Steerable devices including detachable parts

Abstract

A steering device for connection to an elongated instrument comprises: a locking plate having a coupling to which a steering plate of the instrument can be fixed so that the steering plate and the locking plate move together; and a steering unit for moving the locking plate. The elongated instrument comprises a plurality of elongated elements extending along an instrument shaft and fixed to the steering plate at a proximal end of the instrument shaft, wherein the steering plate is movably connected around a support member fixed to the shaft.

Description

Technical Field

[0001] The present invention relates to a steerable instrument for use in invasive and non-invasive type applications such as surgery. Such instruments can be used, for example, for gastroscopy, colonoscopy, endoscopy, laparoscopy and other medical applications. However, the steerable instrument according to the present invention can also be used for non-medical applications. Examples of the latter include inspection and / or repair of mechanical and / or electronic hardware in difficult to reach locations. Background Art

[0002] Transforming surgical interventions that require large incisions to expose target areas into minimally invasive surgical interventions, i.e., only natural orifices or small incisions are required to establish access to the target area, is a well-known and ongoing process. When performing minimally invasive surgical interventions, an operator such as a physician needs an access device that is arranged to introduce and guide an invasive instrument into the human or animal body via an access port in the human or animal body. In order to reduce scar tissue formation and pain in a human or animal patient, an access port is preferably provided through a single small incision in the skin and underlying tissue. In this regard, the possibility of using the body's natural orifices is even better. The access device preferably enables the operator to control one or more degrees of freedom provided by the invasive instrument. In this way, the operator can perform the desired action at the target area in the human or animal body in an ergonomic and accurate manner.

[0003] Steerable surgical invasive instruments in the fields of gastroscopy, colonoscopy, endoscopy, laparoscopy, etc. are well known in the art. The invasive instrument may include a steerable tubular device that enhances its navigation and steering capabilities. Such a steerable tubular device may include a proximal end portion, a distal end portion including at least one deflectable region, and a rigid or flexible middle portion or shaft, wherein the steerable tubular device also includes a steering arrangement at its proximal end that is suitable for deflecting the distal deflectable region relative to the central axis of the tubular device.

[0004] Most known devices are complex to manufacture, which results in expensive devices. Typically, the distal end of the device comprises a flexible zone consisting of individual links with hinge pins, coils or flexible plastic extrusions. The steering cables should be guided through holes through these links and / or through guide eyelets or hooks.

[0005] In many prior art devices, the steering arrangement includes a conventional steering cable having a diameter of, for example, less than 1 mm as a control member, wherein the steering cable is arranged between the relevant deflectable zone at the distal end part and the steering arrangement at the proximal end portion of the tubular device. Alternatively, in any embodiment shown or described herein, the control member can be realized by one or more groups of elongated elements, for example, formed by laser cutting tube elements. Further details about the design and manufacture of the above-mentioned steerable tube and its steering arrangement are described, for example, in WO 2009 / 112060A1, WO 2009 / 127236A1, WO 2017 / 213491A1 and WO 2018 / 067004. Such instruments can be advantageously used for endoscopic surgery where the length does not have to exceed, for example, 1 meter. In other embodiments, more specifically, instruments of more than one meter, for example, 1 meter to 2 meters, can be manufactured. They can be configured using elongated elements formed by cutting tube elements and / or cables or wires.

[0006] Sometimes, plastic extruded tubes can be used with integrated channels for accommodating cables. This allows the instrument to have a simple construction. However, most plastics are quite fragile. In the case of very long instruments, for example, longer than 1 meter, problems may arise due to the large forces applied to the cables, and the steering cables and actuation cables are arranged to operate the tool at the distal end of the instrument. The problem may be undesirable cutting, the slip-stick effect in the plastic tube, and the friction on the cable is usually too large, resulting in difficult and unmanageable steering of the steering cable. In addition, the mechanical properties of many plastics may be too poor to ensure sufficiently high torsional stiffness, because the instrument should be able to rotate during use, where they may have been guided through several curves that hinder the rotation of the entire instrument. Another disadvantage of plastic tubes may be that if an actuation cable is provided at the distal end of the instrument to operate the tool, the force in the actuation cable will increase to a degree that exceeds the maximum longitudinal force allowed in the extruded plastic tube. If so, it is impossible to operate the tool with acceptable force. Furthermore, if the plastic tube is arranged in a bend and large forces are applied to the actuating cable, the channel for the steering cable may be deformed, especially in the bend / deflection section, so that the steering cable is clamped and can no longer move freely, thus preventing proper operation of the steering of the distal end deflectable zone.

