Cooperative access hybrid procedures
A method of operating a surgical anchoring system can include inserting an outer sleeve of a surgical instrument at least partially into a first natural body lumen, the outer sleeve having a working channel. The method can include inserting a channel arm of the surgical instrument through the working channel of the outer sleeve and into a second natural body lumen. The channel arm has at least one first anchor member coupled thereto and a control actuator operatively coupled to the at least one first anchor member. The method can include expanding the at least one first anchor member from an unexpanded state to an expanded state to form an anchor point at a portion of the second natural body lumen. The method can include controlling, by the control actuator, a motion of the channel arm to selectively manipulate an organ associated with the first and second natural body lumens.
1 . A method, comprising:
inserting an outer sleeve of a surgical instrument at least partially into a first natural body lumen, the outer sleeve having a working channel extending therethrough;
inserting at least one channel arm of the surgical instrument through the working channel of the outer sleeve and at least partially into a second natural body lumen that is in communication with the first natural body lumen, wherein the at least one channel arm has at least one first anchor member coupled thereto and at least one control actuator operatively coupled to the at least one first anchor member;
expanding the at least one first anchor member from an unexpanded state to an expanded state to form an anchor point at a portion of the second natural body lumen;
controlling, by the control actuator, a motion of the at least one channel arm to selectively manipulate an organ associated with the first and second natural body lumens; and
coordinating a motion of the at least one channel arm within the second natural body lumen with a motion of at least one instrument arranged outside of the second natural body lumen.
2 . The method of claim 1 , wherein the surgical instrument includes at least one second anchor member operatively coupled to the outer sleeve, the method further comprises expanding the at least one second anchor member from an unexpanded state to an expanded state to form an anchor point at a portion of the first natural body lumen.
3 . The method of claim 2 , wherein, the at least one second anchor member, when in the expanded state, at least partially contacts the internal surface of the first natural body lumen.
4 . The method of claim 1 , wherein, the at least one anchor member, when in the expanded state, at least partially contacts the internal surface of the second natural body lumen.
5 . The method of claim 1 , further comprising applying a force to the second natural body lumen through the at least one first anchor member to manipulate the second natural body lumen relative to the first natural body lumen.
6 . The method of claim 1 , the coordinating further comprising coordinating, with a controller, the motion of the at least one channel arm within the second natural body lumen with the motion of the at least one instrument arranged outside of the second natural body lumen to prevent tearing of the second natural body lumen.
7 . The method of claim 1 , further comprising moving, by the control actuator, the at least one first anchor member axially along a length of the at least one channel arm.
8 . The method of claim 1 , further comprising selectively locking, by a releasable locking mechanism, the at least one first anchor member at an axial position along a length of the at least one channel arm.
9 . A method, comprising:
inserting an instrument at least partially into a natural body lumen, the instrument having an anchor assembly coupled to a tubular member, the anchor assembly having a first anchor and a second anchor that is distal to the first anchor;
expanding, by rotating a plurality of actuators to expand a plurality of expandable anchoring elements of the first anchor member, the first anchor member from an unexpanded state to an expanded state to anchor the first anchor member to a first anatomical location within the natural body lumen;
expanding the second anchor member from an unexpanded state to an expanded state to anchor the second anchor member to a second anatomical location within the natural body lumen; and
moving the second anchor member relative to the first anchor member to selectively reposition the second anatomical location relative to the first anatomical location.
10 . The method of claim 9 , further comprising positioning an endoscope within a central lumen of the tubular member.
11 . The method of claim 9 , wherein expanding the first anchor member comprises deforming a plurality of expandable anchoring elements of the first anchor member such that the first anchor member contacts an inner surface of the natural body lumen at the first anatomical location.
12 . The method of claim 9 , wherein expanding the second anchor member comprises deforming a plurality of expandable anchoring elements of the second anchor member such that the second anchor member contacts an inner surface of the natural body lumen at the second anatomical location.
13 . The method of claim 9 , wherein the anchor assembly comprises the plurality of actuators, and the plurality of actuators pass through the first plurality of working channels of the first anchor member, the second plurality of working channels of the second anchor member, and the third plurality of working channels of the tubular member.
14 . The method of claim 9 , wherein the anchor assembly comprises a plurality of actuators that pass through the first plurality of working channels of the first anchor member and the third plurality of working channels of the tubular member, and wherein the method further comprises:
rotating the plurality of actuators to axially displace the second anchor member relative to the first anchor member.
15 . The method of claim 9 , wherein the anchor assembly comprises a plurality of actuators that pass through the first plurality of working channels of the first anchor member and the third plurality of working channels of the tubular member, and terminate at a proximal surface of the second anchor member, and wherein expanding the first anchor member comprises:
rotating the plurality of actuators to expand a plurality of expandable anchoring elements of the first anchor member.