METHOD OF DEPLOYING AN INTRALUMINAL DEVICE AND INTRALUMINAL SYSTEM

Abstract

A method of deploying an intraluminal device to the cardiac region of the stomach and an intraluminal system used to deploy an intraluminal device to the cardiac region of the stomach, wherein the intraluminal device has a wall defining a surface and an open portion of the surface that is adapted to be aligned with the gastroesophageal (GE) junction. The surface and the cardiac portion of the stomach are conformable with each other. The method includes deploying the intraluminal device trans-orally to the stomach with an endoscopic deployment device and retaining the device against the cardiac region of the stomach with the open portion generally aligned with the GE junction. The intraluminal device is fastened to the stomach from the abdominal cavity with at least one laparoscopic instrument while concurrently visualizing the device with an endoscope in the stomach while it is being fastened. The laparoscopic instrument is adapted to respond to the endoscope in order to adjust location between the laparoscopic instrument and intraluminal device while the laparoscopic instrument is fastening the intraluminal device.

Claims

1. A method of deploying an intraluminal device to the cardiac region of the stomach, the device comprising a wall defining a surface and an open portion said wall that is alignable with the gastroesophageal (GE) junction, said surface and the cardiac portion of the stomach conformable with each other, said method comprising: deploying the intraluminal device trans-orally to the stomach; retaining the intraluminal device in the stomach in contact with the cardiac portion of the stomach with the open portion generally aligned with the GE junction; fastening the intraluminal device to the cardiac portion of the stomach from within the abdominal cavity with at least one laparoscopic instrument; and visualizing the intraluminal device within the stomach with an endoscope during the fastening.

2. The method as claimed in claim 1 wherein said deploying comprises deploying the intraluminal device from a deployment device in the stomach and said retaining the intraluminal device comprises positioning the deployment device within the open portion of the wall in order to generally align the open portion with the GE junction.

3. The method as claimed in claim 2 wherein said retaining the device further comprises applying a proximal force on at least one retention filament connected with the wall and the retention filament passing through the esophagus.

4. The method as claim in claim 1 wherein said deployment device comprises said intraluminal device position at an exterior surface of the endoscope.

5. The method as claimed in claim 1 wherein said wall has a mean radius measured from said open portion and wherein said fastening is within a half of the radius closest to said open portion.

6. The method as claimed in claim 5 wherein said fastening is within a third of the radius closest to said open portion.

7. The method as claimed in claim 5 wherein said fastening is within a quarter of the radius closest to said open portion.

8. The method as claimed in claim 1 wherein said fastening comprises suturing with suture strands and reinforcing the suture strands at the abdominal side of each suture strand.

9. The method as claimed in claim 8 wherein said reinforcing comprises providing radial restraint to the suture strands.

10. The method as claimed in claim 9 wherein said providing radial restraint comprises engaging adjacent suture strands with each other.

11. The method as claimed in claim 8 wherein said reinforcing comprises producing scar material in the stomach tissue contacted by the suture strand.

12. The method as claimed in claim 11 wherein said producing scar material comprises positioning a biologically absorbable material between the suture strand and the stomach tissue.

13. The method as claimed in claim 12 wherein said suture stands are made from a non-absorbable material.

14. The method as claimed in claim 11 wherein said biologically absorbable material comprises multiple layers, each having a different rate of absorption.

15. The method as claimed in claim 14 wherein the layer with a highest rate of absorption is positioned against the stomach wall.

16. The method as claimed in claim 12 wherein said biologically absorbable material including a structural component that resists warping.

17. The method as claimed in claim 14 wherein the one of said layers furthest from the stomach tissue having an outer surface that is adapted to resist adhering to another surface.

18. The method as claimed in claim 12 including explanting the intraluminal device by severing the suture strands in the stomach and pulling the knots of the severed suture strands through the stomach wall into the stomach.

19. The method as claimed in claim 1 wherein said intraluminal device has a plurality of structural members and has a higher density of said structural members proximal said opening than distal said opening.

20. The method as claimed in claim 1 including a controller adjusting stress applied to the cardiac portion of the stomach with said intraluminal device.

21. The method as claimed in claim 20 including adjusting stress applied to the cardiac portion of the stomach with said intraluminal device.

22. The method as claimed in claim 20 wherein said adjusting stress comprises varying an amount of surface contact between the device wall and the stomach wall.

23. The method as claimed in claim 20 including adjusting stress applied to the cardiac portion of the stomach with said intraluminal device with at least one bladder connected with an external port.

