CA3175811A1 - Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire - Google Patents

Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire

Info

Publication number
CA3175811A1
CA3175811A1 CA3175811A CA3175811A CA3175811A1 CA 3175811 A1 CA3175811 A1 CA 3175811A1 CA 3175811 A CA3175811 A CA 3175811A CA 3175811 A CA3175811 A CA 3175811A CA 3175811 A1 CA3175811 A1 CA 3175811A1
Authority
CA
Canada
Prior art keywords
tubular element
path
providing guide
length
notches
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CA3175811A
Other languages
English (en)
French (fr)
Inventor
Jaydev P. Desai
Yash Chetan CHITALIA
Seokhwan Jeong
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Georgia Tech Research Corp
Original Assignee
Georgia Tech Research Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Georgia Tech Research Corp filed Critical Georgia Tech Research Corp
Publication of CA3175811A1 publication Critical patent/CA3175811A1/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Pulmonology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Biophysics (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
CA3175811A 2020-04-21 2021-04-21 Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire Pending CA3175811A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063013425P 2020-04-21 2020-04-21
US63/013,425 2020-04-21
PCT/US2021/028493 WO2021216782A1 (en) 2020-04-21 2021-04-21 Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire

Publications (1)

Publication Number Publication Date
CA3175811A1 true CA3175811A1 (en) 2021-10-28

Family

ID=78270033

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3175811A Pending CA3175811A1 (en) 2020-04-21 2021-04-21 Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire

Country Status (9)

Country Link
US (1) US20230158279A1 (https=)
EP (1) EP4138977A4 (https=)
JP (1) JP7798789B2 (https=)
KR (1) KR20230004652A (https=)
CN (1) CN115916317B (https=)
AU (1) AU2021259459A1 (https=)
BR (1) BR112022021327A2 (https=)
CA (1) CA3175811A1 (https=)
WO (1) WO2021216782A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4349264A1 (en) 2022-10-05 2024-04-10 Caranx Medical SAS Medical device and system comprising a medical device
EP4434482A1 (en) 2023-03-21 2024-09-25 Caranx Medical A system and a robotic endoluminal device for advancement in a body duct of a patient

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004351005A (ja) * 2003-05-29 2004-12-16 Japan Science & Technology Agency 屈曲チューブとその製造方法
US7326236B2 (en) * 2003-12-23 2008-02-05 Xtent, Inc. Devices and methods for controlling and indicating the length of an interventional element
US20090082722A1 (en) * 2007-08-21 2009-03-26 Munger Gareth T Remote navigation advancer devices and methods of use
US7713215B2 (en) * 2008-01-31 2010-05-11 Shriver Edgar L Steering, piercing, anchoring, distending extravascular guidewire
US20110160680A1 (en) * 2009-12-29 2011-06-30 Cook Incorporated Wire guide with cannula
US20120191107A1 (en) * 2010-09-17 2012-07-26 Tanner Neal A Systems and methods for positioning an elongate member inside a body
CN103764216B (zh) * 2011-05-03 2016-08-17 施菲姆德控股有限责任公司 可转向输送护套
JP6412505B2 (ja) * 2012-12-06 2018-10-24 インディアン ウェルズ メディカル インコーポレイテッドＩｎｄｉａｎ Ｗｅｌｌｓ Ｍｅｄｉｃａｌ，Ｉｎｃ． 操縦可能ガイドワイヤおよび使用方法
US9586029B2 (en) * 2013-05-20 2017-03-07 CardioSert Ltd. Guidewire having selectively adjustable stiffness and tip curvature
EP3079597B1 (en) * 2013-12-13 2023-07-26 Intuitive Surgical Operations, Inc. Telescoping biopsy needle
US20160346513A1 (en) * 2015-05-26 2016-12-01 Vanderbilt University Surgical device tip with arc length varying curvature
US10881385B2 (en) * 2016-09-13 2021-01-05 Intuitive Surgical Operations, Inc. Radial telescoping guide apparatus for delivery of a flexible instrument and methods of use
US11452541B2 (en) * 2016-12-22 2022-09-27 Scientia Vascular, Inc. Intravascular device having a selectively deflectable tip
PL3592201T3 (pl) * 2017-03-10 2022-05-09 Georgia Tech Research Corporation Systemy oraz sposoby sterowania przewodami prowadzącymi
US11723738B2 (en) * 2017-11-06 2023-08-15 University Of Tennessee Research Foundation Surgical device tip with deflectable joint
EP4344723A3 (en) * 2018-03-28 2024-06-12 Auris Health, Inc. Medical instruments with variable bending stiffness profiles

Also Published As

Publication number Publication date
WO2021216782A1 (en) 2021-10-28
EP4138977A4 (en) 2024-06-05
US20230158279A1 (en) 2023-05-25
JP7798789B2 (ja) 2026-01-14
AU2021259459A1 (en) 2022-11-24
KR20230004652A (ko) 2023-01-06
JP2023525475A (ja) 2023-06-16
CN115916317B (zh) 2025-12-26
CN115916317A (zh) 2023-04-04
EP4138977A1 (en) 2023-03-01
BR112022021327A2 (pt) 2022-12-06

