US 12,127,737 B1
System and method for operating a highly maneuverable surgical catheter and bronchoscope
Gregory P. Schmitz, Los Gatos, CA (US)
Assigned to Syncrobotix, Inc., Los Gatos, CA (US)
Filed by Gregory P. Schmitz, Los Gatos, CA (US)
Filed on Jan. 25, 2024, as Appl. No. 18/422,454.
Application 18/422,454 is a continuation in part of application No. 18/324,493, filed on May 26, 2023, granted, now 11,950,765.
Claims priority of provisional application 63/618,832, filed on Jan. 8, 2024.
Claims priority of provisional application 63/603,757, filed on Nov. 29, 2023.
Claims priority of provisional application 63/499,218, filed on Apr. 29, 2023.
Int. Cl. A61B 1/00 (2006.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61M 25/01 (2006.01)
CPC A61B 17/00234 (2013.01) [A61B 34/30 (2016.02); A61B 2017/00292 (2013.01); A61B 2017/00398 (2013.01); A61B 2034/301 (2016.02); A61B 2034/303 (2016.02); A61M 25/0113 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of driving a multi-stage catheter device for traversing internal body passages, said multi-stage catheter device comprising:
a distal stage hollow catheter and a different proximal stage hollow catheter;
said distal stage hollow catheter being a rotating distal stage hollow catheter with a distal stage axis that is configured to rotate about a proximal stage axis of said different proximal stage hollow catheter;
one end of said rotating distal stage hollow catheter affixed to an end of said different proximal stage hollow catheter by a transition point coupler;
said transition point coupler configured to traverse an internal body passage;
said transition point coupler comprising a transition housing that includes a hollow rotatable coupler, said hollow rotatable coupler configured as a rotary joint to enable said one end of said rotating distal stage hollow catheter to rotate about said end of said different proximal stage hollow catheter;
said device further comprising a hollow torque shaft mounted inside said proximal stage hollow catheter and attached to said hollow rotatable coupler, said hollow torque shaft configured to convey torque to said rotatable coupler and said rotating distal stage hollow catheter;
said device further comprising at least one proximal stage steering cable connected to said transition housing, said at least one proximal stage steering cable disposed inside said proximal stage hollow catheter, outside said hollow torque shaft, said at least one proximal stage steering cable enabled to convey proximal stage steering force on said transition housing, causing said transition housing and said distal stage hollow catheter to move according to said proximal stage steering force;
said hollow torque shaft, distal stage hollow catheter, hollow rotatable coupler and said transition housing further comprising a working channel configured to convey a plurality of conduits through said proximal stage hollow catheter and said distal stage hollow catheter to at least a distal tool plate mounted on a distal end of said distal stage hollow catheter;
wherein at least some of said conduits comprise at least one distal stage steering cable configured to convey distal stage steering force to said distal tool plate on said distal end of said distal stage hollow catheter;
said at least one distal stage steering cable enabled to cause said distal tool plate and said distal stage catheter to further move according to said distal stage steering force;
said method comprising:
flexing and unflexing said end of said distal stage hollow catheter by using at least one distal stage tensioning actuator to create and release tension on at least one of said at least one distal stage steering cables while rotating said at least one distal stage steering cable in a 1:1 ratio with any rotation of at least said distal stage hollow catheter.