Endoluminal tool deployment system
Systems, devices and methods for endoscopic procedures are provided involving accessing and manipulating tissues beyond the capabilities of traditional endoscopic instruments. Embodiments of the systems include an elongated main body which has one or more independently shape-lockable sections and a variety of instruments which are either built in to the main body or advanceable through lumens which extend through the main body. Such instruments may include scopes, suction instruments, aspiration instruments, tool arms, plicators, needles, graspers, and cutters, to name a few. The ability to steer and shapelock specific sections of the main body enables access to target locations which are typically challenging to reach and provides a stabilized platform to perform a desired procedure at the target location.
1 . An endoluminal apparatus comprising:
an elongated main body having a proximal section, a distal section configured for advancement through a body lumen, and a plurality of lumens extending therethrough, wherein
the proximal section is deflectable,
the distal section is steerable independently of the proximal section, and
at least one of the sections is comprised of a plurality of adjacent links which are capable of being transitioned from a flexible state to a rigidized state.
2 . The apparatus of claim 1 wherein the distal section comprises an atraumatic tip having a plurality of openings corresponding to the plurality of lumens.
3 . The apparatus of claim 1 wherein the proximal and/or distal sections are independently lockable in the rigidized state.
4 . The apparatus of claim 1 wherein the proximal section is comprised of the plurality of adjacent links, wherein each link is configured to allow rotation and the links are arranged so that the proximal section is deflectable in a plurality of planes.
5 . The apparatus of claim 1 wherein the distal section is comprised of the plurality of adjacent links, wherein each link is configured to allow rotation and the links are arranged so that the proximal section is deflectable in a plurality of planes.
6 . The apparatus of claim 1 wherein the plurality of adjacent links comprise links which are nestable relative to each other.
7 . The apparatus of claim 1 wherein the distal section is steerable within any axial plane in a 360 degree circumference around the proximal section.
8 . The apparatus of claim 7 wherein the distal section is steerable within only one of the axial planes in a 360 degree circumference around the second section.
9 . The apparatus of claim 1 further comprising at least one pullwire routed through the elongated main body, wherein compression of the plurality of adjacent links against one another relative to the pullwire transitions at least one of the sections to the rigidized state.
10 . The apparatus of claim 1 further comprising at least one liner extending along a length of the elongated main body.
11 . The apparatus of claim 10 wherein the at least one liner is torquable.
12 . The apparatus of claim 1 further comprising a plurality of liners each disposed within a corresponding lumen through the elongated main body.
13 . The apparatus of claim 12 wherein the plurality of liners are hydrophilically coated.
14 . The apparatus of claim 1 wherein at least one of the lumens is adapted for irrigation and/or suction.
15 . The apparatus of claim 1 wherein at least one of the lumens terminate in a side opening along the proximal or distal section.
16 . The apparatus of claim 1 wherein at least one of the lumens is sized for passage of an endoscope.
17 . The apparatus of claim 1 further comprising an endoscope for passage through at least one of the lumens.
18 . The apparatus of claim 17 wherein a distal end of the endoscope is positionable in an off-axis position relative to the elongated main body such that a region of interest distal to the elongated main body is viewed at an angle via the endoscope.
19 . The apparatus of claim 1 wherein at least one of the sections is comprised of a flexible or semi-flexible tube.
20 . The apparatus of claim 1 , wherein the proximal section is comprised of a continuous length of material.
21 . The apparatus of claim 1 further comprising a Y-port located along the proximal section, wherein the Y-port is in communication with at least one of the lumens extending through the elongated main body.
22 . An endoluminal apparatus comprising:
an elongated main body having a proximal section, a distal section configured for advancement through a body lumen, and a plurality of lumens extending therethrough, wherein
the proximal section is deflectable,
the distal section is steerable independently of the proximal section, and
each section is comprised of a plurality of adjacent links such that the distal section is steerable when the proximal section is transitioned from a flexible state to a rigidized state.
23 . The apparatus of claim 22 wherein the distal section comprises an atraumatic tip having a plurality of openings corresponding to the plurality of lumens.
24 . The apparatus of claim 22 wherein the proximal and/or distal sections are independently lockable in the rigidized state.
25 . The apparatus of claim 22 wherein each link is configured to allow rotation and the links are arranged so that each section is deflectable in a plurality of planes.
26 . The apparatus of claim 22 wherein the plurality of adjacent links comprise links which are nestable relative to each other.
27 . The apparatus of claim 22 wherein the distal section is steerable within any axial plane in a 360 degree circumference around the proximal section.
28 . The apparatus of claim 22 further comprising at least one pullwire routed through the elongated main body, wherein compression of the plurality of adjacent links against one another relative to the pullwire transitions at least one of the sections to the rigidized state.
29 . The apparatus of claim 22 further comprising at least one liner extending along a length of the elongated main body.
30 . The apparatus of claim 29 wherein the at least one liner is torquable.
31 . The apparatus of claim 22 further comprising a plurality of liners each disposed within a corresponding lumen through the elongated main body.
32 . The apparatus of claim 31 wherein the plurality of liners are hydrophilically coated.
33 . The apparatus of claim 22 wherein at least one of the lumens is adapted for irrigation and/or suction.
34 . The apparatus of claim 22 wherein at least one of the lumens terminate in a side opening along the proximal or distal section.
35 . The apparatus of claim 22 wherein at least one of the lumens is sized for passage of an endoscope.
36 . The apparatus of claim 22 further comprising an endoscope for passage through at least one of the lumens.
37 . The apparatus of claim 36 wherein a distal end of the endoscope is positionable in an off-axis position relative to the elongated main body such that a region of interest distal to the elongated main body is viewed at an angle via the endoscope.
38 . The apparatus of claim 22 wherein at least one of the sections is comprised of a flexible or semi-flexible tube.
39 . The apparatus of claim 22 wherein the proximal section is comprised of a continuous length of material.
40 . The apparatus of claim 22 further comprising a Y-port located along the proximal section, wherein the Y-port is in communication with at least one of the lumens extending through the elongated main body.