CN108348733A - 具有直接可视化特征部的导线导航系统 - Google Patents
具有直接可视化特征部的导线导航系统 Download PDFInfo
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- CN108348733A CN108348733A CN201680055271.4A CN201680055271A CN108348733A CN 108348733 A CN108348733 A CN 108348733A CN 201680055271 A CN201680055271 A CN 201680055271A CN 108348733 A CN108348733 A CN 108348733A
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Abstract
公开了一种具有远程可视化元件的导航系统,其用于使用包括直接可视化的多种成像形式在医疗和非医疗应用中在远程空间中进行导航。
Description
相关申请的交叉引用
本申请要求于2015年7月22日提交的美国临时申请号62/195,662的权益,其全部内容通过引用并入本文。
技术领域
本公开涉及一种医疗装置,并且更具体地涉及一种具有结合的可视化特征部以使用户能够朝向远程空间引导医疗器械并且在导航到远程空间时使该医疗器械可见的导线导航系统。
背景技术
导线目前用于医疗程序中以将导管、套管、护套或其它装置从远程部位引导到患者内的治疗部位。这些治疗部位有时可难以到达,为狭窄的、受限制的区域,并且路径曲折。在典型的程序中,将导线从身体的远部分通过患者的内腔并且朝向治疗部位引入,直到其遇到阻塞。当这发生时,交换导管被推进在线上,线被抽出,并且具有不同(通常更大)尺寸的新的线被推进到交换导管的端部。然后,抽出导管,并且将新的线进一步推进,直到其不可再推进,或者直到需要不同尺寸的线。此时,交换周期自身重复,使用交换导管将不同尺寸的线换出,直至到达目标。这通常都是在荧光镜引导下进行的,而且费时,并且需要医生依靠二维成像进行他或她的决策。
因此,期望提供一种导线导航系统,其具有结合到系统本身中的可视化特征部,使得可执行线和导管交换循环,而不需要附加的荧光镜引导或任何进一步的可视化引导,除非期望这样的附加指导。
发明内容
本公开提供了具有直接可视化特征部的导航系统。该系统可包括具有不同尺寸和柔性的多个可滑动构件。该系统可推进和回缩,以改变整个系统的直径、柔性和刚度。还包括将系统的构件彼此固定在相对位置的锁。系统的这些属性允许系统导航到目标部位,而无需参与多个导线交换,并且无需依赖单个成像形式。
在一些实施例中,提供了一种具有远程可视化元件的导航系统,其用于在医疗和非医疗应用中在远程空间中进行导航。该系统可包括多个构件以允许导航,而不必在导线、导管和其它导航器械之间进行交换以访问期望的导航点。该系统消除了在多个装置之间交换以成功导航到期望导航点的需要,同时还提供了具有进一步诊断和治疗疾病的治疗能力的系统。
该系统可包括内部构件,该内部构件包括远程可视化元件。该可视化元件连接到处理器和光源,用于对与用户距遥远距离的组织或其它物质进行成像。导航系统还可包括可以是同轴的或其它方式的一个或多个外部构件。外部构件被配置成用于在管腔中导航,并且用于在程序期间的任何时间点根据需要增加系统的总体直径和刚度,而不需要器械之间的交换,诸如以转弯,导航分叉,并且穿越曲折的解剖。该系统还被配置成使得可调整其刚度以支持导航系统上较大装置的推进。
