Medical systems comprising articulating devices

Patent metadata

Field	Value
Publication number	US-2016228113-A1
Application number	US-201615134561-A
Country	US
Kind code	A1
Filing date	Apr 21, 2016
Priority date	Dec 1, 2006
Publication date	Aug 11, 2016
Grant date	—

Abstract

Disclosed herein are various systems and methods for facilitating control of a tool or tools. The systems can allow a user to control multiple degrees of freedom. One such system allows a user to control multiple degrees of freedom of two tools simultaneously. Another such system allows a user to control multiple degrees of freedom with a single hand. Frames and rails for supporting and/or constraining movement of a tool or tools are also described herein.

First claim

What is claimed is:

1 - 69 . (canceled)

70 . A medical system comprising:
a guide tube defining at least one guide channel extending from a proximal opening to a distal opening, the guide tube including an articulation section, a controller configured to transmit user input to the articulation section for deflecting the articulation section relative to a longitudinal axis of the guide tube; an optical device defining at least one working channel, the optical device including controls for articulating a distal portion of the optical device; and a tool including a controller and an end effector, the controller being coupled to the end effector to actuate the end effector; wherein the optical device is disposed in the at least one guide channel of the guide tube, and the tool is disposed in the at least one working channel of the optical device.

71 . The medical system of claim 70 , wherein the optical device is translatable along the at least one guide channel, and the guide tube includes a ramp for deflecting the optical device as it exits the guide tube.

72 . The medical system of claim 70 , wherein the distal opening of the at least one guide channel is proximal to a distal-most end of the guide tube.

73 . The medical system of claim 70 , wherein the guide tube includes an end cap having an aperture aligned with the at least one guide channel.

74 . The medical system of claim 70 , wherein the guide tube includes a first guide channel that terminates at a first distal opening and a second guide channel that terminates at a second distal opening, and the first and second distal openings lie in different planes.

75 . The medical system of claim 74 , wherein the first guide channel has a larger cross-sectional size than the second guide channel, and the optical device is slidably disposed in the first guide channel.

76 . The medical system of claim 74 , wherein the guide tube includes a third guide channel that terminates at a third distal opening, and the second and third distal openings lie in a same plane.

77 . The medical system of claim 76 , wherein at least one of the second guide channel or the third guide channel is in communication with a source of fluid or gas for irrigation or aspiration.

78 . The medical system of claim 76 , wherein the tool is a first tool, and the system further comprises a second tool slidably disposed in the second guide channel or the third guide channel of the guide tube, the second tool including an end effector.

79 . The medical system of claim 70 , wherein the optical device is an endoscope.

80 . The medical system of claim 70 , wherein the end effector of the tool is a grasper, scissors, a clamp, or a forceps.

81 . The medical system of claim 70 , wherein the optical device includes fiber optics.

82 . The medical system of claim 70 , wherein the controller of the guide tube includes a first actuator to move the articulation section along a first plane and a second actuator to move the articulation section along a second plane independent of moving the articulation section along the first plane.

83 . A medical system comprising:
a guide tube defining a first guide channel extending from a first proximal opening to a first distal opening, a second guide channel extending from a second proximal opening to a second distal opening, and a third guide channel extending from a third proximal opening to a third distal opening, wherein the first and second distal openings lie in different planes, and the second and third distal openings lie in different planes, the guide tube including an articulation section and a controller configured to transmit user input to the articulation section for deflecting the articulation section along a first plane and along a second plane independent of moving the articulation section along the first plane; an optical device; and at least one tool including a controller and an end effector; wherein the optical device is disposed in the first guide channel of the guide tube, and the tool is disposed in the second guide channel of the guide tube.

84 . The medical system of claim 83 , wherein the optical device includes an articulation section and controls coupled to the articulation section to transmit user input to the articulation section, the optical device defining at least one working channel that passes through the articulation section.

85 . The medical system of claim 84 , wherein the at least one tool includes a first tool and a second tool, the first tool being disposed in the second guide channel of the guide tube, and the second tool being disposed in the at least one working channel of the optical device.

86 . A medical system comprising:
a guide tube defining a first guide channel extending from a first proximal opening to a first distal opening, a second guide channel extending from a second proximal opening to a second distal opening, and a third guide channel extending from a third proximal opening to a third distal opening, wherein the first and second distal openings lie in different planes, and the second and third distal openings lie in a same plane, the guide tube including an articulation section and a controller configured to transmit user input to the articulation section for deflecting the articulation section along a first plane and along a second plane independent of moving the articulation section along the first plane; an optical device; and a first tool including a controller and an end effector, the first tool being disposed in the first guide channel of the guide tube; and wherein at least one of the second guide channel or the third guide channel is in communication with a source of fluid or gas for irrigation or aspiration.

87 . The medical system of claim 86 , wherein the optical device is integrated into a distal end of the guide tube.

88 . The medical system of claim 87 , wherein the optical device includes at least one of a CMOS chip or a CCD chip.

89 . The medical system of claim 86 , wherein the optical device is an endoscope defining at least one working channel, the system further comprising a second tool disposed in the at least one working channel.

Assignees

• Boston Scient Scimed Inc

Inventors

• Weitzner Barry
• Smith Paul J
• Golden John B
• Intoccia Brian J
• Suon Naroun
• Shaw William J

Classifications

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B17/0469

  Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery · CPC title

• A61B2017/00331

  with preformed bends · CPC title

• A61B17/00234 Primary

  for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence) · CPC title

• A61B10/06

  Biopsy forceps {, e.g. with cup-shaped jaws} · CPC title