Miniature device platform for navigation on moving organs
Inventors
Bagwell, Roger B • Park, Brian Matthew • Scruggs, Casey A • Snook, Kevin A
Assignees
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Publication Number
US-10070880-B2
Publication Date
2018-09-11
Expiration Date
Abstract
A device for gripping tissue that is inside of a patient for use in delivering therapy is provided. The device may include a first gear that rotates and that engages the tissue. A second gear that also rotates may be included and may likewise engage the tissue. A spacing mechanism may be included in the device that adjusts the spacing between the first and second gears such that the first and second gears are moved closer to one another and moved farther from one another.
Core Innovation
The disclosed invention is a device for gripping tissue having a longitudinal axis and a distal working end. It includes first and second gears positioned adjacent to one another at the distal working end and spaced apart by a selected distance, where the first and second gears are configured to engage tissue in the distance therebetween. The device further includes first and second members configured to provide rotational motion to the respective first and second gears at distal ends of the first and second members.
A user-controllable spacing mechanism is associated with the first and second gears to adjust the gears to any position between a maximum-distance first position and a minimum-distance second position. The spacing mechanism is selectively movable along the longitudinal axis of the device, where selective adjustment toward the distal working end decreases the distance between the first and second gears and selective adjustment away from the distal working end increases the distance between the first and second gears.
The invention also integrates a mounting device configured to selectively affix the tissue gripping device to an endoscope, where the first and second members extend through at least a portion of the mounting device when affixed. The endoscope includes an endoscope control body with a control body handle and an end effector control having a control housing attached to the control body handle. The end effector control includes a user-actuated grip control lever operably coupled to at least one of the user-controllable spacing mechanism, the first member, and the second member, and at least one user-actuated motor control button configured to selectively adjust torque transmission through the first and second members to control rotation of at least one of the first and second gears.
Claims Coverage
The independent claim identifies three main inventive features: adjacent tissue-engaging gears, a user-controllable axial inter-gear spacing mechanism, and an endoscope-mounted control architecture that couples a grip lever to spacing and motor controls for gear torque and rotation.
Adjacent tissue-engaging distal gears
First and second gears positioned adjacent to one another at the distal working end and spaced apart by a selected distance, wherein the first and second gears are configured to engage tissue in said distance therebetween.
Rotational-motion members for respective gears
First and second members configured to provide rotational motion respectively to said first and second gears located respectively at distal ends of said first and second members.
User-controllable axial inter-gear spacing mechanism
A user-controllable spacing mechanism associated with said first and second gears, selectively movable along said longitudinal axis to adjust said first and second gears to any position between a first position having a maximum distance between said first and second gears and a second position having a minimum distance between said first and second gears, wherein selective adjustment toward the distal working end decreases said distance and selective adjustment away increases said distance.
Endoscope mounting with extending drive members
A mounting device configured to selectively affix said tissue gripping device to an endoscope, wherein said first and second members extend through at least a portion of said mounting device when affixed to said endoscope.
Grip lever and motor controls for spacing and gear rotation
An endoscope having an endoscope control body and an end effector control with a control housing having a user-actuated grip control lever operably coupled to at least one of said user-controllable spacing mechanism, said first member, and said second member to selectively adjust the spacing between said first and second gears, and at least one user-actuated motor control button to selectively adjust torque transmission through the first and second members to said first and second gears, wherein the end effector control is configured to control the rotation of at least one of said first and second gears.
The independent claim combines the distal adjacent pair of tissue-engaging gears with an axial, user-controllable spacing mechanism that moves between maximum-distance and minimum-distance positions, together with endoscope mounting and end-effector controls that use a grip control lever for spacing adjustment and motor control buttons for torque transmission and gear rotation.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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