结合到本系统中的可视化特征部允许该系统用作“看”导航系统,其具有通过曲折解剖、内腔和其它难以到达的位置的由直接可视化独立导航的能力,同时还具有改变系统的总体直径、刚度和柔性以及注入不熔(infusible)物质的能力。该系统还包含不透射线的材料,因此导航可通过其它方式进行,包括根据需要组合荧光镜引导、超声引导、电磁引导和直接可视化,从而提高系统导航通过各种环境的能力。该特征部提供了优于现有技术的优点,该技术通常涉及使用诸如荧光镜的单个成像形式的导航,以及单个导航能力,诸如一次导航一个医疗导线,然后参与多个导线之间的交换,以获得不同的直径和刚度水平。本系统提供了一种利用多种成像形式且利用多个导航特征部进行导航的方式,包括在飞行中改变尺寸、直径和刚度的能力,而不需要在耗时的实践中使用导管以用一根线交换另一根线,这是现在的常规做法。
该系统可在医疗应用(尤其包括胃肠道、血管、冠状动脉、泌尿、妇科、肺、耳鼻喉、神经、整形外科和较小或微创手术应用)中使用。该系统还可在远程导航和可视化有益的非医疗应用(尤其包括对气体线、管线、液压线的检查,查看远处四周角落以及尤其是下方开口)中使用。
在示例性实施例中,具有远程可视化元件的内部构件具有小于0.014英寸的直径,并且系统具有0.035英寸或更小的总体直径。在其它实施例中,各种构件的尺寸可更大或更小,包括系统的总体直径。
在另一个示例性实施例中,可视化元件可位于系统的外部元件中的一个或多个中。
可视化元件可包括改变光谱的能力以便增强系统检查、诊断和处理物质的能力。在一些实施例中,可视化元件可以能够参与窄带成像、高分辨率成像、红外成像、超声以及其它形式的成像和光谱,以改善通过可视化元件提供给用户的信息。
系统可包括一个或多个锁定机构以将构件固定在一起,因此系统可被导航并且用作具有远程可视化的较大直径的导线,并且可被解锁使用,因此各个构件可根据需要向前和向后移动以推进系统。
在一些实施例中,第三构件可以是系统的一部分以充当第一构件和第二构件之间的加强件,并且第三构件还可充当锁以将构件固定在一起以作为具有可调整的柔性和刚度的单个系统进行导航。在其它实施例中,系统可包含作为系统的第四元件的锁。
构件可由生物相容性材料制成,包括例如金属(诸如钢、镍钛诺,钴-铬)和其它材料(诸如聚醚醚酮(PEEK)、聚合物和其它弹性材料)。构件可以是刚性的或柔性的,部分或全部螺旋切割,全部或部分覆盖涂层。在一些实施例中,涂层可包括聚四氟乙烯(PTFE)、聚对苯二甲酸乙二醇酯(PET)和其它生物相容性材料。涂层还可包括改变流体中材料的性能的涂层,其包括疏水性、超疏水性和亲水性涂层,以及抗炎、抗菌、抗微生物的涂层和电响应的涂层。
一个或多个构件可以是可转向的。这可通过具有外部构件或者通过具有可转向的内部构件来实现,所述外部构件具有可转向能力以转动和引导系统,所述外部构件然后在内部构件上推进以调整柔性、刚度和直径。此外,通过使用锁定机构,系统的构件可锁定在一起,因此基于通过锁定或固定系统构件的相关性能而形成的组合的特征部,系统以独特的方式具有与系统的组合/锁定特征部相关联的独特属性,包括可转向性、柔性、直径、成像和可视化能力。
在一些实施例中,通过在近侧端部处扭转一个或多个构件并且将扭矩传递到系统以使得一个或多个构件的远侧端部转动,系统的转向性可通过系统通过扭矩的传递来实现。该系统还可通过具有外部构件或内部构件或具有电缆、压电材料、电激活聚合物、互锁构件或其它元件的构件的组合而可转向,以选择性地跨越一部分系统或跨越整个系统传递力以使得其转动一个或多个方向。该系统还可通过具有小的机器人元件(包括超声驱动或电动马达和/或有机导体)来转向,其具有如所预期的改变形状的能力以使装置的一个或多个构件转向。该设备可由用户直接导航和铰接,或者作为自动化或机器人系统的一部分,其中用户的输入通过各种手段(包括例如电缆、电源连接器、马达、电磁能、可滑动护套、触觉、计算机引导和定向输入以及其它手段)传递通过系统,以将装置导向和引导到其预期位置,包括到特异性诊断和治疗患者中的目标,或者在非医疗应用中到期望的远程位置。
