Endoluminal tool deployment system
View Patent ↗Systems, devices and methods are provided for endoscopic procedures involving tissue manipulations beyond the capabilities of traditional endoscopic instruments. Embodiments of the systems include an elongated main body having a scope therethrough and at least one steerable tool arm which extends from the distal end of the main body. In preferred embodiments, the system includes two tool arms, each arm steerable to form a curve laterally outward which then bends laterally inward so that the arms form an angular shape. In addition, end effectors extend from the distal ends of each tool arm for use in manipulation of tissue. The angular shape brings the end effectors together in view of the scope for cooperative movements which are continuously visible by the surgeon. In addition, the tool arms may be steerable in any additional direction and may be rotatable to allow grasping, elevation and more complex manipulation of tissue.
1. An endoluminal tool deployment system comprising:
an elongated main body having a distal end, a proximal end, and at least two arm guide lumens extending through at least a distal section of the elongated main body, wherein said arm guide lumens extend fully to a distal tip of the main body;
at least two tool arms adapted to extend through the arm guide lumens of the elongated main body, said tool arms emerging from the distal tip of the main body and at least one tool arm having a distal end which is positionable relative to and independently of the elongated main body; and
further comprising a deployment frame extending from the distal tip of the main body and having a peak portion that extends distally of the distal end of at least one of the tool arms, the frame comprising at least two supports each attached to one of the at least two tool arms so that manipulation of the deployment frame deflects the attached tool arms.
2. A system as in claim 1 , wherein the elongated main body has a viewing scope lumen extending therethrough and terminating in the distal tip.
3. A system as in claim 2 , wherein the distal terminations of the two arm guide lumens and the one viewing scope lumen are arranged in a generally triangular pattern on the distal tip of the main body.
4. A system as in claim 1 , wherein the tool arm is axially and rotationally translatable within the arm guide lumen.
5. A system as in claim 1 , wherein at least one of the tool arms has a steerable distal end which comprises a flexible tube having at least one pullwire attached thereto so that manipulation of the at least one pullwire deflects the steerable distal end.
6. A system as in claim 5 , wherein at least one of the tool arms has a steerable distal end which comprises a flexible tube having shape memory material so that emergence of the steerable distal end from the distal tip of the main body allows deflection of the steerable distal end to a shape memory position.
7. A system as in claim 1 , wherein the arm guide lumen extends through the distal section and terminates at a distal tip thereof.
8. A system as in claim 7 , wherein the distal section of the elongated main body has a generally cylindrical exterior and wherein the arm guide lumen does not extend out of the cylindrical exterior.
9. A system as in claim 1 , wherein at least the distal section of the elongated main body is steerable.
10. A system as in claim 9 , wherein the distal section of the elongated main body comprises a plurality of adjacent links.
11. A system as in claim 10 , further comprising a means for selectively deflecting the distal section within at least a single plane.
12. A laterally stabilized, steerable tool arm comprising:
a shaft extending distally from an elongate main body which is adapted for endoluminal advancement, the shaft having a proximal end and a distal end, wherein a distal section of the shaft comprises a plurality of adjacent links pivotally attached by hinge structures which limit deflection of the distal section to within a single plane,
wherein the distal section of the shaft is adapted to selectively deflect within the single plane when actuated from its proximal end such that the distal end is positioned directly in line with a longitudinal axis of the elongate main body and wherein the shaft is axially and rotationally translatable relative to the elongate main body;
wherein the hinge structures each include a pin, wherein the pins are disposed in parallel to limit the deflection of the distal section to within the single plane;
further comprising at least one pullwire or one pushwire for selectively deflecting the distal section, and at least one spring which is configured to straighten the distal section in opposition to the pullwire or pushwire.
13. A tool arm as in claim 12 , wherein the hinge structures comprise male and female bearing surfaces which define axes, wherein the axes are disposed in parallel to limit deflection of the distal section to within the single plane.
14. A tool arm as in claim 12 , wherein the distal end includes at least two steerable sections, wherein a distal-most steerable section includes a tip section which curves in a first direction and wherein an intermediate steerable section includes a base which curves in the opposite direction, where both curves are in the single plane.
15. A tool arm as in claim 14 , wherein the tip section curve has a radius which is greater than that of the base curve.
16. A tool arm as in claim 12 , further comprising at least one additional pullwire or pushwire for selectively deflecting the distal section.
17. A tool arm as in claim 12 , wherein the adjacent links are shaped so that the steerable distal end is deflectable to form a predetermined curvature wherein the shaft is then restricted from further deflection.
18. A tool arm as in claim 12 , wherein a tool deployment lumen extends through the shaft for passage of a tool therethrough.
19. A tool arm as in claim 18 , wherein the tool arm further comprises a steering cuff arranged for passage of the tool therethrough so that manipulation of the tool within the steering cuff steers the distal end of the tool arm.
20. A tool arm as in claim 12 , further comprising an end effector disposed on or near the distal end of the shaft.