US 12,076,505 B2
Magnetic connector for steerable medical device
Zachary Hamilton Haubert, Boston, MA (US)
Assigned to Canon U.S.A., Inc., Melville, NY (US)
Filed by Canon U.S.A., Inc., Melville, NY (US)
Filed on Dec. 23, 2020, as Appl. No. 17/133,184.
Claims priority of provisional application 63/062,211, filed on Aug. 6, 2020.
Claims priority of provisional application 63/062,313, filed on Aug. 6, 2020.
Prior Publication US 2022/0040450 A1, Feb. 10, 2022
Int. Cl. A61M 25/01 (2006.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 5/00 (2006.01); A61M 25/00 (2006.01)
CPC A61M 25/0127 (2013.01) [A61B 1/00121 (2013.01); A61B 1/00149 (2013.01); A61B 1/0057 (2013.01); A61B 5/0066 (2013.01); A61B 5/0075 (2013.01); A61B 5/0084 (2013.01); A61M 25/0097 (2013.01); A61M 25/0147 (2013.01); A61M 2025/0166 (2013.01); A61M 2205/332 (2013.01); A61M 2205/3327 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A robotically steerable medical apparatus, comprising:
an elongate body having a tubular opening and a plurality of channels arranged along a wall of the elongate body substantially surrounding to the tubular opening, the elongate body having a steerable section and a non-steerable section;
a drive wire arranged in a channel and configured to manipulate the steerable section of the elongate body;
an actuator unit configured to apply an actuation force to the drive wire;
a magnetic connector configured to magnetically couple the actuator unit to the drive wire; and
a controller configured to determine a coupling state of the magnetic connector and control the actuator unit according to the coupling state of the magnetic connector,
wherein, in a first coupling state of the magnetic connector where the actuator unit is magnetically coupled to the drive wire, the controller causes the actuator unit to move in a first translational motion to transmit the actuation force along the drive wire to manipulate the steerable section of the elongate body, and
wherein, in a second coupling state of the magnetic connector where the actuator unit is magnetically decoupled from the drive wire, the controller causes the actuator unit to move in a second translational motion to magnetically recouple the actuator unit to the drive wire.