内部构件也可具有可能包括或可能不包括可视化的变型。内部构件可具有切割刀,其被固定或者可被推进并抽出以切割、切除或解剖组织、斑块或其它物质。在一些实施例中,刀可以是直的、弯曲的、螺旋状的或其它形状,用于切除、切割或解剖组织或其它物质。
构件中的一个可具有抓持元件以对组织进行活组织检查,或者构件中的一个可包括刷以捕获细胞或其它物质。内部构件也可以是固体元件,并且构件中的一个或多个可具有被供能以影响组织和其它物质(包括血块)的能力。能量可针对特定组织或其它物质(诸如血块或癌肿瘤),包括形成聚集在特定治疗或诊断区域上的电磁场,以便于响应于到目标位置的能量对器械或药物的引导。
构件中的一个或多个构件可具有压力传感器或温度传感器,以向用户提供区域的附加反馈(在该区域中系统正在导航朝向、诊断和治疗)。可排列一个或多个传感器以形成三维或四维成像。
系统可包括注入管理能力以通过该系统注入各种流体、气体、成像剂和其它不熔物质。这包括注入造影剂、二氧化碳、氧气、水、药品、胶水和其它不熔物质。注入系统包括阀以防止空气或其它不需要的物质流入,并且防止物质一旦流入到系统就回流。注入系统可包括冲洗口以从系统移除物质,因此可注入附加的不熔物质而不混合多种类型的不熔物质。注入管理系统可包括具有锁定元件的一个或多个口以连接到袋、注射器或其它保持器和不熔物质的分配器。注入管理系统还可包括混合元件,以在注入之前结合不熔物质,或者同时注入多个物质。如果不熔物质具有毒性元素,诸如化学治疗剂或放射性同位素(诸如用于治疗肝癌的放射球体),则注入管理系统可包括屏蔽材料以保护保健工作人员,包括由铅和其它防护材料组成的屏蔽材料。
注入系统可通过与系统的轴线对齐的连接器或者用与系统的轴线成一定角度的连接器连接到其它构件。将不熔物质注入到系统中的能力也可被集成到系统的构件中,包括作为也可注入物质的锁定机构的一部分,或者可改变系统的直径、刚度和柔性并且注入物质的系统的构件。
注入系统可从导线导航系统拆卸,或者注入系统的全部或一部分可以是系统的附接的或集成的部分。
注入管理系统可包括在限定的时间段内系统地注入物质的能力。其一个示例是注入珠,其已通过注入管理系统与化学治疗剂和造影剂混合,然后通过该系统在设定的注入时间内注入到肝肿瘤,以确保在肿瘤位置处的适当分散。在一些实施例中,定时递送可涉及连接到作为注入管理系统的一部分的口的注入元件。在一些实施例中,定时递送可通过电动马达、弹簧、重力供给系统或基于泵的系统发生,该电动马达产生压力以顺序方式或其它方式推进不熔物质,该弹簧随时间机械地释放以向柱塞或其它元件施加压力以注入物质,在该重力供给系统中,利用从重力供给系统定时释放不熔物质,通过重力供给不熔物质,该基于泵的系统以可编程或由用户确定的方式将不熔物质泵送到系统中。
在一些实施例中,流体管理系统可由止血阀和一个或多个具有Y形连接器的鲁尔锁(luer lock)和活栓(stopcock)组成,以通过导航系统的管腔管理和注入流体流、药物、珠(包括微粒子和纳米粒子)和其它物质。
系统的构件可包括可用于对组织或其它物质的一个或多个位置进行采样的活组织检查器械。在一些实施例中,活组织检查元件可以是系统的内部构件或其它构件,或者其可被包含在被拉回以切除组织或作为系统的外部构件中的一个而暴露的护套中。活组织检查器械可具有通过活组织检查元件将切除的组织抽取到系统的外部的捕获元件的能力,或者活组织检查元件可具有内部元件以捕获活组织检查组织,以使得当在患者内时能够进行多个活组织检查。在一些实施例中,活组织检查元件的组织接触方面可涉及颚、关节颚、芯元件(其通过穿透并旋转装置以切除组织可通过穿透直接在元件的前面切除组织),或者具有清扫或关节臂元件以切除组织。
在一些实施例中,系统可包括作为构件的一部分的刷以推进以捕获用于诊断和测试的细胞。
在一些实施例中,系统可包括具有将结石或其它物质捕获在篮或其它捕获元件中的能力的构件。在一些实施例中,篮可具有铰接、闭合和打开的能力,包括使用系统的可视化能力来精确定位篮而在结石上推进并且抓持或捕获结石的能力。在其它的施例中,系统可包括激光元件以在移除之前消融结石。