24. The method as claimed in claim 1 wherein said intraluminal device is made at least in part from a bio-absorbable material.

25. The method as claimed in claim 1 wherein said wall includes an involute collar around said open portion.

26. The method as claimed in claim 1 wherein fastening the intraluminal device to the cardiac portion of the stomach from within the abdominal cavity comprises looping a suture strand around a structural member of the intraluminal device.

27. The method as claimed in claim 1 wherein said intraluminal device is used to treat at least one chosen from obesity, a metabolic disease, gastric reflux and hiatal hernia.

28. The method as claimed in claim 1 including explanting the intraluminal device including withdrawing the intraluminal device through the esophagus.

29. A system that is adapted to deploy an intraluminal device to the cardiac region of the stomach, the system comprising: an intraluminal device comprising a wall defining a surface and an open portion of said surface that is alignable with the gastroesophageal (GE) junction, said surface and the cardiac portion of the stomach being conformable with each other; an endoscopic deployment device that is adapted to deploying the intraluminal device trans-orally to the stomach; an endoscope that is adapted to visualize the intraluminal device in the stomach while the intraluminal device is being fastened to the cardiac portion of the stomach; and a laparoscopic instrument that is adapted to fasten the intraluminal device to the cardiac portion of the stomach from within the abdominal cavity, said laparoscopic instrument adapted to respond to said endoscope in order to adjust location between said laparoscopic instrument and said intraluminal device while said laparoscopic instrument is fastening the intraluminal device.

30. A kit that is adapted for use with an endoscope having a shaft to convert said endoscope into a combination endoscope and intraluminal device release device, said kit comprising: a holder having an inner diameter that is larger than an outer diameter of the shaft of said endoscope; an intraluminal device comprising a self-expandable wall positioned on said holder; a compression device comprising one chosen from a sleeve and a wrapped filament over said intraluminal device and adapted to keep said wall compressed to said holder; and a deploying filament adapted to extend external the patient, said deploying filament adapted to release said compression device to allow said intraluminal device to self-expand.

31. A method of converting an endoscope having a shaft to a combination endoscope and intraluminal device deploying device using the kit as claimed in claim 42, said method comprising: positioning the holder over the endoscope shaft; and positioning said intraluminal device and said compression device to said shaft by moving said intraluminal device and compression device from the holder to the endoscope shaft.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG. 1 is a perspective view of an intraluminal device deployed to a patient according to an embodiment of the invention;

[0025] FIG. 2 is a sectional view of a release device with the intraluminal device mounted therein;

[0026] FIG. 3 is a medial elevational view of an intraluminal device;

[0027] FIG. 4 medial elevational view illustrating positioning of the intraluminal device for attachment;

[0028] FIG. 5 is a sectional view taken along the lines V-V in FIG. 1;

[0029] FIG. 5A is an enlarged plan view of an alternative embodiment of a reinforcing device;

[0030] FIG. 6 is a sectional view taken along the lines VI-VI in FIG. 1;

[0031] FIG. 7 is a sectional view taken along the lines VII-VII in FIG. 5;

[0032] FIG. 8A-8E are perspective views of alternative embodiments of an intraluminal device;

[0033] FIG. 9 is a median elevational view of an adjustable embodiment of an intraluminal device;

[0034] FIG. 10 is a bottom plan view of another adjustable embodiment of an intraluminal device;

[0035] FIG. 11 is a block diagram of a method of deploying an intraluminal device according to an aspect of the invention;

[0036] FIG. 12 is a perspective view of a kit that is adapted for use with an endoscope to convert the endoscope into a combination endoscope and intraluminal device deploying device;

[0037] FIG. 13 is perspective view of a combination endoscope and intraluminal device deploying device;

[0038] FIG. 14 is an end elevational view of a filament guide;

[0039] FIG. 15 is a block diagram of a method of converting an endoscope into a combination endoscope and intraluminal device deploying device; and