[0007] In medical applications where longer instruments are required, such as in colonoscopy where 1.5 meter long (or longer) instruments may be used, the requirements in terms of maneuverability, flexibility, stiffness and accuracy are severely increased. It is desirable to develop such instruments with better performance than prior art devices in terms of steerability under end effector actuation, longitudinal stiffness, torsional stiffness, durability and applicability of mechanical actuation tools at the distal end.

[0008] In medical applications, contamination of instruments after they have been used to perform surgical procedures on patients can be a problem leading to undesirable post-operative complications. Contamination can be due to blood, other body fluids, tissue, etc. As a result of contamination, instruments may contain bacteria, viruses, or other biological or chemical substances that may threaten the health of the next patient to whom the instrument is applied.

[0009] One way to avoid such contamination requires thorough cleaning and sterilization of the instruments before each use. In many cases, the cleaning process is not able to remove all contaminants, and / or is very expensive. Therefore, there is still a risk of adverse effects on the patients treated with such instruments. To prevent the risk of contamination, people tend to use single-use disposable instruments and discard them after treating one patient. Summary of the invention

[0010] According to a first aspect of the invention, a steering device for connection to an elongated instrument comprises: a locking plate having a coupling to which a steering plate of the instrument can be fixed so that the steering plate and the locking plate move together; and a steering unit for moving the locking plate. The elongated instrument comprises a plurality of elongated elements extending along an instrument shaft and fixed to the steering plate at a proximal end of the instrument shaft, wherein the steering plate is movably connected around a support member fixed to the shaft.

[0011] Such a steering device can allow for easy connection and disconnection of instruments for medical or other operations. The elongated instrument can use the elongated element for steering purposes, thereby allowing bending and movement in any number of directions controlled by the steering unit at the distal end. By having a steering plate to which the elongated element is fixed, the elongated element maintains tension for proper steering, and the steering plate allows easy connection and disconnection. This allows even non-technical personnel to quickly, securely and easily connect the instrument to the steering unit when needed. With this simple connection, the instrument can be disposable, while more complex steering devices and steering unit components are reusable.

[0012] According to one embodiment, the locking plate includes: a first plate having one or more openings for receiving one or more protrusions from the steering plate; and a second plate that can fix the one or more protrusions in the one or more openings. Optionally, the second plate is rotated from an open position to allow the one or more protrusions to move into or out of the one or more openings, reaching a locked position in which the steering plate is fixed to the locking plate and the one or more protrusions cannot move out of the one or more openings. This connection allows the instrument to be quickly, safely and easily connected and disconnected from the steering device. Although an opening and protrusion connection is shown and discussed, many other types of quick and safe connections can be used, for example, using snaps, clips, magnets, etc.

[0013] According to one embodiment, the steering unit comprises one or more frames connected around one or more axes to enable the movement of the steering plate in space. By enabling any movement of the steering plate, the movement of the device can be controlled more precisely.

[0014] According to one embodiment, the locking plate is connected to the steering unit such that the locking plate can rotate relative to the steering unit. Optionally, the locking plate is connected to the steering unit via a circumferential ball bearing. Such a connection can allow rotation of the instrument as well as bending movement at the distal end.

[0015] According to one embodiment, the elongated element is a flexible cable or wire extending through the instrument for moving the distal end of the instrument. In other embodiments, the elongated element can be a rigid cable or wire, thereby enabling push-pull movement by the steering device for very precise control of the movement of the instrument.

