US 12,295,718 B2
Steerable flexible needle with embedded shape sensing
Vincent Duindam, San Francisco, CA (US); Simon P. DiMaio, San Carlos, CA (US); David Q. Larkin, Menlo Park, CA (US); Dorin Panescu, San Jose, CA (US); and Giuseppe Maria Prisco, Calci Pisa (IT)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 13, 2023, as Appl. No. 18/154,211.
Application 18/154,211 is a continuation of application No. 16/837,159, filed on Apr. 1, 2020, granted, now 11,583,204.
Application 16/837,159 is a continuation of application No. 15/275,955, filed on Sep. 26, 2016, granted, now 10,638,953, issued on May 5, 2020.
Application 15/275,955 is a continuation of application No. 13/751,462, filed on Jan. 28, 2013, granted, now 9,636,040, issued on May 2, 2017.
Claims priority of provisional application 61/599,015, filed on Feb. 15, 2012.
Claims priority of provisional application 61/594,959, filed on Feb. 3, 2012.
Prior Publication US 2023/0148897 A1, May 18, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/06 (2006.01); A61B 10/02 (2006.01); A61B 17/3209 (2006.01); A61B 17/34 (2006.01); A61B 34/20 (2016.01); A61B 10/04 (2006.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01)
CPC A61B 5/065 (2013.01) [A61B 5/062 (2013.01); A61B 10/0233 (2013.01); A61B 17/3209 (2013.01); A61B 17/3468 (2013.01); A61B 34/20 (2016.02); A61B 2010/045 (2013.01); A61B 2017/003 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00331 (2013.01); A61B 2017/00991 (2013.01); A61B 17/3403 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
an elongate medical instrument including:
a flexible body including:
a wall including a channel;
a lumen defined by an interior surface of the wall; and
a tapered distal tip; and
a shape sensor coupled to the flexible body, wherein the shape sensor is at least partially positioned within the channel, and wherein the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body; and
an actuator for manipulating the elongate medical instrument.