Articulation mechanisms for robotic surgical tools
US-2024252025-A1 · Aug 1, 2024 · US
US10136909B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10136909-B2 |
| Application number | US-33933108-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 19, 2008 |
| Priority date | Dec 20, 2007 |
| Publication date | Nov 27, 2018 |
| Grant date | Nov 27, 2018 |
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Systems and methods for placing a treatment device within a patient involve advancing a magnetic first introducer into the patient, advancing a magnetic second introducer into the patient, coupling the first introducer with the second introducer via magnetic force, and using the introducer devices to place a treatment device at a desired location within the patient. Optionally, such techniques involve visualization of the introducers or treatment devices during the procedure.
Opening claim text (preview).
What is claimed is: 1. A system for creating a lesion in an epicardial tissue of a patient with ablative energy, comprising: a first introducer having a distal portion comprising a pre-formed bend and a proximal portion each extending along a longitudinal axis of the first introducer where the distal portion further comprises a first flat distal surface, and where the distal portion comprises a first coupling member; a second introducer having a distal portion and a proximal portion each extending along a longitudinal axis of the second introducer, where the distal portion further comprises a second flat distal surface, and where the distal portion comprises a second coupling member; and a treatment device having an ablation assembly that includes an ablation member configured to deliver an ablation energy that creates the lesion in the epicardial tissue of the patient, wherein the treatment device is configured to be releasably coupled with the proximal portion of the first introducer, wherein the first coupling member of the first introducer comprises a magnet adjacent to the first flat distal surface, and the second coupling member of the second introducer comprises a magnet in the second flat distal surface, wherein the magnet of the first introducer has a magnetic dipole and the magnet of the second introducer has a magnetic dipole, and wherein attraction between the first introducer magnet and the second introducer magnet operates to align the first introducer magnet dipole with the second introducer magnet dipole such that when positioned adjacently the first flat distal surface engages the second flat distal surface, wherein the first and second introducers are configured to translate along their respective longitudinal axes while the respective coupling members are joined, and wherein coupling between the proximal portion of the first introducer and the treatment device, in combination with coupling between the first and second introducers provided by their respective magnets, is effective to move the treatment device toward a treatment location on the epicardial tissue when the second introducer is moved away from the treatment location on the epicardial tissue. 2. The system as in claim 1 , further comprising an obturator having a shape, wherein the obturator is configured to bend the first introducer toward the shape of the obturator. 3. The system as in claim 2 , wherein the obturator comprises a stiffening rod and a handle. 4. The system as in claim 1 , wherein the ablation member is a flexible ablation member configured to deliver the ablation energy to the epicardial tissue of the patient. 5. The system as in claim 1 , wherein the ablation member comprises an ablation electrode for transmitting the ablation energy to the epicardial tissue of the patient. 6. The system as in claim 5 , wherein the ablation energy is sufficient to create a transmural lesion in the epicardial tissue of the patient. 7. The system as in claim 1 , wherein the treatment device comprises a distal section, and the proximal section of the first introducer device is coupled with the distal section of the treatment device. 8. The system as in claim 1 , wherein the ablation member comprises a flexible ablation electrode. 9. The system as in claim 1 , wherein the proximal portion of the first introducer comprises a first coupling mechanism, the treatment device comprises a second coupling mechanism, the second coupling attachment mechanism of the treatment device is configured to be releasably coupled with the first coupling mechanism of the first introducer, and coupling between the first coupling mechanism of the first introducer and the second coupling mechanism of the treatment device, in combination with coupling between the first and second introducers provided by their respective magnets, is effective to move the treatment device toward a treatment location on the epicardial tissue when the second introducer is moved away from the treatment location on the epicardial tissue. 10. The system as in claim 1 , wherein the distal portion of the first introducer comprises a visualization element. 11. The system as in claim 10 , wherein the visualization element of first introducer is disposed proximal to the first introducer magnet. 12. The system as in claim 1 , wherein the distal portion of the second introducer comprises a visualization element. 13. The system as in claim 12 , wherein the visualization element of second introducer is disposed proximal to the second introducer magnet. 14. The system as in claim 1 , wherein the first introducer magnetic dipole is perpendicular to the first flat distal surface, and wherein the second introducer magnetic dipole is perpendicular to the second flat distal surface.
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