Methods and apparatuses for navigating using a pair of rigidizing devices

Patent metadata

Field	Value
Publication number	US-2025359736-A1
Application number	US-202318851053-A
Country	US
Kind code	A1
Filing date	Mar 27, 2023
Priority date	Mar 25, 2022
Publication date	Nov 27, 2025
Grant date	—

Abstract

Disclosed herein are systems and methods for navigating a system comprising a nested pair of rigidizing devices through a body lumen. The rigidizing devices are configured to alternately rigidize and to transition between a rigidized state and a flexible state and to copy the shape of the device when advancing or retracting. Also described herein are examples of apparatuses for automatically or semi-automatically screening a body lumen using a nested pair of rigidizing devices.

First claim

1 .- 28 . (canceled)

29 . A method of controlling a nested pair of rigidizing devices, the method comprising:
receiving a copy command from a user input; automatically performing a shape copying sequence, wherein the shape copying sequence comprises:
advancing a first rigidizing device of the nested pair of rigidizing devices relative to a second rigidizing device of the nested pair of rigidizing devices, while the first rigidizing device is in a flexible state and the second rigidizing device is in a rigidized state, wherein the first rigidizing device is initially proximal to the second rigidizing device so that first rigidizing device copies the shape of the second rigidizing device; and
preventing the first rigidizing device from advancing distal to the second rigidizing device.

30 . The method of claim 29 , wherein advancing the first rigidizing device comprises advancing the first rigidizing device only while the copy command is continuously received.

31 . The method of claim 29 , wherein further comprising continuing advancement of the first rigidizing device until a distal end of the first rigidizing device reaches a distal end of the second rigidizing device.

32 . The method of claim 29 , wherein the first rigidizing device is nested over the second rigidizing device.

33 . The method of claim 29 , wherein the shape copying sequence further comprises comprising rigidizing the second rigidizing device into the rigid state prior to advancing the first rigidizing device.

34 . The method of claim 29 , wherein the shape copying sequence further comprises de-rigidizing the first rigidizing device into the flexible state prior to advancing the first rigidizing device relative to the second rigidizing device.

35 . The method of claim 29 , wherein the shape copying sequence further comprises rigidizing the first rigidizing device into the rigid state after it has advanced relative to the second rigidizing device.

36 . The method of claim 29 , further comprising, prior to receiving the copy command, advancing the second rigidizing device in the flexible state while steering a distal end region of the second rigidizing device, wherein the first rigidizing device is in the rigid state.

37 . A method of controlling a nested pair of rigidizing devices, the method comprising:
receiving a copy command from a user input; and automatically performing a shape copying sequence while the user input is received, wherein the shape copying sequence comprises:
advancing a first rigidizing device of the nested pair of rigidizing devices relative to the first to a second rigidizing device of the nested pair of rigidizing devices, while the first rigidizing device is in a flexible state and the second rigidizing device is in a rigidized state, wherein the first rigidizing device is initially proximal to the second rigidizing device so that first rigidizing device copies the shape of the second rigidizing device.

38 . A system comprising:
a nested pair of rigidizing devices comprising a first rigidizing device and a second rigidizing device; one or more processors; and a memory coupled to the one or more processors, the memory storing computer-program instructions, that, when executed by the one or more processors, perform a computer-implemented method for controlling the nested pair of rigidizing devices, the method comprising:
receiving a copy command from a user input;
automatically performing a shape copying sequence, wherein the shape copying sequence comprises:
advancing a first rigidizing device relative to a second rigidizing device, while the first rigidizing device is in a flexible state and the second rigidizing device is in a rigidized state, wherein the first rigidizing device is initially proximal to the second rigidizing device so that first rigidizing device copies the shape of the second rigidizing device; and
preventing the first rigidizing device from advancing distal to the second rigidizing device.

39 . The system of claim 38 , wherein advancing the first rigidizing device comprises advancing the first rigidizing device only while the copy command is continuously received.

40 . The system of claim 38 , wherein the computer-implemented method further comprises continuing advancement of the first rigidizing device until a distal end of the first rigidizing device reaches a distal end of the second rigidizing device.

41 . The system of claim 38 , wherein the first rigidizing device is nested over the second rigidizing device.

42 . The system of claim 38 , wherein the shape copying sequence further comprises comprising rigidizing the second rigidizing device into the rigid state prior to advancing the first rigidizing device.

43 . The system of claim 38 , wherein the shape copying sequence further comprises de-rigidizing the first rigidizing device into the flexible state prior to advancing the first rigidizing device relative to the second rigidizing device.

44 . The system of claim 38 , wherein the shape copying sequence further comprises rigidizing the first rigidizing device into the rigid state after it has advanced relative to the second rigidizing device.

45 . The system of claim 38 , wherein the computer-implemented method further comprises, prior to receiving the copy command, advancing the second rigidizing device in the flexible state while steering a distal end region of the second rigidizing device, wherein the first rigidizing device is in the rigid state.

46 . A system comprising:
a nested pair of rigidizing devices comprising a first rigidizing device and a second rigidizing device; one or more processors; and a memory coupled to the one or more processors, the memory storing computer-program instructions, that, when executed by the one or more processors, perform a computer-implemented method for controlling the nested pair of rigidizing devices, the method comprising:
receiving a copy command from a user input;
automatically performing a shape copying sequence while the copy command is received, wherein the shape copying sequence comprises:
advancing a first rigidizing device relative to a second rigidizing device, while the first rigidizing device is in a flexible state and the second rigidizing device is in a rigidized state, wherein the first rigidizing device is initially proximal to the second rigidizing device so that first rigidizing device copies the shape of the second rigidizing device.

47 .- 135 . (canceled)

Assignees

• Neptune Medical Inc

Inventors

• Ferrante Natalie
• Tanner Neal

Classifications

• A61B1/00135

  Oversleeves mounted on the endoscope prior to insertion · CPC title

• A61B1/00006

  of control signals · CPC title

• A61B1/05

  characterised by the image sensor, e.g. camera, being in the distal end portion · CPC title

• A61B1/0055 Primary

  Constructional details of insertion parts, e.g. vertebral elements · CPC title

• A61B1/00078 Primary

  with stiffening means · CPC title