[0016] According to another aspect of the present invention, a slender instrument for connecting to a steering device includes: a slender shaft having a distal end and a proximal end; a steering plate located at the proximal end of the shaft, the steering plate being movably arranged around a central support member connected around the shaft, the steering plate including a coupling for connecting the steering plate to the steering device to control the movement of the steering plate; and a plurality of slender elements extending along the shaft and fixed to the steering plate at the proximal end.

[0017] Such an instrument can be used in a variety of medical procedures, wherein the elongated element and steering plate allow bending and controlled movement of the instrument in any number of directions during operation. The steering plate allows precise control of the degree and direction of bending or movement, and can be easily and quickly connected to (and disconnected from) a variety of manual or robotic steering devices. The instrument is ready for use by simply coupling, and can then be discarded after a simple detachment, leaving the most complex (and expensive) parts; e.g., steering, handles, robotic parts; for reuse with a new instrument. In some embodiments, removing the instrument from the steering device can allow for easier decontamination for reuse rather than disposal.

[0018] According to an embodiment, the plurality of elongated elements are fixed circumferentially around the steering plate.This allows the distal end of the instrument or any portion of the instrument shaft to which the elongated elements are connected to bend in any number of directions (depending on the number and layout of the elongated elements).

[0019] According to an embodiment, the coupling comprises one or more elements for releasably connecting to a locking plate of the steering device. Optionally, the one or more elements comprise one or more extensions capable of being releasably fixed to the locking plate of the steering device. The coupling may also be in different forms, for example, a steering plate with an opening and a locking plate with an extension, a coupling with a snap, a clip, etc., but a secure coupling must be provided that can be quickly and easily used to fix the device to the steering device and to disengage it when necessary.

[0020] According to an embodiment, the central support member comprises a spherical element and the steering plate is connected to the spherical element so that the steering plate can rotate around the spherical element. Such a spherical element can allow the required movement of the steering plate relative to the instrument axis while preventing any movement that could cause the elongated steering element to twist or tangle.

[0021] According to an embodiment, the plurality of elongated elements extend through a plurality of openings in the steering plate and each elongated element comprises a buckle at the proximal end for fixing the elongated element to the steering plate. Optionally, the plurality of elongated elements comprise a plurality of flexible wires or cables. Further optionally, the plurality of flexible wires or cables are tensioned between a position along the axis and the steering plate. This arrangement ensures that the elongated elements remain tensioned to the extent required for precise steering control. This is particularly important when using flexible cables or wires. The connection and tensioning can be accomplished when the instrument is manufactured so that it is simply connected to the steering unit before using the instrument for operation. In another embodiment, the coupling may be designed to tension the elongated elements or ensure proper tensioning.

[0022] According to another aspect of the present invention, a method of manufacturing a steerable instrument that can be coupled to a steering unit includes: forming an instrument having an elongated shaft and a steerable portion; movably connecting a steering plate around the shaft at a proximal end, the steering plate including a coupling for coupling the steering plate to a steering device for controlling movement of the steering plate; and connecting a plurality of elongated instruments to the steerable portion and the steering plate. This method can produce a steerable instrument that can be quickly and easily connected or disconnected from the steering device to perform an operation.

[0023] According to one embodiment, the step of connecting a plurality of elongated elements to the steerable portion and the steering plate comprises: connecting a plurality of elongated elements to a support part comprising a plurality of fingers, each of the plurality of elongated elements being connected to one of the plurality of fingers; and connecting the plurality of elements having the support part to the steerable portion and the steering plate. The use of a support part having a plurality of fingers ensures that the elongated elements are supported and in position to be easily connected to a steering device. This configuration enables the steering plate to be part of a reusable steering device rather than a disposable instrument, thereby reducing waste and cost of disposable parts of the instrument.

[0024] According to another aspect of the present invention, an elongated instrument for connecting to a steering device comprises: an elongated shaft having a distal end and a proximal end; a support part located at the proximal end of the shaft, the support part comprising a base portion and a plurality of fingers extending axially outward from a longitudinal axis; and a plurality of elongated elements extending along the shaft and fixed to the support part at the proximal end. Such a support part ensures that the elongated elements of the instrument are properly positioned to connect to the steering device for easy coupling and disengagement. The support part can also ensure that the elongated elements remain in tension for proper storage of the instrument and that the elements work as expected to control movement of the distal end of the instrument during use. The support part can be formed of metal, plastic or a combination of materials depending on the construction.