在一些实施例中,系统可包括可铰接和切割组织的构件,包括扩大胆管或类似解剖结构的通路。该切割可通过机械手段发生,诸如用包括用于切割组织的尖锐元件的切割构件。替代地,切割可通过不同的手段实现以切割组织,诸如通过递送能量形式,包括用刀片、线或构件边缘,或者可通过这些元件的组合来实现切割。能量形式可包括单极能量、双极能量、微波能量和超声能量形式。
在一些实施例中,提供了一种导航系统,其具有内部构件和具有比内部构件的外径更大的内径的外部构件。外部构件可包括具有不同柔性区域的柔性管。该系统可进一步包括内部构件和外部构件之间的管腔以及穿过外部构件的替代的管腔。构件中的一个可具有成像能力,该成像能力除了荧光镜成像之外还包括超声、磁性成像、远程可视化元件或其它可视化或成像形式。在一些实施例中,构件中的一个包括切割线。在其它实施例中,构件中的一个包括用于解剖和为组织供能的针刀。在其它实施例中,系统可通过其构件中的一个或多个被远程转向。
应当理解,前面的一般性描述和下面的详细描述仅仅是示例性和解释性的,而不是对本公开的限制。本公开的附加特征部将部分地在随后的描述中阐述,或者可通过本公开的实践而获悉。
附图说明
并入本说明书并构成本说明书的一部分的附图示出了本公开的几个实施例,并且与说明书一起用于解释本公开的原理。
图1示出了本公开的导线系统的示例性实施例的透视图。
图2示出了本公开的导线系统的另一个示例性实施例的透视图。
图3示出了本公开的导线系统的另一个示例性实施例的透视图。
图4示出了本公开的导线系统的另一个示例性实施例的透视图。
图5示出了本公开的导线系统的示例性实施例的分解透视图。
图6示出了本公开的外部构件的示例性实施例的放大透视图。
图7示出了本公开的导线系统的另一个示例性实施例的分解透视图。
图8示出了本公开的导线系统的另一个示例性实施例的分解透视图。
图9示出了本公开的导线系统的另一个示例性实施例的透视图。
图10示出了本公开的导线系统的另一个示例性实施例的透视图。
图11示出了本公开的导线系统的另一个示例性实施例的透视图。
具体实施方式
现在转到附图,图1示出了本公开的导线系统的示例性实施例。系统100可包括内部构件110和外部构件120。内部构件110可在其中结合有连接到成像系统140的可视化元件130。这使得在导航期间直接可视化和成像成为可能。
外部构件120可进一步包括涂层124。如所描述的,涂层124可包括PTFE、PET或其它生物相容性材料。涂层124还可改变流体中材料的性能,诸如通过作为疏水性、超疏水性或亲水性涂层。涂层124也可以是抗炎的、抗菌的、抗微生物的和/或电响应的。
图2示出了本公开的导线系统的另一个示例性实施例。系统200可包括内部构件210和外部构件220。内部构件210可在其中已结合有超声传感器230和/或压力传感器234或多个传感器,然后其连接到超声处理器240和/或压力监测器244。类似于图1的系统100,外部构件220还可包括涂层224。涂层可包括PTFE、PET或其它生物相容性材料。在一个示例性实施例中,内部构件210和外部构件220可包括涂层。涂层的材料可相同或不同。例如,内部构件210可具有PTFE涂层,而外部构件可具有PET涂层,或反之亦然。
图3示出了本公开的导线系统的另一个示例性实施例。系统300可包括内部构件310和外部构件320。内部构件310可在其中已结合有切割或解剖元件330,其可连接到外部电源。为了促进该过程,外部构件320可在其中已结合有相机或可视化特征部350。内部构件310或外部构件320可具有如先前所述的涂层。
