公开(公告)号：US20210338355A1

公开(公告)日：2021-11-04

申请号：US17307649

申请日：2021-05-04

Applicant: The Regents of the University of California

Inventor： Michael Yip ,  Phil Weissbrod

IPC: A61B34/00 ,  A61B34/35 ,  A61B1/05 ,  A61B1/018 ,  A61B1/00 ,  A61B1/005

Abstract: A handheld, steerable catheter robotic system includes a catheter having a flexible outer sheath, at least one flexible multi-lumen assembly and a robotic instrument for performing a surgical procedure. The catheter is removably insertable into an instrument channel of an endoscope. The flexible multi-lumen assembly extends through the outer sheath. The robotic instrument is operatively and removably attachable to a distal end of the multi-lumen assembly such that the robotic instrument is teleoperable. The catheter robotic system also includes a handle operatively and removably attachable to a proximal end of the catheter. The handle is configured for hand-held operation and includes a joystick for steering the robotic instrument.