Cannula system for free-space navigation and method of use
The present invention is directed to a novel shape-transferring cannula system, which provides access to tortuous and unsupported paths. The shape-transferring cannula system and method enables exploration of hollow body structures, and creates a custom-contoured access port for insertion and removal of, for example, diagnostic, surgical, or interventional instruments to and from a site within the body to which the physician does not have line-of-sight access.
1. A cannula system comprising:
a plurality of serial links;
a tensioning element comprising a proximal part and a distal part;
a static anchor; and
a dynamic anchor;
wherein a distal one of the serial links is farther from the static anchor than a proximal one of the serial links;
wherein the proximal part of the tensioning element is coupled to the static anchor, and the distal part of the tensioning element is coupled to the distal one of the serial links;
wherein the dynamic anchor moves towards the distal one of the serial links to compress all the serial links towards the distal one of the serial links; and
wherein the movement of the dynamic anchor towards the distal one of the serial links increases friction between adjacent serial links.
2. The system of claim 1 :
wherein the serial links are nested in one another.
3. The cannula system of claim 1 , further comprising:
a recirculating guide coupled to the distal one of the serial links;
wherein the tensioning element extends through the recirculating guide; and
wherein a first end and a second end of the tensioning element are coupled to the static anchor.
4. The cannula system of claim 1 , further comprising:
a recirculating guide coupled to the static anchor;
wherein the tensioning element extends through the recirculating guide; and
wherein a first end and a second end of the tensioning element are coupled to the distal one of the serial links.
5. The cannula system of claim 1 , further comprising:
a proximal recirculating guide coupled to the static anchor; and
a distal recirculating guide coupled to the distal one of the serial links;
wherein the tensioning element extends through the proximal and distal recirculating guides.
6. The cannula system of claim 1 :
wherein each of the links comprises a central orifice such that a central lumen is formed in the plurality of serial links; and
wherein the tensioning element extends outside of each link's central orifice.
7. A cannula system, in which a distal end is positioned toward a surgical site and a proximal end is remote from the distal end, comprising:
a first plurality of serial links;
a first static plate coupled via a first tensioning element to a distal link of the first plurality of serial links;
a first dynamic plate positioned to compress the first plurality of serial links towards the distal link of the first plurality of serial links;
a first actuator coupled to move the first dynamic plate towards the distal link of the first plurality of serial links;
a second plurality of serial links that extends through the first plurality of serial links;
a second static plate coupled via a second tensioning element to a distal link of the second plurality of serial links;
a second dynamic plate positioned to compress the second plurality of serial links towards the distal link of the second plurality of serial links; and
a second actuator coupled to move the second dynamic plate towards the distal link of the second plurality of serial links.
8. The system of claim 7 :
wherein the actuators comprise pneumatic actuators.
9. The system of claim 7 further comprising:
an automatic controller;
wherein the automatic controller sequentially controls the first and second actuators to automatically alternately advance the first and the second plurality of serial links.
10. A method of operating a medical device comprising a first plurality of serial links and a second plurality of serial links, the method comprising:
placing the first plurality of serial links in a rigidized state by holding a distal link of the first plurality of serial links substantially stationary while applying a compressive force to the first plurality of serial links by moving all links in the first plurality of serial links in a distal direction towards the distal link of the first plurality of serial links;
placing the second plurality of serial links in a flexible state and subsequently advancing the flexible state second plurality of serial links in the distal direction through the rigidized state first plurality of serial links;
placing the advanced second plurality of serial links in a rigidized state by holding a distal link of the second plurality of serial links substantially stationary while applying a compressive force to the second plurality of serial links by moving all links in the second plurality of serial links in the distal direction towards the distal link of the second plurality of serial links; and
placing the first plurality of serial links in a flexible state and subsequently advancing the flexible state first plurality of serial links in the distal direction over the rigidized state second plurality of serial links.
11. The method of claim 10 , further comprising:
activating a first actuator to apply the compressive force to the first plurality of serial links; and
activating a second actuator to apply the compressive force to the second plurality of serial links.
12. The method of claim 11 , further comprising:
automatically advancing the first and the second plurality of serial links by sequentially controlling the first and the second actuators with an automated controller.
13. The cannula system of claim 1 :
wherein the distal one of the serial links comprises a recirculating guide; and
wherein the tensioning element extends through the recirculating guide.
14. The cannula system of claim 1 :
wherein the static anchor comprises a recirculating guide; and
wherein the tensioning element extends through the recirculating guide.