imaging probe can be repositioned relative to the first elongated channel, thereby opening a working lumen. The working lumen and second channel are configured for removal of material from the target location within the subject by applying simultaneous activities including suction, irrigation, and/or deliver a tool to the target location.