US 12,127,730 B2
Direct drive endoscopy systems and methods
Barry Weitzner, Acton, MA (US); Paul J. Smith, Smithfield, RI (US); John B. Golden, Norton, MA (US); Brian J. Intoccia, Denver, CO (US); Naroun Suon, Lawrence, MA (US); and William J. Shaw, Cambridge, MA (US)
Assigned to Boston Scientific Scimed, Inc., Maple Grove, MN (US)
Filed by Boston Scientific Scimed, Inc., Maple Grove, MN (US)
Filed on Feb. 1, 2021, as Appl. No. 17/163,811.
Application 17/163,811 is a continuation of application No. 15/134,561, filed on Apr. 21, 2016, granted, now 10,939,807.
Application 15/134,561 is a continuation of application No. 11/946,779, filed on Nov. 28, 2007, granted, now 9,345,462, issued on May 24, 2016.
Claims priority of provisional application 60/909,219, filed on Mar. 30, 2007.
Claims priority of provisional application 60/872,155, filed on Dec. 1, 2006.
Prior Publication US 2021/0212557 A1, Jul. 15, 2021
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/008 (2006.01); A61B 1/012 (2006.01); A61B 1/018 (2006.01); A61B 1/045 (2006.01); A61B 1/12 (2006.01); A61B 1/313 (2006.01); A61B 10/06 (2006.01); A61B 17/00 (2006.01); A61B 17/02 (2006.01); A61B 17/04 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); A61B 90/11 (2016.01)
CPC A61B 1/00042 (2022.02) [A61B 1/00087 (2013.01); A61B 1/00147 (2013.01); A61B 1/00154 (2013.01); A61B 1/00165 (2013.01); A61B 1/018 (2013.01); A61B 1/0014 (2013.01); A61B 1/00183 (2013.01); A61B 1/0051 (2013.01); A61B 1/0052 (2013.01); A61B 1/0057 (2013.01); A61B 1/008 (2013.01); A61B 1/012 (2013.01); A61B 1/045 (2013.01); A61B 1/12 (2013.01); A61B 1/3132 (2013.01); A61B 10/06 (2013.01); A61B 2017/00212 (2013.01); A61B 17/00234 (2013.01); A61B 2017/00287 (2013.01); A61B 2017/00292 (2013.01); A61B 2017/00296 (2013.01); A61B 2017/003 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00331 (2013.01); A61B 2017/0034 (2013.01); A61B 2017/00353 (2013.01); A61B 2017/00362 (2013.01); A61B 2017/00371 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00469 (2013.01); A61B 2017/00876 (2013.01); A61B 17/0218 (2013.01); A61B 17/0469 (2013.01); A61B 17/29 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2906 (2013.01); A61B 2017/2931 (2013.01); A61B 17/320016 (2013.01); A61B 2017/3445 (2013.01); A61B 2017/3447 (2013.01); A61B 34/10 (2016.02); A61B 34/70 (2016.02); A61B 34/71 (2016.02); A61B 2034/715 (2016.02); A61B 34/74 (2016.02); A61B 2090/0811 (2016.02); A61B 90/11 (2016.02); A61B 2090/374 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A medical system comprising:
a tool including:
a body extending between a proximal end and a distal end, wherein the body defines a central channel and includes an articulation section at a distal portion of the body, the articulation section including at least one degree of freedom;
a controller configured to transmit user input to the articulation section to direct the at least one degree of freedom of the articulation section; and
at least one control member extending through a lumen defined by the body, the lumen being radially outward of the central channel, wherein a first end of the at least one control member is coupled to the controller;
a first guide tube defining a first guide channel extending from a proximal opening to a distal opening of the first guide tube, the body of the tool being disposed within the first guide channel, wherein the first guide tube includes:
a first section having two bending degrees of freedom; and
a second section having only one bending degree of freedom; and
a second guide tube defining a second guide channel extending from a proximal opening to a distal opening of the second guide tube, the first guide tube being disposed within the second guide channel, wherein the second guide tube includes a third section having two bending degrees of freedom;
wherein the tool is translatable along the first guide channel, rotatable about a longitudinal axis of the tool relative to the first guide channel, or both; and
wherein the first guide tube is translatable along the second guide channel and rotatable about a longitudinal axis of the first guide tube, relative to the second guide channel.