Flexible master - slave robotic endoscopy system
US-2015230697-A1 · Aug 20, 2015 · US
US11712252B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11712252-B2 |
| Application number | US-202017095448-A |
| Country | US |
| Kind code | B2 |
| Filing date | Nov 11, 2020 |
| Priority date | Aug 4, 2014 |
| Publication date | Aug 1, 2023 |
| Grant date | Aug 1, 2023 |
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A flexible auger design for low-torque transmitting drive shafts, which allows effective tissue material transport through curved, flexible tubes and channels. A hollow auger has a hollow center, so that the helical member hugs the inner wall of the tube and material is transported along the center axis and the inner wall of the tube. The hollow flexible auger allows for transportation of material from an operative location in the patient (material removal) as well as to operative location in the patient (material delivery).
Opening claim text (preview).
We claim: 1. A biomedical material transfer device ( 1 ) comprising: a) a transfer element having a proximal end portion, a distal end portion, and an intermediate portion comprising a flexible, hollow auger, the hollow auger comprising a substantially helical element and a membrane around the substantially helical element, and b) a drive element adapted to rotate the hollow auger axially relative to an outer sleeve in which the hollow auger is disposed, the drive element having a distal end portion, wherein the distal end portion of the drive element is connected to the proximal end portion of the transfer element, and wherein the membrane has an inner surface and the substantially helical element extends inwardly from the inner surface, the membrane being wrapped around the substantially helical element forming valleys and summits providing a thread-like topology for transporting material between an outer surface of the membrane and the outer sleeve. 2. The device of claim 1 , wherein the membrane is a heat-shrunk membrane that is integral with the substantially helical element housed within the membrane. 3. The device of claim 1 , wherein the membrane is not integral with the substantially helical element housed within the membrane. 4. The device of claim 1 , wherein the membrane rotates with the substantially helical element housed within the membrane. 5. The device of claim 1 , wherein the substantially helical element has a first diameter D1, the membrane has a minimum diameter D2, and the first diameter D1 is greater than the minimum diameter D2, the substantially helical element housed within the membrane rotating independently of the membrane of the transfer element. 6. The device of claim 1 , wherein the substantially helical element housed within the membrane has a thickness, and the membrane has an outer diameter, and the thickness is between 3% and 30% of the diameter. 7. The device of claim 1 , wherein the substantially helical element housed within the membrane has a variable pitch. 8. The device of claim 1 , wherein the proximal end portion of the transfer element comprises a tube having a threaded outer surface, the intermediate portion of the transfer element is flexible, and the distal end portion of the transfer element is adapted to cut intervertebral disc tissue. 9. The device of claim 1 , wherein the distal end of the transfer element comprises a distal end opening. 10. The device of claim 1 , wherein the distal end portion further comprises a cutting tip, the cutting tip having a proximal end portion adapted to mate with the substantially helical element. 11. The device of claim 1 , wherein the drive element includes a drive handle. 12. The device of claim 1 , wherein the drive element includes a motor. 13. The device of claim 1 , further comprising a tubular shaft connecting the transfer element and drive element. 14. The device of claim 13 , wherein the tubular shaft is transparent. 15. The device of claim 1 , further comprising a flexible inner shaft disposed within the hollow auger. 16. The device of claim 15 , wherein the flexible inner shaft is hollow. 17. The device of claim 16 , wherein the flexible inner shaft comprises a narrow-wound spring. 18. The device of claim 1 , further comprising an outer cannula, wherein the hollow auger is disposed within the outer cannula, and wherein the outer cannula comprises a wall and an inner bore, the wall having at least one lumen therein. 19. The device of claim 18 , further comprising a wire running longitudinally in the lumen. 20. The device of claim 1 , further comprising an outer cannula, wherein the hollow auger is disposed within the outer cannula, and wherein the outer cannula comprises a wall and an inner bore, the wall having at least one stationary wire running longitudinally therein. 21. The device of claim 1 , wherein the hollow auger has a steering mechanism attached thereto. 22. The device of claim 1 , wherein the hollow auger has a length having a variable bending stiffness.
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