Similar Documents

Publication Publication Date Title
Jeong et al. Design, modeling, and control of a coaxially aligned steerable (COAST) guidewire robot
US20240050179A1 (en) Flexible and steerable elongate instruments with shape control and support elements
US10525233B2 (en) Input and articulation system for catheters and other uses
JP5724382B2 (ja) カテーテル
JP5452026B2 (ja) カテーテル
US20180055589A1 (en) Steerable catheter with shaft load distributions
US20170136211A1 (en) Catheter stiffness adjustment system and method
CN111956328B (zh) 一种用于微创手术的连续体机器人
JP7191844B2 (ja) ガイドワイヤを操縦するためのシステムおよび方法
US20240245284A1 (en) Steerable instrument for endoscopic or invasive applications
EP3064244B1 (en) Catheter having unirail pullwire architecture
Xu et al. A novel extensible continuum robot with growing motion capability inspired by plant growth for path-following in transoral laryngeal surgery
CA3175811A1 (en) Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire
JP2021502862A (ja) 縮径式操縦可能器具
JPWO2017149843A1 (ja) ガイドワイヤ
WO2024187141A2 (en) Systems and methods to achieve variable stiffness in a continuum structure
Qi et al. Development of a single port dual arm robotically steerable endoscope for neurosurgical applications
CN116322463A (zh) 用于组合成像和治疗递送或其它用途的逆行和独立可铰接的嵌套导管系统
JP2024539724A (ja) 再構成可能な操縦可能なカテーテル
KR102164495B1 (ko) 조향이 가능한 주름진 튜브를 이중으로 포함하는 카테터
CN104224247B (zh) 受限膨胀剥离器
JP2014111139A (ja) カテーテル
Lis Design and Analysis of a Compact Mechanism for the Motion of Tendon-Driven Steerable Robotic Guidewires
Arena et al. Design and Evaluation of a Dual-Bendable, Compressible Robotic Guide Sheath for Heart Valve Interventions
Zhou et al. A Robotized Steerable Catheter System for Cardiovascular Intervention With Enhanced Safety

Legal Events

Date Code Title Description
D00 Search and/or examination requested or commenced

Free format text: ST27 STATUS EVENT CODE: A-1-1-D10-D00-D120 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: VOLUNTARY SUBMISSION OF PRIOR ART RECEIVED

Effective date: 20250114

W00 Other event occurred

Free format text: ST27 STATUS EVENT CODE: A-1-1-W10-W00-W111 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: CORRESPONDENT DETERMINED COMPLIANT

Effective date: 20250214

D11 Substantive examination requested

Free format text: ST27 STATUS EVENT CODE: A-1-1-D10-D11-D117 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: REQUEST FOR EXAMINATION RECEIVED

Effective date: 20250324

MFA Maintenance fee for application paid

Free format text: FEE DESCRIPTION TEXT: MF (APPLICATION, 4TH ANNIV.) - STANDARD

Year of fee payment: 4

P11 Amendment of application requested

Free format text: ST27 STATUS EVENT CODE: A-1-1-P10-P11-P101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: AMENDMENT RECEIVED - VOLUNTARY AMENDMENT

Effective date: 20250324

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20250324

W00 Other event occurred

Free format text: ST27 STATUS EVENT CODE: A-1-1-W10-W00-W111 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: CORRESPONDENT DETERMINED COMPLIANT

Effective date: 20250325

D00 Search and/or examination requested or commenced

Free format text: ST27 STATUS EVENT CODE: A-1-1-D10-D00-D123 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: PRIOR ART DISCLOSURE DETERMINED COMPLIANT

Effective date: 20250331

W00 Other event occurred

Free format text: ST27 STATUS EVENT CODE: A-1-1-W10-W00-W100 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: LETTER SENT

Effective date: 20250331

W00 Other event occurred

Free format text: ST27 STATUS EVENT CODE: A-1-1-W10-W00-W100 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: LETTER SENT

Effective date: 20250402

W00 Other event occurred

Free format text: ST27 STATUS EVENT CODE: A-1-1-W10-W00-W111 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: CORRESPONDENT DETERMINED COMPLIANT

Effective date: 20250403

D00 Search and/or examination requested or commenced

Free format text: ST27 STATUS EVENT CODE: A-1-1-D10-D00-D118 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: REQUEST FOR EXAMINATION REQUIREMENTS DETERMINED COMPLIANT

Effective date: 20250429

P11 Amendment of application requested

Free format text: ST27 STATUS EVENT CODE: A-1-1-P10-P11-P102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: AMENDMENT DETERMINED COMPLIANT

Effective date: 20250429

P13 Application amended

Free format text: ST27 STATUS EVENT CODE: A-1-1-P10-P13-X000 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: APPLICATION AMENDED

Effective date: 20250429

D11 Substantive examination requested

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D11-D155 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: ALL REQUIREMENTS FOR EXAMINATION DETERMINED COMPLIANT

Effective date: 20250430

W00 Other event occurred

Free format text: ST27 STATUS EVENT CODE: A-2-2-W10-W00-W100 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: LETTER SENT

Effective date: 20250520

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20250808

MFA Maintenance fee for application paid

Free format text: FEE DESCRIPTION TEXT: MF (APPLICATION, 5TH ANNIV.) - STANDARD

Year of fee payment: 5

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20260326

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20260326