System and method of deploying an elongate unit in a body cavity

Abstract

A system and method are disclosed for deploying an elongated unit in a body cavity, for introducing an interchangeable tool reversibly connected to a distal end of a slender shaft. The method comprising: maneuvering a distal end of said elongated unit in a 3D coordinate system to a determined depth and orientation in said body cavity adjacent to an entry location wherein said distal end of said slender shaft emerges into said body cavity, and introducing said interchangeable tool through the lumen of said elongated unit for connecting said interchangeable tool to said distal end of said slender shaft.

What is claimed is: 
     
         1 . A method for deploying an elongated unit in a body cavity for introducing an interchangeable tool reversibly connectable to a distal end of a slender shaft, said method comprising the steps of:
 protruding said elongated unit into said body cavity through a port being arranged in direct communication with said body cavity, said elongated unit defining a lumen;   maneuvering a distal end of said elongated unit in a 3D coordinate system to a determined depth and orientation in said body cavity adjacent to an entry location wherein said distal end of said slender shaft emerges into said body cavity;   utilizing said distal end of said elongated unit at said determined depth to capture said distal end of said slender shaft into said distal end of said elongated unit upon entry of the slender shaft into said body cavity at the entry location, the entry location being a location other than through the port; and   introducing said interchangeable tool through the lumen of said elongated unit for connecting said interchangeable tool to said distal end of said slender shaft.   
     
     
         2 . The method according to  claim 1 , further comprising the step of:
 reversibly connecting said interchangeable tool to said distal end of said slender shaft after introducing said interchangeable tool utilizing said elongated unit.   
     
     
         3 . The method according to  claim 1 , comprising utilizing an endoscope situated within a tubular section of said elongated unit for monitoring said protruding, and/or said advancing, and/or said deployment, and/or said capturing, and/or said introducing of said interchangeable tool. 
     
     
         4 . The method according to  claim 1 , further comprising the step of:
 using a tool manipulator for introducing said interchangeable tool through said elongated unit and positioning said interchangeable tool eccentrically to a longitudinal axis of said elongated unit such that an inner passage of said interchangeable tool is being angled towards said distal end of said slender shaft.   
     
     
         5 . The method according to  claim 4 , wherein said inner passage of said interchangeable tool is concentric to said distal end of said slender shaft after said positioning. 
     
     
         6 . The method according to  claim 4 , comprising automatically executing said positioning via a surgical tool vectoring mechanism when said interchangeable tool is introduced into said body cavity through said elongated unit. 
     
     
         7 . The method according to  claim 4 , comprising selectively executing said positioning by an operator. 
     
     
         8 . The method according to  claim 4 , comprising predetermining an angle for said positioning of said interchangeable tool. 
     
     
         9 . The method according to  claim 4 , comprising using a constant angle for said positioning of said interchangeable tool. 
     
     
         10 . The method according to  claim 4 , comprising selectively determining an angle for said positioning of said interchangeable tool after introducing said interchangeable tool into said body cavity. 
     
     
         11 . The method according to  claim 1 , wherein said maneuvering is performed by means of an external guiding template positioned outside of said body cavity, the external guiding template including a plurality of openings. 
     
     
         12 . The method according to  claim 1 , further comprising the step of:
 housing said interchangeable tool in a cartridge.   
     
     
         13 . The method according to  claim 1 , comprising deploying a side-vision endoscope within said elongated unit for monitoring said protruding, and/or said advancing, and/or said deployment, and/or said capturing, and/or said introducing of said interchangeable tool,
 wherein said elongated unit includes a tubular section having at least one lateral window.   
     
     
         14 . The method according to  claim 1 , comprising expanding a compressible portion on said distal end of said slender shaft to lock said interchangeable tool to said distal end of said slender shaft. 
     
     
         15 . The method according to  claim 14 , wherein the expanding the compressible portion includes retracting said distal end of said slender shaft. 
     
     
         16 . The method according to  claim 14 , wherein said compressible portion includes a tubular portion that is one or more of elastic, braded, slitted, and bellowed. 
     
     
         17 . The method according to  claim 6 , the automatically executing including a spring or nitinol set actuation of the surgical tool vectoring mechanism. 
     
     
         18 . The method according to  claim 6 , the automatically executing including an electronic or robotic actuation of the surgical tool vectoring mechanism. 
     
     
         19 . The method according to  claim 1 , further comprising expanding a compressible portion on said distal end of said slender shaft to lock said interchangeable tool to said distal end of said slender shaft. 
     
     
         20 . The method according to  claim 19 , wherein said maneuvering includes advancing said distal end of said elongated unit to reach an incision or an inlet at the entry location where said distal end of said slender shaft first enters into said body cavity.