图4示出了本公开的导线系统的另一个示例性实施例。系统400可包括内部构件410、中间构件420和外部构件430。外部构件430可具有如对于图1的系统100的外部构件110所述的涂层。内部构件410可在其中已结合有可视化元件440,其然后连接到类似于图1中描述的系统100的成像系统(未示出)。 然而,另外,系统400可包括具有收回元件460的外部构件430。如所示出的,该收回元件460可包括用于组织和生物物质收集的篮。如果需要的话,篮可被配置成可塌缩和可展开的。
针对系统400的一个预期用途可以是将结石(例如,肾结石)或其它物质捕获在篮460中。在一些实施例中,篮460可具有铰接、闭合和打开的能力,包括使用系统400的可视化元件440来精确定位篮400而推进结石并且抓持或捕获结石的能力。另外,可将激光元件(未示出)结合到系统400中,使得可在从患者捕获和移除结石之前实现结石的消融。激光元件可被结合到内部构件410中,或者与所示出的分开的另一个构件中。
图5示出了本公开的导线系统的另一个示例性实施例。系统500可包括内部构件510、中间构件520和外部构件530。外部构件530可具有如对于图1的系统100的外部构件110所述的涂层。内部构件510可在其中已结合有可视化元件540,其然后连接到类似于图1中描述的系统100的成像系统(未示出)。
另外,系统500可包括组织切割或切除和移除特征部。例如,如所示出的,内部构件510和外部构件530可在其远侧端部512,532处设置有诸如刀550和活组织检查钳560的切割元件。如先前所描述的,内部构件510可具有切割刀550,其被固定或者可被推进并抽出以切割、切除或解剖组织、斑块或其它物质。在一些实施例中,刀可以是直的、弯曲的、螺旋状或其它形状,用于切除、切割或解剖组织或其它物质。如所示出的,外部构件530可在其远侧端部532处具有活组织检查钳560以移除切除的组织,并且与活组织检查钳控制器564连通。
图6示出了可在本公开的任何系统中使用的外部构件600的示例性实施例。在某些应用中,外部构件600也可用作中间构件。如所示出的,外部构件600可包括一系列锥形激光切口620,其使得构件600的选择区域能够具有与相邻区域不同的柔性。该特征部有助于整个系统的转向性和导航。
另外,外部构件600可进一步包括涂层640。如所描述的,涂层640可包括PTFE、PET或其它生物相容性材料。涂层640还可改变流体中材料的性能,诸如通过作为疏水性、超疏水性或亲水性涂层。涂层640还可以是抗炎的、抗菌的、抗微生物的和/或电响应的,诸如通过包括电激活的聚合物。
如上所述,本公开的系统可包括一个或多个锁定机构以将构件固定在一起,因此系统可被导航并且用作具有远程可视化的较大直径的导线,以及可被解锁使用,因此各个构件可根据需要向前和向后移动以推进系统。通过使用锁定机构,系统的构件可锁定在一起,因此基于通过锁定或固定系统构件的相关性能而形成的组合的特征部,系统以独特的方式具有与系统的组合/锁定特征部相关联的独特属性,包括可转向性、柔性、直径、和可视化能力。
此外,也如上所述,系统可包括注入管理能力以通过该系统注入各种流体、气体、成像剂和其它不熔物质。这包括注入造影剂、二氧化碳、氧气、水、药品、胶水和其它不熔物质。注入系统包括阀以防止空气或其它不需要的物质流入,并且防止物质一旦流入到系统就回流。注入系统可包括冲洗口以从系统移除物质,因此可注入附加的不熔物质而不混合多种类型的不熔物质。注入管理系统可包括具有锁定元件的一个或多个口以连接到袋、注射器或其它保持器和不熔物质的分配器。注入管理系统还可包括混合元件,以在注入之前结合不熔物质,或者同时注入多个物质。如果不熔物质具有毒性元素,诸如化学治疗剂或放射性同位素(诸如用于治疗肝癌的放射球体),则注入管理系统可包括屏蔽材料以保护保健工作人员,包括由铅和其它防护材料组成的屏蔽材料。
注入系统可通过与系统的轴线对齐的连接器或者用与系统的轴线成一定角度的连接器连接到其它构件。将不熔物质注入到系统中的能力也可被集成到系统的构件(包括作为也可注入物质的锁定机构的一部分)中,或者可改变系统的直径、刚度和柔性并且注入物质的系统的构件中。注入系统可从系统拆卸,或者注入系统的全部或一部分可以是导航系统的附接的或集成的部分。