[0025] According to an embodiment, the base portion is connected around the shaft. This can be done by tight coupling, welding, bonding, gluing, screws, threads, spring elements or any other means that will fix the base portion relative to the shaft. The base portion may extend only a short distance near the proximal end of the instrument, or in some embodiments, it may extend through the length or substantially the entire length of the shaft to the distal end. The base portion ensures a stable support from which the fingers extend for properly positioning and fixing the elongated element.

[0026] According to an embodiment, the base portion comprises an elongated tube, wherein the fingers are formed by cutting the elongated tube into a plurality of longitudinal segments. Optionally, the cut may extend through the elongated tube to at least partially transfer bending forces from the proximal end of the instrument to the distal end of the elongated instrument, thereby helping to turn the distal end of the instrument. The elongated tube may be an outer tube, or may be surrounded by one or more additional tubes and / or protective layers. Using an elongated tube cut to form fingers provides a simple way of forming the support part and ensuring that the base portion and the fingers do not separate. In addition, forming the fingers from the tube for turning ensures that the elongated element is configured to be easily connected without adding additional diameters or parts to the instrument.

[0027] According to one embodiment, each of the fingers includes a collar and / or an opening to which the elongated element is fixed. The collar can be, for example, a body connected to a channel for receiving and fixing the elongated element and / or the connecting member of the elongated element on the radial inner side of the finger. The opening can be an opening of any shape in the finger (e.g., a hole, a keyhole) that can receive and fix the elongated element and / or the connecting member of the elongated element. Therefore, the elongated element is fixed to the finger for appropriate configuration to easily connect to the steering device and ensure that they will not disengage before or during use. The elongated elements are connected so that they can move longitudinally during the use of the instrument. In some embodiments, the elongated element can be tensioned by connection with the collar or opening. This can further ensure that the elongated element is properly positioned and ready for use when needed. The tensioning can be carried out by friction connection, or by combination or mechanical attachment or connection. If by combination or mechanical attachment, the attachment can be configured to break when connected to the steering device and / or when used, thereby promoting the longitudinal movement of the elongated element for appropriate steering.

[0028] According to an embodiment, the plurality of fingers of the support element can be moved from a storage position in which the fingers extend close to the longitudinal axis of the instrument to a use position in which the fingers extend outwardly from the axis. This configuration can allow for a smaller envelope for shipping and storage while allowing for easy movement into a use configuration. The ability to move the fingers closer to the longitudinal axis can also allow for the use of less packaging material due to the lower overall volume.

[0029] According to an embodiment, the fingers may be biased outwardly into a use position when at rest, thereby ensuring that the support member and instrument are ready for coupling once packaging or other material is removed.

[0030] According to an embodiment, the support member and / or the elongated instrument comprises a coupling part for coupling to a steering device. This may be in the shaft and / or the elongated element, for example a portion of a coupling part and / or a finger on the end of the elongated element may be fixed to a part of the steering device. In some embodiments, the elongated element and / or the finger is connected to a steering plate and the shaft is also connected to the steering device. The steering device may then move the elongated element longitudinally relative to the shaft, thereby controlling the movement of the distal end of the instrument.

[0031] According to an embodiment, the elongated element is a flexible wire or cable. The support part is particularly useful for flexible wires or cables because, although the individual wires or cables are flexible, the support part ensures that they are positioned to facilitate easy and proper coupling with the steering device. Optionally, the support part may even tension the wires or cables, thereby helping to ensure that they transmit the appropriate force to control the distal end or the portion of the instrument to which they are fixed.

