US 12,268,363 B2
Steerable apparatus having a slideable imaging probe and associated methods of use
Mimi Trinh Fitterer, Belmont, CA (US); and Serena H. Wong, Los Altos, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Apr. 20, 2021, as Appl. No. 17/235,852.
Claims priority of provisional application 63/019,167, filed on May 1, 2020.
Prior Publication US 2021/0338064 A1, Nov. 4, 2021
Int. Cl. A61B 1/00 (2006.01); A61B 1/018 (2006.01); A61B 1/05 (2006.01)
CPC A61B 1/018 (2013.01) [A61B 1/00087 (2013.01); A61B 1/05 (2013.01); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A system for removal of material from a target location, the system comprising:
an elongated shaft having a proximal portion, a distal portion, and a first elongated channel extending from the proximal portion to the distal portion;
a tool extendable through the first elongated channel; and
an imaging probe slidably disposed within a length of the first elongated channel, the imaging probe including a distal head assembly substantially centered on a proximal cable assembly, the distal head assembly configured to extend beyond a first channel opening defined in a distal surface of the distal portion to create a space between the first channel opening and a proximal surface of the distal head assembly to allow the tool to extend through the first channel opening and through the space,
wherein a shape of the distal head assembly corresponds to a shape of the first channel opening, thereby preventing the tool from extending through the first channel opening before the space between the first channel opening and the proximal surface of the distal head assembly is created, and
wherein the proximal cable assembly includes a rigidizable element configured to selectively maintain an alignment of the extended distal head assembly and the first channel opening.