图7和图8示出了这些原理。如图7所示,系统700可包括内部构件710和外部构件720。内部构件710可在其中已结合有可视化元件730,其连接到成像系统(未示出)以在导航期间使得能够直接可视化。
如进一步所示,系统700可包括连接器740,诸如例如具有一个或多个注入口744的Y形连接器。Y型连接器可在一个端部处包括阀750,诸如止血阀750。该阀750可被配置为锁的一部分,或者其可被配置为用锁定构件760连接到内部构件710。Y型连接器的另一个端部可附接到流体源,以用于注入不熔材料。
图8示出了导线系统800的示例性实施例,其中内部构件810、中间构件820和外部构件830可包括锁定元件812,822,832以便锁定在一起并作为单个构件一致地工作。如在图7的系统700中,系统800可结合注入特征部。例如,锁定构件812还可将内部构件810连接到其它部件,诸如用用于注入可流动材料的一个或多个口854附接到连接器850的阀840。连接器850可与其它部件(诸如混合器860、定时注入元件870和冲洗元件880)流体连通。在待注入的材料对其具有毒性元素的情况下,混合器860可具有屏蔽件864以保护用户。
图9示出了导线系统系统900的另一个示例性实施例,其中系统900包括成像元件912,其可以是例如直接可视化元件、超声元件或其它可视化或成像元件。在一个实施例中,成像元件912与内部构件910相关联。导线系统900可具有可转向的外部元件940,并且在一个实施例中,外部元件940与外部构件930相关联。在一些实施例中,系统900还可包括用于切割组织或其它材料的切割元件950(诸如双极或单极线)。如所示出的,该切割元件950可与外部元件940的一部分相关联。
图10示出了导线系统1000的另一个示例性实施例,其中系统1000可包括用于切割组织的切割元件1050(诸如例如可供能的针刀)。在一些实施例中,切割元件1050可与内部构件1010相关联。另外,系统1000可具有成像元件1012,其可以是直接可视化元件、超声元件或其它可视化或成像元件。该成像元件1012可与外部构件1030相关联。外部构件1030还可具有用于转向系统1000的相关联的可转向元件1040,以及传递聚集的机电能量以引导针刀1050或其它器械的递送的能力。可预期的是,针刀1050可被配置为机械地切割,或者通过使用诸如双极或单极能量源的能量以用于切割组织或其它材料。如先前所描述的,内部构件和外部构件中的一个或两个可进一步包括涂层。
图11进一步示出了导线系统1100的另一个示例性实施例,其中内部构件已被抽出(未示出),并且外部构件1130被配置用于注入。例如,如所示出的,外部构件1130可具有用于注入材料(诸如递送药物)的内部管腔1160。外部构件1130还可包括聚集的机电能量元件,以将机电能量聚集在诸如血块或肿瘤的目标上,以将注入的介质或物质(例如具有可磁化纳米粒子的药物)的递送引导到血块、肿瘤或其它目标。类似于先前的系统,外部构件1130还可具有用于转向系统1100的相关联的可转向元件1140。如先前所描述的,内部构件和外部构件中的一个或两个可进一步包括涂层。
从考虑到本文公开的实施例的说明和实践,其它实施例对于本领域技术人员将是明显的。说明书和示例旨在仅被认为是示例性的,本实施例的真实范围和精神由以下权利要求书指示。
Claims (24)
1.一种导航系统,其包括:
内部构件,
外部构件,其具有内径,该内径大于所述内部构件的外径,所述外部构件包括具有不同柔性区域的柔性管,
管腔,其在所述内部构件和所述外部构件之间,
替代的管腔,其穿过所述外部构件,以及
所述构件中的一个具有远程可视化元件。
2.根据权利要求1所述的导航系统,其中所述内部构件包括导线。
