US 12,318,067 B2
Steerable and flexible robotic endoscopic tools for minimally invasive procedures
Jaydev P. Desai, Atlanta, GA (US); Yash Chetan Chitalia, Atlanta, GA (US); Seokhwan Jeong, Atlanta, GA (US); and Joshua J. Chern, Atlanta, GA (US)
Assigned to Georgia Tech Research Corporation, Atlanta, GA (US)
Appl. No. 17/433,165
Filed by Georgia Tech Research Corporation, Atlanta, GA (US)
PCT Filed Mar. 4, 2020, PCT No. PCT/US2020/020942
§ 371(c)(1), (2) Date Aug. 23, 2021,
PCT Pub. No. WO2020/180957, PCT Pub. Date Sep. 10, 2020.
Claims priority of provisional application 62/813,444, filed on Mar. 4, 2019.
Prior Publication US 2022/0151473 A1, May 19, 2022
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/012 (2006.01); A61B 1/018 (2006.01)
CPC A61B 1/00087 (2013.01) [A61B 1/005 (2013.01); A61B 1/0125 (2013.01); A61B 1/018 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A probe part configured to pass through a proximal end of an endoscope, though a working channel of the endoscope, and beyond a distal end of the endoscope, the probe part having a proximal end and a distal end, the probe part configured to locate the distal end of the probe part to a destination location beyond the distal end of the endoscope, the probe part comprising:
a base member defining a first bore and a spaced apart second bore passing therethrough;
a first elongated elastic member:
having a first side and an opposite second side;
including a near end secured to the base member and extending therefrom to a far end; and
defining a first channel in communication with the first bore running lengthwise along the first elongated elastic member;
a second elongated elastic member:
having a first side and an opposite second side;
including a near end and extending to an opposite far end;
defining a second channel in communication with the first channel running lengthwise along the second elongated elastic member;
an inter-joint coupling intermediate member that:
couples the second elongated elastic member to the first elongated elastic member; and
provides an intermediate portion channel between the first and second channels;
a first tendon having a first end located outside the base member, the first tendon having a portion which is disposed through the first bore which is adjacent to the first side of the first elongated elastic member, and the first tendon having a portion extending to an opposite second end located within the first channel of the first elongated elastic member, the second end of the first tendon being secured to the first elongated elastic member adjacent to the far end, the first tendon exiting through the first bore so that the first end extends outwardly therefrom, such that applying tension to the first tendon causes the first elongated elastic member to bend in the direction of the first side of the first elongated elastic member; and
a second tendon having a first end located outside the base member, the second tendon having a portion which is disposed through the second bore which is adjacent to the second side of the first elongated elastic member, and the second tendon having a portion extending to an opposite second end located within the first channel of the first elongated elastic member, the second end of the second tendon being secured to the first elongated elastic member adjacent to the far end, the second tendon exiting through the second bore so that the first end extends outwardly therefrom, such that applying tension to the second tendon causes the first elongated elastic member to bend in the direction of the second side of the first elongated elastic member.