公开(公告)号：US12011246B2

公开(公告)日：2024-06-18

申请号：US18075859

申请日：2022-12-06

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Aaron Gunn ,  Philip Weissbrod ,  Michael Yip

IPC: A61B34/00 ,  A61B18/00 ,  A61B34/30 ,  A61B34/35 ,  A61M25/00 ,  A61B18/24

CPC classification number: A61B34/71 ,  A61B34/35 ,  A61M25/0026 ,  A61B2018/00541 ,  A61B2018/00577 ,  A61B18/24 ,  A61B2034/301 ,  A61B2034/742 ,  A61B34/76

Abstract: A multicatheter subsystem is provided for a steerable catheter robotic system. The subsystem includes a flexible output sheath, a plurality of flexible multi-lumen assemblies and a plurality of robotic instruments for performing a surgical procedure. The plurality of flexible multi-lumen assemblies extends through the outer sheath. Each of the multi-lumen assemblies has a proximal end and a distal end. Each of the robotic instruments is operatively and removably attachable to the distal end of one of the multi-lumen assemblies such that each instrument is teleoperable independently of every other robotic instrument. At least a first of the robotic instruments includes a plurality of interconnected articulating segments. Each of the articulating segments is operatively and removably attachable to a different one of the multi-lumen assemblies.

公开(公告)号：US11547509B2

公开(公告)日：2023-01-10

申请号：US16620007

申请日：2018-06-06

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Aaron Gunn ,  Philip Weissbrod ,  Michael Yip

IPC: A61B34/00 ,  A61M25/00 ,  A61B34/30 ,  A61B18/00 ,  A61B34/35 ,  A61B18/24

Abstract: A multicatheter subsystem is provided for a steerable catheter robotic system. The subsystem includes a flexible output sheath, a plurality of flexible multi-lumen assemblies and a plurality of robotic instruments for performing a surgical procedure. The plurality of flexible multi-lumen assemblies extends through the outer sheath. Each of the multi-lumen assemblies has a proximal end and a distal end. Each of the robotic instruments is operatively and removably attachable to the distal end of one of the multi-lumen assemblies such that each instrument is teleoperable independently of every other robotic instrument. At least a first of the robotic instruments includes a plurality of interconnected articulating segments. Each of the articulating segments is operatively and removably attachable to a different one of the multi-lumen assemblies.

公开(公告)号：US20200281666A1

公开(公告)日：2020-09-10

申请号：US16652968

申请日：2018-10-02

Applicant: The Regents of the University of California

Inventor： Aaron Gunn ,  Michael Yip ,  Philip WEISSBROD

IPC: A61B34/30 ,  A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B1/05 ,  A61B1/018

Abstract: A surgical arrangement includes an endoscope having an insertion tube with an imaging system disposed on its distal end and at least one instrument channel extending therethrough. A catheter subsystem of a steerable catheter robotic system is removably insertable into the instrument channel. The catheter subsystem includes a flexible outer sheath having a proximal end and a distal end. At least one flexible multi-lumen assembly extends through the outer sheath. The multi-lumen assembly has a proximal end and a distal end. A robotic instrument for performing a surgical procedure is operatively and removably attachable to the distal end of the multi-lumen assembly such that the robotic instrument is teleoperable