US 9,808,597 B2
Shape-transferring cannula system and method of use
Jaime S. Vargas, Redwood City, CA (US); and Scott Berggren, Oakland, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Jaime S. Vargas, Redwood City, CA (US); and Scott Berggren, Oakland, CA (US)
Filed on Apr. 14, 2011, as Appl. No. 13/87,156.
Application 13/087,156 is a continuation of application No. 11/479,704, filed on Jun. 30, 2006, granted, now 7,947,000.
Application 11/479,704 is a continuation in part of application No. 10/661,159, filed on Sep. 12, 2003, granted, now 8,298,161.
Claims priority of provisional application 60/409,927, filed on Sep. 12, 2002.
Prior Publication US 2011/0282149 A1, Nov. 17, 2011
Int. Cl. A61M 25/00 (2006.01); A61M 25/01 (2006.01)
CPC A61M 25/0021 (2013.01) [A61M 25/0105 (2013.01); A61M 25/0136 (2013.01); A61M 25/0138 (2013.01); A61M 25/0147 (2013.01); A61M 25/0155 (2013.01); A61M 25/0158 (2013.01); A61M 2025/0058 (2013.01); Y10T 29/49826 (2015.01)] 34 Claims
OG exemplary drawing
 
1. A method of rigidizing a plurality of serial links, wherein the plurality of serial links extends as a cantilever from a supported proximal link to a distal link, the method comprising:
holding the distal link of the plurality of serial links in a substantially fixed position when the serial links are in a non-rigidized state, wherein the plurality of serial links are coupled together to articulate relative to one another in the non-rigidized state; and
rigidizing the serial links by moving all the serial links proximal of the distal link toward the substantially fixed position distal link.