Patent Document ID: 9510852
Application ID: 14540331
Patent Status: 1

Claim One:
1. An apparatus to treat tissue of a patient, comprising: an arm coupled to a base, the arm comprising a first movable configuration and a second stiff configuration; a treatment probe to treat a patient, the probe comprising an outer elongate tube having a working channel and an inner rapid exchange carrier rotatable and translatable within the working channel to position and orient a nozzle to release a pressurized stream of fluid toward the tissue, the inner rapid exchange carrier configured to be inserted and removed from a proximal end of the outer elongate tube; a processor comprising instructions to rotate and translate the inner rapid exchange carrier to treat the patient; and a linkage coupled to the processor and the treatment probe to rotate and translate the inner rapid exchange carrier in response to the instructions, the linkage comprising a first fixed portion comprising a housing, and a second moveable portion comprising an linkage tube to drive the inner rapid exchange carrier with rotation and translation, the linkage tube having an inner dimension sized to receive the inner rapid exchange carrier and a locking structure to couple the inner rapid exchange carrier with the linkage tube to move together during rotation and translation; the first fixed portion of the linkage being coupled to a proximal portion of the outer elongate tube in order for the outer elongate tube to remain substantially fixed when the linkage tube and inner rapid exchange carrier rotate and translate together to treat the patient.