[0040] FIG. 16 is a block diagram of an intraluminal system that is adapted to deploy an intraluminal device to the cardiac region of the stomach.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0041] The present invention will now be described with reference to the accompanying figures, wherein the numbered elements in the following written description correspond to like-numbered elements in the figures. A method 9 is provided for deploying an intraluminal device 10 to the cardiac region of the stomach. The intraluminal device 10 includes a wall 12 defining a surface 14 providing an open portion 16 that is alienable with the gastroesophageal (GE) junction of the patient. While open portion 16 is a generally central, through opening in wall 12 it could alternatively be a notch or other shape depending on the configuration of the intraluminal device. Wall 12 and the cardiac portion of the stomach are conformable to each other in order to stimulate baroreceptors in the wall of the cardiac portion of the stomach. This may be accomplished by the fastening of wall 12 to the stomach wall bringing the device wall and the stomach wall into physical contact in order to apply stress to the wall of the stomach. Alternatively, device wall 12 and the stomach wall may be more loosely joined so that the peristalsis of the stomach will bring the stomach wall into engagement will the device wall to stimulate baroreceptors. Detail operation of intraluminal device 10 is described in U.S. Pat. No. 7,846,174 and Patent Application Publication US 2016/0151233, the disclosures of which are hereby incorporated herein by reference in their entirely.

[0042] Wall 12 is constructed of a structural element 13 and a flexible membrane 15 between loops of the structural element. Structural element 13 can be made from any suitable material that can provide rigidity but be flexible, such as a metal such as nitinol, or a polymeric material or carbon filament of the type known in the art. Structure element 13 may take various shapes such as seen in FIGS. 6, 8A-8E and 10 in order to provide enough rigidity to wall 12 to apply suitable stress to the cardiac portion of the stomach without concentrating stress at particular locations. Yet, wall 12 is flexible enough to be able to be compressed to a deployment device 24. Flexible membrane 15 can be made from a biocompatible material such as silicone, or the like, and of a suitable thickness to provide rigidity but be flexible.

[0043] Method 9 begins by providing laparoscopic access, such as by incision, between the stomach and the diaphragm and insufflating the abdomen at 17 (FIG. 11). Also, a visualization device, such as an endoscope 25 is trans-orally deployed to the stomach and a deployment device 24 is deployed to the stomach either over the endoscope or adjacent the endoscope (FIG. 4). As seen in FIG. 2, the intraluminal device 10 may be compressed between an inner tube 62 and an outer tube 64 of deployment device 24. Intraluminal device 10 is deployed in the stomach at 18 by proximal movement of outer tube 64 with respect to inner tube 62 which allows the intraluminal device to self-expand into its use configuration in the stomach. The stomach is insufflated using the endoscope and the endoscope is retroflexed as seen in FIG. 4 in order to visualize the intraluminal device during affixation. Endoscope 25 and deployment device 24 may each be a manual instruments that are manipulated by a surgeon or may be an end-of-arm tools that are manipulated by a surgical robot of the type that is commercially available from multiple sources.

[0044] Deployment device 24, whose outer diameter is less than the diameter of opening, or open portion 16, is then positioned at 20 with its outer tube 64 within opening 16 while a proximal force is placed on retention filaments 30 which are looped around a proximal portion of the intraluminal device and extend out of the patient's mouth. The proximal force applied to the retention filaments brings intraluminal device 12 into contact with the cardiac portion of the stomach. Since the deployment device is positioned in the esophagus it generally aligns opening 16 with the GE junction so that ingested food passes through opening 16 not between wall 12 and the stomach wall. Such general alignment is also maintained with the deployment device during fastening of the intraluminal device to the stomach wall at 34.

[0045] Intraluminal device 10 is fastened at 34 from the abdominal cavity with at least one laparoscopic instrument 11, such as a laparoscopic needle or other fastening device, while visualizing the intraluminal device with endoscope 25 from within the stomach while it is being fastened at 34. The visualizing of the interaction between the laparoscopic instrument and the intraluminal device in the stomach guides further movement between the fastening device and the intraluminal device in order to properly carry out optimal fastening of the intraluminal device to the cardiac portion of the stomach. For example, if used with a surgical robot, one robot arm could operate laparoscopic instrument 11 in the form of an end of arm tool. Another robot arm could operate endoscope 25 as an end of arm tool. Images captured by the endoscope in the stomach could then be used by a common robot controller to guide movement of laparoscopic instrument 11 in order to endure proper engagement between attachment fasteners and the intraluminal device.

[0046] In the illustrated embodiment, the fastening is with sutures in the form of individual strands 36 that are arranged a generally circular pattern around the esophagus, which is generally aligned with opening 16 by release device 24, as best seen in FIGS. 4 and 5. Each suture strand is applied over a reinforcement, such as a pledgett 44, between the suture strand and the outer stomach wall. The suturing device causes the suture loop to penetrate the reinforcement 44, pass through the stomach wall as well as wall 12 of intraluminal device 10. The suture loop then directed to straddle around a structural member 13 of wall 12 and then back through wall 12, the wall of the stomach and through the reinforcement 44 under guidance from visualization with endoscope 25. The suture loop is then tied off thus forming a knot 38 using conventional techniques. All of this fastening is visualized from within the stomach using endoscope 25. The laparoscopic fastening device may be a conventional instrument that is manipulated by a surgeon or may be an end-of-arm tool that is manipulated by a surgical robot of the type that is commercially available from multiple sources.

