US 12,408,824 B2
Tissue visualization and manipulation system
Vahid Saadat, Atherton, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Dec. 18, 2018, as Appl. No. 16/224,158.
Application 16/224,158 is a continuation of application No. 15/999,543, filed on Aug. 20, 2018.
Application 15/999,543 is a continuation of application No. 14/662,960, filed on Mar. 19, 2015, abandoned.
Application 14/662,960 is a continuation of application No. 12/947,198, filed on Nov. 16, 2010, abandoned.
Application 12/947,198 is a continuation of application No. 11/259,498, filed on Oct. 25, 2005, granted, now 7,860,555.
Claims priority of provisional application 60/649,246, filed on Feb. 2, 2005.
Prior Publication US 2019/0125166 A1, May 2, 2019
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/015 (2006.01); A61B 1/018 (2006.01); A61B 1/04 (2006.01); A61B 1/313 (2006.01); A61B 5/00 (2006.01); A61B 5/02 (2006.01); A61B 5/05 (2021.01); A61B 8/12 (2006.01); A61B 18/02 (2006.01)
CPC A61B 1/005 (2013.01) [A61B 1/0008 (2013.01); A61B 1/00082 (2013.01); A61B 1/00085 (2013.01); A61B 1/00089 (2013.01); A61B 1/00096 (2013.01); A61B 1/015 (2013.01); A61B 1/018 (2013.01); A61B 1/04 (2013.01); A61B 1/3137 (2013.01); A61B 5/02007 (2013.01); A61B 5/6882 (2013.01); A61B 5/0031 (2013.01); A61B 8/12 (2013.01); A61B 2018/0212 (2013.01)] 9 Claims
OG exemplary drawing
 
7. A method comprising:
translating a second steerable catheter with respect to a first steerable catheter, the second steerable catheter supporting an imager attached to a distal region of the second steerable catheter and comprising a lumen for delivering an elongate instrument out the distal region of the second steerable catheter, the first steerable catheter comprising a plurality of pull wires configured to control articulation of the first steerable catheter and a lumen receiving the second steerable catheter, the lumen of the first steerable catheter opening through a distal face at a distal end of the first steerable catheter;
inserting the elongate instrument through the lumen of the second steerable catheter; and
imaging a tissue region with the imager while the elongate instrument projects distally from the lumen of the second steerable catheter.