Precision control systems for tissue visualization and manipulation assemblies

Abstract

Precision control systems for tissue visualization and manipulation assemblies are described herein where such devices may utilize a variety of apparatus and methods for facilitating advancement, articulation, control, navigation, etc. of systems which may be used to visual and/or treat tissue regions. Additionally, methods and devices for enhancing navigation of the device through a patient body are also described.

1 - 15 . (canceled) 
     
     
         16 . A system comprising:
 a sheath instrument base including a sheath drive assembly;   an elongate flexible sheath coupled to the sheath instrument base;   a deployment instrument base including a deployment drive assembly; and   an elongate flexible deployment catheter coupled to the deployment instrument base and extendable through the elongate flexible sheath,   wherein the sheath drive assembly is configured to translate the elongate flexible sheath relative to a distal end portion of the elongate flexible deployment catheter.   
     
     
         17 . The system of  claim 16 , wherein the sheath drive assembly and the deployment drive assembly are robotically-controlled. 
     
     
         18 . The system of  claim 16 , wherein the sheath instrument base is spaced apart from the deployment instrument base. 
     
     
         19 . The system of  claim 16 , wherein the sheath instrument base is located between the deployment instrument base and elongate flexible sheath. 
     
     
         20 . The system of  claim 16 , wherein the sheath drive assembly is movable independently of the deployment drive assembly. 
     
     
         21 . The system of  claim 16 , wherein the sheath drive assembly is rotatably coupled to the sheath instrument base. 
     
     
         22 . The system of  claim 16 , wherein the elongate flexible deployment catheter extends through the sheath instrument base. 
     
     
         23 . The system of  claim 16 , further comprising a first control element coupled between the deployment drive assembly and a distal portion of the elongate flexible deployment catheter and movable by the deployment drive assembly to bend the distal portion of the elongate flexible deployment catheter in a first direction. 
     
     
         24 . The system of  claim 23 , wherein the deployment drive assembly is a first deployment drive assembly, and the system further comprises a second deployment drive assembly and a second control element coupled between the second deployment drive assembly and the distal portion of the elongate flexible deployment catheter and movable by the second deployment drive assembly to bend the distal portion of the elongate flexible deployment catheter in a second direction, opposite the first direction. 
     
     
         25 . The system of  claim 23 , wherein the deployment drive assembly includes a motor configured to move the first control element to bend the distal portion of the elongate flexible deployment catheter in the first direction. 
     
     
         26 . The system of  claim 25 , wherein the deployment drive assembly includes a spool coupled to the first control element and rotatable by the motor. 
     
     
         27 . The system of  claim 23 , wherein the first control element includes a pullwire. 
     
     
         28 . The system of  claim 23 , further comprising an imaging system carried by the distal portion of the elongate flexible deployment catheter and bendable with the distal portion of the elongate flexible deployment catheter. 
     
     
         29 . The system of  claim 23 , further comprising a light source carried by the distal portion of the elongate flexible deployment catheter and bendable with the distal portion of the elongate flexible deployment catheter. 
     
     
         30 . The system of  claim 23 , further comprising a fluid system configured to deliver a fluid through the elongate flexible deployment catheter. 
     
     
         31 . The system of  claim 16 , wherein a distal portion of the elongate flexible deployment catheter includes an articulation section defining a plane of articulation. 
     
     
         32 . The system of  claim 16  including a user input device. 
     
     
         33 . The system of  claim 32  including a processor configured to transmit control signals between the user input device and the deployment drive assembly. 
     
     
         34 . The system of  claim 33  further including a sensor carried by the elongate flexible deployment catheter, wherein the processor is configured to receive data from the sensor. 
     
     
         35 . The system of  claim 33  further including an imaging element carried by the elongate flexible deployment catheter, wherein the processor is configured to receive data from the imaging element.