[0047] A reinforcement in the form of a radial restraint 40 is applied to the suture strands 36 in order avoid the suture material of the strands cutting through the stomach wall and releasing the fastening of the device. Such radial constraint 40 could be applied by interweaving, or overlapping, the strands of adjacent loops 36, as best seen in FIGS. 5 and 7 so that one strand applies radial restraint to the adjacent strand and vice versa. Alternatively, radial restraint 40 could be applied by each reinforcement 44 being formed with an integral structural reinforcement in order to resist cutting of the reinforcement by the strands of suture loops 36.

[0048] Alternatively, or additionally, the reinforcement may be provided by the production of scar material, such as collagen, in the stomach tissue contacted by a pledget 44. This occurs in the illustrated embodiment, by making pledget 44 from a biologically absorbable, or re-sorbable, material of the type known in the art. Such scar material is formed concurrently with and as a result of the biological absorption of the absorbable material making up pledget 44. In the illustrated embodiment, suture stands 36 are non-absorbable. This allows intraluminal device 10 to be deployed for an extended period of time without losing strength of fastening over time from an absorbable suture. Pledget 44 may be made from multiple layers, each having a different rate of absorption. The layer with the highest rate of absorption could be positioned against the stomach wall and other layer(s) further away. The provision of an absorbable pledget thus provides two functions. It is absorbed by the patient so no laparoscopic access is needed to remove the pledget after use. Since the absorption of the reinforcement causes the formation of collagen or scar material, some reinforcement against penetration of the stomach tissue by the suture strands remains, even after the reinforcement is absorbed. However, after being severed in the stomach, the entire non-absorbed suture can be retracted to the stomach because its knots can pull through the collage in in the stomach wall.

[0049] Explantation of intraluminal device at 68, such as after weeks or months of use, or longer, as will be described in more detail below. The suture strands 36 are severed in the stomach such as with an endoscopically deployed scissors and knots 38 pulled through the stomach wall into the stomach to allow the suture strands to be removed endoscopically or pass through the intestines. While the knot would resist being pulled through a reinforcement made from a rigid material, the absorbable reinforcement should be at least mostly absorbed by the time of explantation, and replaced with scar tissue. Knots 38 can be pulled through such scar tissue yet the scar tissue is sufficiently rigid to provide reinforcement to the suture strand to resist their cutting of stomach tissue. Since the pledget 44 will have been all or mostly absorbed by the time of explantation of device 10, the device and all other components such as suture strands, can be removed endoscopically from the stomach. Therefore, no portion of the implanted device will remain behind in the patient after explanation and the explantation does not require any invasive procedure such as laparoscopic incisions. Alternatively, or additionally, radial reinforcement 40 could include making the pledget 44 with an adherence surface feature that abuts the outer surface of the stomach that causes adherence between the restraint and the stomach. That adherence further strengthens the reinforcement in order to resist buckling. The surface of the reinforcement facing away from the stomach may have a non-adherence surface to avoid adhesion with other surfaces in the abdomen.

[0050] While intraluminal device 10 is being fastening such as by suturing, a fold of stomach tissue may be made to wrap at least partially around pledget 44. An additional pledget 44a may be positioned in a traversing fashion over pledget 44 as shown in FIG. 5A. Transverse pledget 44a may be affixed more loosely than pledget 44 in order to provide additional support yet allow lateral movement of pledget 44. With a tissue fold at least partially wrapped around pledget 44, the placement of transverse pledget 44a provides the tissue fold to be sandwiched between two bio-absorbant pledgets 44, 44a. This further strengthens the tissue fold as additional collagen or scar material will form.

[0051] The severing of suture strands 36, such as with an endoscopic scissors or the like, may be conveniently performed where the suture material crosses the structural member or members 13 thus spacing the suture material from the wall of device 10. The suture loops could be removed from the patient endoscopically or left in place loosely in the stomach to be passed on by peristalsis. The intraluminal device is removed trans-orally. The openings in the stomach wall left by the suture strands will heal. Wall 12 may include an involute collar or ring around opening 16 to provide additional stiffness to wall 12 and may be large enough to capture suture loops 36. While the fastening of intraluminal device 10 is illustrated using a laparoscopic needles to apply sutures, other laparoscopic fastening techniques could be used such as applying mechanical fasteners from the abdomen.

