US 12,419,704 B2
Concentric tube robots with improved stability for minimally invasive surgery
Cesare Stefanini, Abu Dhabi (AE); Hessa Al Falahi, Abu Dhabi (AE); and Federico Renda, Abu Dhabi (AE)
Assigned to Khalifa University of Science and Technology, Abu Dhabi (AE)
Appl. No. 17/998,007
Filed by Khalifa University of Science and Technology, Abu Dhabi (AE)
PCT Filed May 19, 2021, PCT No. PCT/IB2021/054335
§ 371(c)(1), (2) Date Nov. 4, 2022,
PCT Pub. No. WO2021/234604, PCT Pub. Date Nov. 25, 2021.
Claims priority of provisional application 63/027,908, filed on May 20, 2020.
Prior Publication US 2023/0165646 A1, Jun. 1, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 18/14 (2006.01); A61B 17/00 (2006.01); A61M 25/01 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 2017/00305 (2013.01); A61B 2017/00318 (2013.01); A61B 2034/301 (2016.02); A61M 25/0113 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A robotic catheter, comprising:
a concentric arrangement of a first tube and a second tube arranged concentrically around the first tube, the first tube having a first bending resistance and a first torsional resistance, and the second tube having a second bending resistance and a second torsional resistance, wherein the first and second tubes are moveable between a first position and a second position, and wherein in the first position a first end of the first and second tubes apply a first force to a tissue and in the second position the first and second tubes apply a second force to the tissue; and
a torsional spring positioned at a second end of the concentric arrangement of the first and second tubes and coupled with the second end of the concentric arrangement of the first and second tubes, such that, when the first tube and the second tube move between the first position and the second position, the torsional spring causes the first and second tubes to counter-rotate relative to one another, causing the first end of the first and second tubes to transition between applying the first force and the second force.