3.根据权利要求2所述的导航系统,其中所述系统包括具有不同直径或刚度的一系列内部构件。
4.根据权利要求1所述的导航系统,其中构件还包括超声传感器。
5.根据权利要求1所述的导航系统,其中构件还包括压力传感器。
6.根据权利要求1所述的导航系统,其中构件还包括组织切除或消融元件。
7.根据权利要求6所述的导航系统,其还包括相机元件。
8.根据权利要求1所述的导航系统,其还包括组织收回元件。
9.根据权利要求6所述的导航系统,其中所述组织切除或消融元件包括刀、刀片、切割线或激光。
10.根据权利要求8所述的导航系统,其中所述组织收回元件包括篮或钳。
11.根据权利要求1所述的导航系统,其中所述构件中的一个或多个包括涂层。
12.根据权利要求11所述的导航系统,其中所述涂层包括PTFE、PET、疏水涂层、超疏水涂层、亲水涂层、抗炎涂层、抗菌涂层、抗微生物涂层或电响应涂层。
13.根据权利要求1所述的导航系统,其还包括用于将所述内部构件固定到所述外部构件的锁定元件。
14.根据权利要求1所述的导航系统,其还包括流体管理系统。
15.根据权利要求14所述的导航系统,其中所述流体管理系统包括具有注射口的流体连接器。
16.根据权利要求14所述的导航系统,其中所述流体管理系统包括混合器。
17.根据权利要求14所述的导航系统,其中所述流体管理系统包括定时注入元件。
18.根据权利要求14所述的导航系统,其中所述流体管理系统包括冲洗元件。
19.根据权利要求14所述的导航系统,其中所述流体管理系统中的一个或多个部件包括保护罩。
20.根据权利要求14所述的导航系统,其中所述构件中的一个被配置成递送用于将药物递送或器械引导到目标部位的定向磁能。
21.一种导航系统,其包括:
内部构件,
外部构件,其具有内径,该内径大于所述内部构件的所述外径,所述外部构件包括具有不同柔性区域的柔性管,
管腔,其在所述内部构件和所述外部构件之间,
替代的管腔,其穿过所述外部构件,以及
所述构件中的一个还具有成像能力,该成像能力除了荧光镜成像之外包括超声、磁性成像、远程可视化元件或其它可视化或成像形式。
22.根据权利要求21所述的导航系统,其中所述构件中的一个包括切割线。
23.根据权利要求21所述的导航系统,其中所述构件中的一个包括用于解剖和为组织供能的针刀。
24.根据权利要求21所述的导航系统,其中所述系统可通过其构件中的一个或多个被远程转向。
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- 2016-07-22 WO PCT/US2016/043652 patent/WO2017015594A1/en active Application Filing
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KR20180044913A (ko) | 2018-05-03 |
CA2995932A1 (en) | 2017-01-26 |
US20180235711A1 (en) | 2018-08-23 |
WO2017015594A1 (en) | 2017-01-26 |
AU2022218591A1 (en) | 2022-09-15 |
AU2020289888B2 (en) | 2022-05-19 |
AU2016297643A1 (en) | 2018-03-15 |
AU2020289888A1 (en) | 2021-01-28 |
EP3325077A1 (en) | 2018-05-30 |
KR20240015173A (ko) | 2024-02-02 |
EP3325077A4 (en) | 2019-07-03 |
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