[0052] Wall 12 of device 10 in the illustrated embodiment has a generally circular shaped circumference but may have any shape that is conformable with the cardiac portion of the stomach. For example, although as shown as circular or elliptical, device 10 could have a flower-pedal shape, or the like. Wall 12 has a mean radius 32 measured from the center of opening 16 to the outer edge. Suture loops 36 are positioned within the half of radius 32 that is closest to opening 16. The suture loops may be within the third of the radius closest to said opening and may even be within the quarter of radius 32 closest to opening 16. This is advantageous because the portion of the stomach closest to the esophagus experiences the least amount of peristalsis because the portion of the stomach at the esophagus does not substantially move. So fastening wall 12 close to opening 16 minimizes movement of the sutures in response to peristalsis of the stomach.

[0053] In an alternative embodiment, an intraluminal device 110 is able to adjust stress applied to the cardiac portion of the stomach. Referring to FIG. 9, intraluminal device 110 includes a control 50 that has an internal module 52a implanted in the patient to adjust amount of stress applied by device 110. Control 50 may further include an external module 52b that his external the patient and communicable with the internal module 52a such as by radio frequency wireless communication. External module 52b may have a user interface (not shown) for operation by the user or a practitioner. Device 110 may further have at least one bladder 54 between wall 112 and the cardiac portion of the stomach in fluid communication with at least one bladder 56 via a pump 46 that is controlled by internal control 52a. Stress can be adjusted by pumping fluid between bladder 54 and bladder 56. Instead of an electronic control, bladder(s) 52a may be connected with a port at the patient's skin surface for inflation or deflation via an external bladder or pump.

[0054] In another alternative embodiment, an intraluminal device 210 is able to adjust stress applied to the cardiac portion of the stomach. Referring to FIG. 10, intraluminal device 210 includes a control 150 that is interconnected to various portions of wall 112 by filaments 157 connected to the wall with fasteners 115. By adjusting the length of filaments 157, control 150 may reduce or increase the surface area of surface 114 in contact with the cardiac portion of the stomach to adjust the applied stress. This may be facilitated by configuring wall 112 with leaves or flower pedals (not shown) that are each connected with one filament 157 to reduce the amount of force required to change the surface area in contact with the cardiac portion of the stomach. While not shown in FIG. 10, controller 150 may have an external and internal control module as previously described. The inclusion of leaves may also make the intraluminal device more adaptable to various applications. For example, it may be applied to patients having an altered anatomy with the leaves useful for adapting to the anatomy of the patient.

[0055] The ability to adjust amount of stress applied by the intraluminal device allows the amount of satiety to be optimized to achieve desired weight loss. This may be accomplished by providing feedback to controller 150 of, for example, amount of weight loss. Controller 150 may then adjust mount of stress in order to optimize amount of satiety provided by the stress level.

[0056] FIGS. 8A through 8E show various configurations of intraluminal devices 10A-10E with configurations of structural members 13A-13E. Other configurations are possible. For example, segments of the structural members may be denser proximal the open portion of the intraluminal device than distal thereto. This increases the likelihood that suture strands will engage a structural member when the stands are placed closer to the opening.

[0057] Other variations in the intraluminal device may be provided. For example, at least one magnet may be provided on the wall of the device that is used to fasten the device to the cardiac portion of the stomach by engaging at least one magnet positioned in the abdominal cavity of the patient. Alternatively, the wall or the intraluminal device may be no larger than required to engage with the suture loops in the stomach, such as a narrow ring shape or the like. While such configuration may not provide as much stimulus of the baroreceptors in the cardiac portion of the stomach, it may provide sufficient stimulus of the receptors. Intraluminal device 10, 110, 210 may have various uses. The intraluminal device may be used as a bariatric device. The intraluminal device may be used to treat a metabolic disease. Because the intraluminal device resists upward movement to the stomach wall it may be used to treat gastric reflux disease or hiatal hernia.

