Articulation Systems, Devices, and Methods for Catheters and Other Uses

Abstract

Articulation devices, systems, methods for articulation, and methods for fabricating articulation structures will often include simple balloon arrays, with inflation of the balloons interacting with elongate skeletal support structures so as to locally alter articulation of the skeleton. The skeleton may include a simple helical coil. Liquid inflation fluid may be directed to the balloons from an inflation fluid canister, and may vaporize within the articulation system, with the inflation system preferably including valves controlled by a processor. The articulation structures can be employed in minimally invasive medical catheter systems.

1 .- 53 . (canceled) 
     
     
         54 . A method for catheter articulation comprising:
 coupling a manifold with a housing, the manifold having a first fluid supply channel, a second fluid supply channel, a third fluid supply channel, and a receptacle extending across a plurality of regions including a first region, a second region, and a third region, wherein the first region encompasses the first fluid supply channel, the second region encompasses the second fluid supply channel, and the third region encompasses the third fluid supply channel;   wherein the coupling of the housing with the manifold comprises detachably engaging an interface of the housing with the receptacle of the manifold, the interface including a plurality of ports including a first port, a second port, and a third port, wherein the receptacle engages the proximal interface such that the first port, the second port, and the third port are in sealed fluid communication with the first fluid supply channel, the second fluid supply channel, and the third fluid supply channel, respectively;   articulating an articulated catheter by transmitting fluid between the manifold and the housing, the articulated catheter including an elongate flexible body having a proximal end and a distal end with an axis therebetween, the interface of the housing adjacent the proximal end;   wherein fluid transmitted from the first channel of the manifold to the first port of the housing drives a first actuator at a first pressure so as to bend the axis and move the distal end of the elongate flexible body laterally along a first lateral bending orientation;   wherein fluid transmitted from second channel of the manifold to the second port of the housing drives a second actuator at a second pressure, independent of the first pressure, so as to bend the axis and move the distal end of the elongate flexible body laterally along a second lateral bending orientation circumferentially offset from the first lateral bending orientation; and   wherein fluid transmitted from third channel of the manifold to the third port of the housing drives a third actuator at a third pressure, independent of the first pressure and the second pressure, so as to bend the axis and move the distal end of the elongate flexible body laterally along a third lateral bending orientation circumferentially offset from the first lateral bending orientation and from the second lateral bending orientation.   
     
     
         55 . The method of  claim 54 , further comprising supplying pressurized fluid to the manifold from a disposable pressurized canister, the canister having a frangible seal to inhibit reuse, the pressurized fluid comprising a liquid in the canister, the liquid vaporizing to an gas in use, the pressurized canister releasably mating with a canister receptacle of the manifold so as to transmit the pressurized fluid to pressurize the channels, wherein the canister is configured so that less than 10 oz. of the fluid is contained within the canister. 
     
     
         56 . The method of  claim 54 , further comprising a fluid shutoff valve disposed upstream of the fluid channels, a vacuum source, and a vacuum sensing system;
 the actuators being disposed within a chamber and the vacuum source being coupleable thereto, the vacuum sensing system inhibiting transmission of the inflation fluid to the actuators in response to deterioration of vacuum within the chamber.   
     
     
         57 . The method of  claim 54 , wherein the manifold includes an inflation fluid source and a plurality of inflation valves disposed between the fluid source and the channels, and further comprising selectively transmitting fluid from the source to the channels so as to selectively pressurize the actuators. 
     
     
         58 . The method of  claim 57 , wherein the manifold includes at least 8 valves, and wherein the actuators drive the distal end of the catheter with at least 4 degrees of freedom. 
     
     
         59 . The method of  claim 58 , wherein the actuators comprise balloons. 
     
     
         60 . The method of  claim 54 , wherein the first bend orientation, the second bend orientation, and the third bend orientation are offset from each other by 120 degrees. 
     
     
         61 . The method of  claim 58 , wherein the actuators drive the distal end of the catheter so as to align the distal end with a target valve tissue of a heart, the catheter comprising a structural heart catheter. 
     
     
         62 . A catheter articulation method comprising:
 introducing a distal end of catheter body into a patient body, the catheter body having a proximal end and an axis between the proximal end and the distal end;   releasably coupling a fluid source to a housing with a manifold therebetween, the fluid source containing fluid including a liquid, the liquid vaporizing to a pressurized gas during use;   selectively, with the manifold, transmitting the fluid from the fluid source to a first port of the housing at a first pressure, and to a second port of the housing at a second pressure independent of the first pressure;   driving a first actuator with the fluid transmitted to the first port so as to bend the axis in a first bend orientation; and   driving a second actuator with the fluid transmitted to the second port so as to bend the axis in a second bend orientation offset circumferentially from the first bend orientation;   wherein the driving of the first and second actuators is performed with the pressurized gas so as to align the distal end with a target tissue of the patient body.   
     
     
         63 . The method of  claim 62 , further comprising selectively, with the manifold, transmitting the fluid from the fluid source to a third port of the housing at a third pressure independent of the first pressure and the second pressure; and
 driving a third actuator with the fluid transmitted to the third port of the housing so as to bend the axis with a bend offset from bends of the first actuator and the second actuator.   
     
     
         64 . The method of  claim 63 , wherein the third actuator bends the axis in a third bend orientation offset circumferentially from the first bend orientation and from the second bend orientation. 
     
     
         65 . The method of  claim 64 , wherein the first bend orientation, the second bend orientation, and the third bend orientation are offset from each other by 120 degrees. 
     
     
         66 . The method of  claim 63 , wherein the bend of the third actuator is offset axially from the bends of the first actuator and the second actuator. 
     
     
         67 . The method of  claim 62 , wherein the fluid source comprises a single-use canister having a frangible seal. 
     
     
         68 . The method of  claim 67 , wherein the canister contains less than 10 oz. of the liquid, the liquid comprising N2O or CO2. 
     
     
         69 . The method of  claim 62 , wherein the actuators drive the distal end of the catheter so as to align the distal end with a target valve tissue of a heart, the catheter comprising a structural heart catheter.