US 12,402,913 B2
Steerable surgical devices, and methods for their use and tracking
Bardia Konh, Honolulu, HI (US)
Assigned to UNIVERSITY OF HAWAII, Honolulu, HI (US)
Filed by UNIVERSITY OF HAWAII, Honolulu, HI (US)
Filed on Nov. 1, 2021, as Appl. No. 17/516,076.
Claims priority of provisional application 63/107,917, filed on Oct. 30, 2020.
Prior Publication US 2022/0133354 A1, May 5, 2022
Int. Cl. A61B 17/34 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/3496 (2013.01) [A61B 17/3403 (2013.01); A61B 2017/00867 (2013.01); A61B 2017/3413 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A steerable surgical device comprising:
a tubular body comprising: a central longitudinal axis extending in a longitudinal direction, a base end, a distal end opposing the base end, a plurality of tubular body members including first and second tubular body members arranged between the base end and the distal end, a first tubular joint member arranged between the first tubular body member and the second tubular body member, and a longitudinal passage extending through at least the plurality of tubular body members and the first tubular joint member;
a plurality of tendon members extending from at least the first tubular body member through the first tubular joint member to the second tubular body member, wherein each tendon member of the plurality of tendon members is independently actuatable to effectuate pivotal movement between the first tubular body member and the second tubular body member; and
a moveable tray member arranged at the distal end, the moveable tray member comprising at least one lateral opening and being configured to translate in the longitudinal direction between an extended position and a retracted position, wherein when the moveable tray member is in the extended position, the at least one lateral opening is arranged to admit tissue for extraction through the longitudinal passage of the tubular body;
wherein, at the distal end, the first tubular body member comprises a plurality of longitudinally projecting portions separated by a plurality of spaces that are bordered by cutting surfaces of the first tubular body member; and
wherein the steerable surgical device is configured to permit a portion of the moveable tray member to extend in the longitudinal direction beyond the plurality of longitudinally projecting portions when the moveable tray member is in the extended position.