Guide apparatus for delivery of an elongate device and methods of use

Patent metadata

Field	Value
Publication number	US-11045258-B2
Application number	US-201716315922-A
Country	US
Kind code	B2
Filing date	Jul 7, 2017
Priority date	Jul 8, 2016
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly including a first end, a second end, a plurality of support member pairs, and a plurality of eyelets movably coupled to at least one support member pair and configured to receive the elongated flexible instrument. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along a longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis. Each of the plurality of eyelets includes a tapered alignment member configured to contact a tapered alignment member of an adjacent eyelet to move the plurality of eyelets into alignment along the longitudinal axis as the variable length assembly transitions from the expanded configuration to the compressed configuration.

First claim

What is claimed is:

1. An apparatus for guiding an elongated flexible instrument, the apparatus comprising:
a variable-length support assembly including:
a first end;
a second end;
a plurality of support member pairs, each support member pair comprising a first support member linked to a second support member; and
a plurality of eyelets configured to receive the elongated flexible instrument, each of the plurality of eyelets movably coupled to at least one of the plurality of support member pairs along a longitudinal central axis between the first end and the second end,

wherein the variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along the longitudinal central axis, and wherein the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis, and
wherein each of the plurality of eyelets includes a tapered alignment member configured to contact a tapered alignment member of an adjacent eyelet to move the plurality of eyelets into alignment along the longitudinal central axis as the variable-length support assembly transitions from the expanded configuration to the compressed configuration.

2. The apparatus of claim 1 , wherein each of the plurality of eyelets comprise a chamfered lumen for receiving the elongated flexible instrument.

3. The apparatus of claim 1 wherein the first support member includes an upper support portion, an interior support portion, and a lower support portion, wherein the upper support portion extends through the interior support portion to couple to the lower support portion.

4. The apparatus of claim 3 wherein the lower support portion extends through the interior support portion to couple to the upper support portion.

5. The apparatus of claim 1 , wherein adjacent support member pairs are connected to each other by outer hinges.

6. The apparatus of claim 1 , further comprising a proximal coupler at the first end of the variable-length support assembly, the proximal coupler configured to couple the variable-length support assembly to an instrument interface portion.

7. The apparatus of claim 6 , wherein the proximal coupler includes a proximal aperture sized to receive the elongated flexible instrument, wherein the proximal aperture is aligned with the plurality of eyelets along the longitudinal central axis.

8. The apparatus of claim 6 , further comprising a proximal arm synchronizing assembly coupled to the proximal coupler and the variable-length support assembly, the proximal arm synchronizing assembly configured to equally actuate the first and second support members relative to the longitudinal central axis and relative to each other.

9. The apparatus of claim 8 , the proximal arm synchronizing assembly comprising a pair of spools and a set of cables wound in opposing S-shapes about the pair of spools.

10. The apparatus of claim 8 , the proximal arm synchronizing assembly comprising a pair of gears.

11. The apparatus of claim 6 , further comprising a retaining assembly coupled to the proximal coupler, the retaining assembly configured to selectively retain the variable-length support assembly in a compressed configuration.

12. The apparatus of claim 11 , further comprising an attachment element at a distal end of the variable-length support assembly, wherein the retaining assembly selectively engages the attachment element to retain the variable-length support assembly in the compressed configuration.

13. The apparatus of claim 1 , further comprising a distal coupler at the second end of the variable-length support assembly, the distal coupler configured to couple the variable-length support assembly to an anchor in a surgical field.

14. The apparatus of claim 1 , wherein, for each eyelet of the plurality of eyelets, the first and second support members of the at least one of the plurality of support member pairs include indentations having a corresponding shape to the tapered alignment member, wherein the tapered alignment member is interposed between the indentations of the first and second support members when the variable-length support assembly assumes the compressed configuration.

15. The apparatus of claim 1 , further comprising a torsion spring extending between each of the plurality of eyelets and respective first and second support members.

16. The apparatus of claim 1 , further comprising a pair of magnets coupled to a set of adjacent eyelets and positioned between the adjacent eyelets.

17. The apparatus of claim 16 , wherein the pair of magnets comprises a first magnet coupled to a first eyelet of the set of adjacent eyelets and a second magnet coupled to a second eyelet of the set of adjacent eyelets, the first magnet having an opposite polarity of the second magnet.

18. The apparatus of claim 1 , further comprising a spring flexure extending between each of the plurality of eyelets and respective first and second support members.

19. The apparatus of claim 1 further comprising a sensor adapted to count each use of the variable-length support assembly.

20. The apparatus of claim 1 , wherein each of the plurality of eyelets is freely rotatable about a rotation axis perpendicular to the longitudinal central axis when the variable-length support assembly is in the expanded configuration.

Assignees

• Intuitive Surgical Operations

Inventors

• Inouye Matthew D
• Bailey David W
• Blumenkranz Stephen J
• Rohr Daniel Matthew D

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61M25/01 Primary

  Introducing, guiding, advancing, emplacing or holding catheters (A61M25/10 takes precedence) · CPC title

• A61B2090/371

  with simultaneous use of two cameras · CPC title

• A61B2090/364

  Correlation of different images or relation of image positions in respect to the body · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title