Steerable multi-linked device having multiple working ports

Patent metadata

Field	Value
Publication number	US-2016288337-A1
Application number	US-201615181752-A
Country	US
Kind code	A1
Filing date	Jun 14, 2016
Priority date	Aug 14, 2006
Publication date	Oct 6, 2016
Grant date	—

Abstract

A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable.

First claim

1 . (canceled)

2 . A method of advancing a steerable, multi-linked device, the method comprising:
positioning an outer multi-linked mechanism so that it surrounds an inner multi-linked mechanism, wherein the outer multi-linked mechanism comprises a plurality of links, wherein the inner multi-linked mechanism comprises a plurality of links, wherein a longitudinal axis of the links of the outer multi-linked mechanism substantially aligns with a longitudinal axis of the links of the inner multi-linked mechanism; applying tension on a first cable to place the inner multi-linked mechanism in a rigid mode; advancing the outer multi-linked mechanism such that a distal link of the outer multi-linked mechanism is positioned approximately one link ahead of a distal end of the inner multi-linked mechanism; applying tension to one or more second cables to place the outer multi-linked mechanism in the rigid mode; releasing the tension on the first cable to place the inner multi-linked mechanism in a limp mode; and advancing the inner multi-linked mechanism so that a distal link of the inner multi-linked mechanism is positioned at approximately a same position of the distal link of the outer multi-linked mechanism.

3 . The method of claim 2 , further comprising orienting a position of the distal link of the outer multi-linked mechanism using at least one of the second cables such that a longitudinal axis of a first link of the outer multi-linked mechanism is not aligned with one or more other links of the outer multi-linked mechanism.

4 . The method of claim 2 , wherein the tension placed on the first cable is substantially the same as the tension applied to the one or more second cables.

5 . The method of claim 2 , further comprising orienting a position of the distal link of the inner multi-linked mechanism using the first cable while the inner multi-linked mechanism is operating in the limp mode.

6 . The method of claim 5 , further comprising:
applying tension on the first cable to place the inner multi-linked mechanism in the rigid mode and to preserve the orientation of the inner multi-linked mechanism.

7 . The method of claim 2 , further comprising:
after advancing the inner multi-linked mechanism so that a distal link of the inner multi-linked mechanism is positioned at approximately a same position of the distal link of the outer multi-linked mechanism:
applying tension on the first cable to place the inner multi-linked mechanism in the rigid mode,
releasing the tension on one or more of the second cables to place the outer multi-linked mechanism in the limp mode, and
advancing the outer multi-linked mechanism.

8 . The method of claim 7 , wherein advancing the outer multi-linked mechanism comprises:
advancing the outer multi-linked mechanism so that the distal link of the outer multi-linked mechanism is positioned approximately one link ahead of the distal link of the inner multi-linked mechanism.

9 . The method of claim 7 , further comprising orienting a position of the distal link of the outer multi-linked mechanism using at least one of the second cables.

10 . The method of claim 9 , further comprising applying tension to one or more of the second cables to place the outer multi-linked mechanism in the rigid mode to preserve the orientation of the outer multi-linked device.

11 . The method of claim 7 , further comprising:
applying tension to one or more of the second cables to place the outer multi-linked mechanism in the rigid mode.

Assignees

• Univ Carnegie Mellon

Inventors

• Zubiate Brett
• Degani Amir
• Choset Howie

Classifications

• A61M25/0105

  Steering means as part of the catheter or advancing means; Markers for positioning (systems for detection of markers A61B) · CPC title

• B25J18/06 Primary

  flexible · CPC title

• Y10T74/20305

  Robotic arm · CPC title

• A61B1/00078

  with stiffening means · CPC title

• A61B1/008

  Articulations · CPC title