US 12,329,410 B2
Cannulation devices, systems, and methods
Arik Levy, Herzliya (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Jun. 17, 2021, as Appl. No. 17/350,893.
Claims priority of provisional application 63/064,530, filed on Aug. 12, 2020.
Prior Publication US 2022/0047297 A1, Feb. 17, 2022
Int. Cl. A61B 17/34 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/3423 (2013.01) [A61B 2017/00017 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00991 (2013.01); A61B 2017/3443 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A cannulation tool comprising:
a body;
a plurality of tubes removably secured to the body, each tube moveable from a retracted position to an extended position, the plurality of tubes including an inner tube, an outer tube, and a set of tubes positioned between the inner tube and the outer tube, each tube of the set of tubes nested in an adjacent tube, the outer tube positioned external to the set of tubes, and the inner tube positioned internal to the set of tubes;
a gripper rod having a gripper disposed on an end thereof for forcibly moving each tube of the set of tubes, in sequence, from the retracted position to the extended position; and
an oscillation rail mounted to the body that causes the gripper rod to oscillate during an extension or retraction movement.