System with instrument port for epicardial ablation
An instrument port includes an elongated shaft, a bendable shaft, a steerable tip, an offset balloon, and a handle. The bendable shaft has a proximal end attached to the distal end of the elongated shaft along a shaft axis, the bendable shaft configured to bend only within a pivot plane that is defined by the shaft axis and a pivot axis that is orthogonal to the shaft axis. The steerable tip is attached to a distal end of the bendable shaft and includes a camera and a light emitter. The offset balloon is attached to the external surface of the elongated shaft and has an internal volume in fluid communication with a fluid port in the elongated shaft. The handle includes at least one lever in mechanical communication with the bendable shaft to adjust a customizable angle of the steerable tip measured between the shaft axis and the tip axis.
1. An instrument port comprising:
an elongated shaft having proximal and distal ends and extending along a shaft axis, the elongated shaft having a fluid port defined in an external surface at the distal end of the elongated shaft,
wherein the elongated shaft comprises a metal tube having a pattern of slits to increase flexibility of the elongated shaft;
a bendable shaft having a proximal end attached to the distal end of the elongated shaft along a shaft axis, the bendable shaft configured to bend only within a pivot plane that is defined by the shaft axis and a pivot axis that is orthogonal to the shaft axis;
a steerable tip attached to a distal end of the bendable shaft, the steerable tip including:
a camera disposed at a distal end of the steerable tip; and
a light emitter disposed at the distal end of the steerable tip;
an offset balloon offset proximally to the steerable tip along the shaft axis and attached to the external surface of the distal end of the elongated shaft, the offset balloon having an internal volume in fluid communication with the fluid port, the offset balloon having an inflated state and a deflated state, wherein the bending of the bendable shaft is independent of the inflated state and the deflated state of the offset balloon;
a balloon restriction tube attached to the elongated shaft and positioned over a portion of the offset balloon, such that the balloon restriction tube restricts inflation of the portion of the offset balloon,
wherein the balloon restriction tube is a horizontal cylindrical segment;
a handle attached to the proximal end of the elongated shaft, the handle including at least one lever in mechanical communication with the bendable shaft to adjust a customizable angle of the steerable tip, the customizable angle measured between the shaft axis and a tip axis,
wherein the customizable angle is within a range of −90° to 90°, and when the bendable shaft is in an unbent state:
the bendable shaft extends along the shaft axis, and
the customizable angle is 0°; and
wherein, in the inflated state, the offset balloon has a height, measured with respect to a vertical axis that is orthogonal to the shaft axis, that is greater than a bend distance, measured from the distal end of the steerable tip to an external surface on the distal end of the elongated shaft, when the customizable angle is 90°;
a fluid tube disposed in the elongated shaft, the fluid tube fluidly coupled to the fluid port;
a working tube disposed in the elongated shaft, the working tube forming a working channel to receive a medical instrument; and
an RF ablation catheter, wherein:
an internal diameter of the working channel is greater than an external diameter of RF ablation catheter, and
a fluid channel is defined between the internal diameter of the working channel and the external diameter of RF ablation catheter,
wherein the fluid channel is fluidly coupled to a flush liquid source and to a vacuum source, and wherein the bendable shaft bends without affecting any of the position, shape, orientation, or behavior of the elongated shaft.
2. The instrument port of claim 1 , wherein in the inflated state the offset balloon is radially asymmetrically inflated.
3. The instrument port of claim 2 , wherein:
the offset balloon comprises a wall having a first portion of the wall and a second portion of the wall; and
the first portion of the wall has a relatively thin wall thickness compared to the second portion of the wall that has a relatively thick wall thickness compared to the first portion of the wall, and
the first portion of the wall is on a first side of the elongated shaft.
4. The instrument port of claim 3 , wherein a second side of the elongated shaft is disposed opposite the first side of the elongated shaft, and
the balloon restriction tube is disposed on the second side of the elongated shaft, such that the offset balloon inflates on the first side of the elongated shaft and does not inflate on the second side of the elongated shaft.
5. The instrument port of claim 2 , the bendable shaft further comprising a plurality of mechanical rings disposed along the shaft axis, each of the plurality of mechanical rings coupled to another of the mechanical rings by a pair of mechanical links, wherein in the inflated state the offset balloon is radially asymmetrically inflated with respect to the shaft axis lying in an inflation plane, wherein the plurality of mechanical links enable the bendable shaft to bend in a direction corresponding to the inflation plane.
6. The instrument port of claim 1 , wherein the working tube comprises a flexible cylinder.
7. The instrument port of claim 6 , wherein the flexible cylinder comprises a wire reinforced liner.
8. The instrument port of claim 7 , wherein the wire-reinforced liner comprises a tube body comprising fluorinated ethylene propylene and a spiral wire.
9. The instrument port of claim 8 , wherein an internal surface of the flexible cylinder comprises only the tube body to form a smooth surface to receive the medical instrument.
10. The instrument port of claim 1 , wherein the metal tube comprises stainless steel.
11. The instrument port of claim 1 , wherein the pattern of slits are laser cut.
12. The instrument port of claim 1 , wherein the pattern comprises an interrupted spiral.
13. The instrument port of claim 1 , wherein:
the pattern comprises a plurality of fins that extend circumferentially on first and second sides of the metal tube, and
the fins on the first side and the fins on the second side are separated by first and second gaps, the first and second gaps extending along a plane defined by the shaft axis and an axis orthogonal to the shaft axis.
14. The instrument port of claim 1 , wherein the offset balloon has a partially-inflated state in which a partially-inflated volume of the offset balloon is in a range of about 10% to about 90% of a fully-inflated volume of the offset balloon, the offset balloon having the fully-inflated volume when the offset balloon is in a fully-inflated state.
15. The instrument port of claim 1 further comprising a valve operative to direct a liquid supplied by the liquid flush source and a vacuum supplied by the vacuum source into the working channel.
16. The instrument port of claim 1 , wherein the distal portion of the steerable tip comprises a tip channel that further defines the working channel.