Patent ID: 11950765
Assignee: SYNCROBOTIX, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 19:
20. A multi-stage catheter device, said device comprising:
a distal stage hollow catheter and a proximal stage hollow catheter, one end of said distal stage hollow catheter affixed to an end of said proximal stage hollow catheter by a hollow rotatable coupler and transition housing configured to enable said one end of said distal stage hollow catheter to rotate with respect to said end of said proximal stage hollow catheter;
said device further comprising a hollow torque shaft mounted inside said proximal stage hollow catheter, said hollow torque shaft configured to convey torque to said distal stage hollow catheter;
said device further comprising at least one proximal stage steering cable connected to said transition housing, said at least one proximal stage steering cable disposed inside said proximal stage hollow catheter, outside said hollow torque shaft, said at least one proximal stage steering cable enabled to convey proximal stage steering force on said transition housing, causing said transition housing and said distal stage hollow catheter to move according to said proximal stage steering force;
said hollow torque shaft, distal stage hollow catheter, hollow rotatable coupler and said transition housing further comprising a working channel configured to convey a plurality of conduits through said proximal stage hollow catheter and said distal stage hollow catheter to at least a distal tool plate mounted on a distal end of said distal stage hollow catheter;
wherein at least some of said conduits comprise at least one distal stage steering cable connected to said distal tool plate on said distal end of said distal stage hollow catheter;
said at least one distal stage steering cable enabled to convey distal stage steering force on said distal tool plate, causing said distal tool plate and said distal stage catheter to further move according to said distal stage steering force;
wherein said device further comprises a computerized motor actuator system configured to apply variable torque to said hollow torque shaft, and variable tension to any of said at least one proximal stage steering cable and/or at least one distal stage steering cable; and
wherein said computerized motor actuator system is configured to operate according to an algorithm to reduce friction, while still guiding said catheter to a desired location, by repetitively lowering said variable tension to reduce friction, applying said torque to partially rotate said distal stage hollow catheter, and then reestablishing tension to guide said catheter to said desired location.