[0058] In an alternative embodiment illustrated in FIGS. 12-15, the endoscope and deployment device are combined in a combination endoscope and deployment device 324. As best illustrated in FIG. 13, combination endoscope and deployment device 324 includes the intraluminal device 10 positioned at an exterior surface of shaft 325 of the endoscope. A distal end portion 326 of endoscope shaft 325 includes a steerable portion 326 that can be retroflexed to visualize intraluminal device 10 during fastening to the cardiac portion of the stomach. Intraluminal device wall 12 is a self-expandable wall that is compressed to endoscope shaft 325. A compression device 238 keeps self-expandable wall 12 compressed to endoscope shaft 325. Compression device 238 may be a sleeve over the intraluminal device, filament wrapped over intraluminal device wall 12, or the like. A deploying filament 31 extends from compression device 328 through the esophagus to external the patient where it can be manipulated by the surgeon or surgical robot. The deploying filament is adapted to release compression device 328 to allow intraluminal device 10 to self-expand in the patient's stomach. For example, if compression device 328 is a sleeve, it may be made with a series of openings so that a proximal force from the deploying filament will distort the sleeve to have an increase diameter to allow it to be slid off the intraluminal device. If compression device 328 is a filament wrapped over intraluminal device 10, the deploying filament may be an extension of the wrapped filament so that a proximal force from the deploying filament will remove the wrapped filament to allow the intraluminal device wall to self-expand.

[0059] Combination endoscope and deployment device 324 includes at least one filament guide 336 positioned on endoscope shaft 333 positioned proximal to intraluminal device 10 and adapted to guide movement of deploying filament 31. Filament guide 336 may also guide movement of retaining filaments 30. As best illustrated in FIG. 14, filament guide 336 includes a circular band 337 that can grip shaft 325 to stay in a stationary position. Filament guide 336 includes one or more guide channels 338 integral with band 337. Each guide channel 338 is for guiding movement of a retaining or a deploying filament 30, 31. In the illustrated embodiment, a plurality of filament guides 336 are spaced along shaft 325.

[0060] While combination endoscope and deployment device 324 may be supplied compete in the configuration illustrated in FIG. 13, for example as a single-use device, a kit 330 may be provide to convert a conventional endoscope to a combination endoscope and deployment device. Kit 330 includes a holder 332 having an inner diameter that is larger than the outer diameter of the shaft of said endoscope. For example, when used with a conventional endoscope having an outer diameter of from 0.9 to 1.0 cm, holder 332 may have an inner diameter of 1.2 cm. Intraluminal device 10 is compress on holder 332 by a compression device 328 made up of a sleeve or a wrapped filament over intraluminal device 10 and adapted to keep device wall 12 compressed to the holder with deploying filament 32. Kit 330 may further include at least one filament guide 336 positioned on the holder and adapted to guide movement of the deploying filament 31. Kit 330 may further includes one or more retention filaments 30 adapted to extend from the intraluminal device to external the patient, with the filament guide adapted to guide movement of the retention filaments.

[0061] A method 339 of converting an endoscope to a combination endoscope and intraluminal device is illustrated in FIG. 15. Method 339 begins at 340 by positioning kit 330 over the shaft 325 of the endoscope with filament guides 336 proximal intraluminal device 10 and compression device 328. A first filament guide is moved to the endoscope shaft at 342 by sliding the guide off of the holder and contracting to the endoscope shaft 325. The holder is then slid distally along the endoscope at 342. If another filament guide remains on the holder (344), steps 342 and 343 are repeated. If not, the intraluminal device and compression device are moved from the holder to the endoscope shaft at 345 by sliding both off the holder where they will compress further to grip the shaft. The holder is then slid off the endoscope shaft at 346 to complete the method.

[0062] The filament guides and compression device may be removed from the endoscope shaft after the intraluminal device is affixed to the patient by reversing method 339. Alternatively, holder 332 could be retained to the endoscope's shaft during use so that it is available for use to remove kit 330 after the intraluminal device is deployed. This may be accomplished by having friction members, such as wide bands, extending from one or both end of holder 332 to grip the shaft, other variations will be apparent to the skilled artisan.

[0063] Illustrated in FIG. 16 is a surgical robotic system 400 that is useful in carrying out the intention. Robotic system 400 has an esophageal robotic portion end-of-arm tool 404 that both deploys the intraluminal device in the stomach and visualizes the intraluminal device while it is being fastened. Robotic system 400 further has an abdominal robotic portion 406 that carries out fastening of the intraluminal device to the cardiac portion of the stomach from the abdominal cavity. A robotic control 402 adjusts the relative position between tools 404 and 406 to ensure that the intraluminal device is properly engaged by the fasteners and that the anatomy of the patient is not compromised by the deployment process.

[0064] Changes and modifications in the specifically described embodiments can be carried out without departing from the principles of the present invention which is intended to be limited only by the scope of the appended claims, as interpreted according to the principles of patent law including the doctrine of equivalents.