Robotic arms and methods for tissue resection and imaging
US-12089907-B2 · Sep 17, 2024 · US
US10828064B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10828064-B2 |
| Application number | US-201815908875-A |
| Country | US |
| Kind code | B2 |
| Filing date | Mar 1, 2018 |
| Priority date | Mar 1, 2018 |
| Publication date | Nov 10, 2020 |
| Grant date | Nov 10, 2020 |
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An apparatus includes a handle assembly, a shaft assembly, an end effector, and an auto-tensioning feature. The handle assembly includes a body and a plunger. The shaft assembly includes an external sheath that is fixed to the handle body and an interior shaft that is coupled to the plunger. The interior shaft is slidable relative to the external sheath. The end effector is configured to encompass a bodily lumen and includes a flexible member extending distally from the interior shaft. A first coupling element is fixed to the distal tip of the flexible member. A second coupling element is fixed to the external sheath. The first and second coupling elements are magnetically attracted to each other and are biased toward each other such that the flexible member defines an adjustable loop. The auto-tensioning feature is configured to bias the plunger portion proximally relative to the handle body.
Opening claim text (preview).
We claim: 1. An apparatus, the apparatus comprising: (a) a handle assembly, wherein the handle assembly comprises: (i) a handle body, and (ii) a plunger portion slidably coupled with the handle body; (b) a shaft assembly extending distally from the handle assembly, wherein the shaft assembly comprises: (i) an external sheath fixed to the handle body, and (ii) an interior shaft coupled to the plunger portion, wherein the interior shaft is slidable relative to the external sheath; (c) an end effector configured to encompass a bodily lumen, wherein the end effector comprises: (i) a flexible member comprising a distal tip, wherein the flexible member extends distally from the interior shaft, (ii) a first coupling element fixed to the distal tip of the flexible member, and (iii) a second coupling element fixed to the external sheath, wherein the first and second coupling elements are configured to be magnetically attracted to each other, wherein the first and second coupling elements are biased toward each other such that the flexible member defines an adjustable loop; and (d) an auto-tensioning feature configured to bias the plunger portion proximally relative to the handle body. 2. The apparatus of claim 1 , wherein the handle body comprises a plurality of indicator markings. 3. The apparatus of claim 2 , wherein the plunger portion comprises an indicating feature. 4. The apparatus of claim 1 , wherein the plunger portion defines a locking recess. 5. The apparatus of claim 4 , wherein the handle assembly further comprises a locking clip, wherein the locking clip is configured mate with the locking recess of the plunger portion when the plunger portion is in a distal position. 6. The apparatus of claim 1 , wherein the handle body defines proximal sleeve, wherein the plunger portion is slidably coupled within the proximal sleeve. 7. The apparatus of claim 6 , wherein the proximal sleeve comprises a first flat surface, wherein the plunger portion comprises a second flat surface, wherein the first flat surface and the second flat surface are configured to mate with each other to rotationally lock the plunger portion relative to the handle assembly. 8. The apparatus of claim 1 , wherein the plunger portion comprises an external plunger body and a support collar fixed within the external plunger body, wherein the interior shaft is fixed to the support collar. 9. The apparatus of claim 1 , wherein the auto-tensioning feature comprises a spring. 10. The apparatus of claim 9 , wherein the spring is housed within the external sheath of the shaft assembly. 11. The apparatus of claim 10 , wherein the external sheath comprises a spacer tube, wherein the spring abuts against the spacer tube. 12. The apparatus of claim 11 , wherein the plunger portion defines a distal opening, wherein a portion of the spring extends into the distal opening. 13. The apparatus of claim 1 , wherein the flexible member comprises a resilient tube. 14. The apparatus of claim 13 , wherein the resilient tube is biased to define the adjustable loop. 15. The apparatus of claim 1 , wherein the handle assembly comprises a locking collar, wherein the external sheath is fixed to the locking collar. 16. The apparatus of claim 1 , wherein the first coupling element comprises a magnet. 17. An apparatus, the apparatus comprising: (a) a handle assembly, wherein the handle assembly comprises: (i) a handle body, and (ii) a plunger portion slidably coupled with the handle body; (b) a shaft assembly extending distally from the handle assembly, wherein the shaft assembly comprises: (i) an external sheath fixed to the handle body, and (ii) an interior shaft coupled to the plunger portion, wherein the interior shaft is slidable relative to the external sheath; (c) an end effector configured to encompass a bodily lumen, wherein the end effector comprises a flexible member comprising a distal tip, wherein the flexible member extends distally from the interior shaft, wherein the flexible member is biased to define an adjustable loop; and (d) an auto-tensioning feature positioned within the external sheath and around the interior shaft, wherein the auto-tensioning feature is configured to bias the plunger portion proximally relative to the handle body to reduce the adjustable loop defined by the flexible member. 18. The apparatus of claim 17 , wherein the plunger portion is rotationally fixed relative to the handle body. 19. The apparatus of claim 17 , wherein the external sheath comprises a spacer tube, wherein the auto-tensioning feature abuts against the spacer tube. 20. An apparatus, the apparatus comprising: (a) a handle assembly, wherein the handle assembly comprises: (i) a static body, and (ii) an actuating body slidably coupled with the static body; (b) a shaft assembly extending distally from the handle assembly, wherein the shaft assembly comprises: (i) an external sheath fixed against movement relative to the static body, wherein the external sheath defines a distal opening, and (ii) an interior shaft fixed against movement relative to the actuating body, wherein the interior shaft includes a distal end; (c) an end effector configured to encompass a bodily lumen, wherein the end effector comprises a flexible member attached to the interior shaft and having a proximal end, wherein the proximal end of the flexible member is fixed against movement relative to the distal end of the interior shaft, wherein a distal portion of the flexible member extends distally past the distal opening of the external sheath, wherein the distal portion of the flexible member is biased to form an adjustable loop; and (d) an auto-tensioning feature configured to bias the actuating body proximally relative to the static body.
Measuring instruments not otherwise provided for · CPC title
Measuring physical dimensions, e.g. size of the entire body or parts thereof · CPC title
flexible · CPC title
magnetic · CPC title
for introduction into a natural body opening · CPC title
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