[0032] Through the description of the present invention by non-limiting and non-exclusive embodiments, other features and advantages of the present invention will become apparent. These embodiments should not be construed as limiting the scope of protection. Those skilled in the art will recognize that other alternatives and equivalent embodiments of the present invention can be conceived and reduced without departing from the scope of the present invention. In addition, even if not clearly shown in the drawings or explained in the specification, the individual features of different embodiments may also be combined, unless such combination is physically impossible. The scope of the present invention is limited only by the claims and their technical equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be discussed in more detail below with reference to the accompanying drawings, in which like or identical reference numerals indicate like, identical or corresponding parts, and in which:

[0034] Figure 1A An apparatus having a steering device according to an embodiment of the invention is shown.

[0035] Figure 1B Shows that there is Figure 1A A device for a steering device of the vehicle, wherein the device is disconnected from the steering device.

[0036] Figure 2A A perspective view showing the end of the instrument and the locking plate of the steering device.

[0037] Figure 2B Shows Figure 2A A perspective view of an end portion of an instrument and a locking plate with the instrument separated from the locking plate.

[0038] Figure 3A A perspective view of an embodiment of the end of the instrument connected to a steering device is shown.

[0039] Figure 3B The complete instrument with steering device is shown, connected and with distal end deflection.

[0040] Figure 4 A perspective view of a rigid elongated member expanded to connect to a diverter plate is shown.

[0041] Figures 5 to 7 Different embodiments of rigid elongated members connected to a deflector plate are shown.

[0042] 8A to 9C A rigid elongated member is shown connected and locked to various embodiments of a locking mechanism for a steering device.

[0043] FIG. 10A to FIG. 10B An embodiment of a steering device having an implement coupled to the steering device is shown.

[0044] FIG. 10C to FIG. 10D Shows FIG. 10A to FIG. 10B A cross-sectional view of the coupling shown in FIG.

[0045] Fig.11 A perspective view of an embodiment of a support part connected to the end of an instrument is shown.

[0046] Fig.12 A perspective view of a second embodiment of a support member connected to an instrument end is shown.

[0047] Fig.13 A perspective view of a third embodiment of a support part is shown. DETAILED DESCRIPTION

[0048] Like reference numerals will be used in different drawings to indicate like elements.

[0049] Figure 1A A non-limiting embodiment of an apparatus 100 having a steering device 102 is shown in accordance with an embodiment of the present invention. Figure 1B The apparatus 100 is shown disconnected from the steering device 102 . Figure 2A A close-up perspective view showing the end of the instrument 100 and the locking plate 116 of the steering device 102 secured together, and Figure 2B A perspective view of the end of the disengaged instrument 100 and the locking plate 116 is shown.

[0050] The instrument 100 is schematically shown to represent any steerable instrument for use in medicine or other surgery. Suitable instrument arrangements can be found in NL2021823, filed on October 16, 2018, entitled Steerable instrument comprising a tube element and incorporated herein by reference. The instrument 100 includes an elongated shaft 106 and a plurality of elongated elements 108 arranged around a central axis 109. The elongated elements 108 shown are flexible cables or wires that extend along the instrument shaft 106 and are connected to a steering plate 110 at the proximal end of the instrument and to a distal deflectable section (not shown) at the distal end of the instrument. Alternatively, such elongated elements may be realized by longitudinal strip elements in a tubular element and separated by longitudinal slots produced by laser cutting a predetermined pattern in a cylindrical tube as explained, for example, in WO 2009 / 112060 A1, WO 2009 / 127236 A1, WO 2017 / 213491 A1 and WO 2018 / 067004, or by rigid cables or wires.

[0051] The steerable instrument may include a handle disposed at a proximal end, a handle disposed at a distal end, and a handle disposed at a distal end. FIG. 10A to FIG. 10D ) and / or for manipulating a tool disposed at the distal end of the instrument. For example, such a tool may be a camera, a manual manipulator, such as a pair of scissors, a manipulator using an energy source such as electrical, ultrasonic or optical energy. The type of tool applied at the distal end of the instrument is not limited. The type of handle or robotic steering unit and / or connection will be selected depending on the type of tool applied at the distal end, the intended use and other instrument or operation requirements.

[0052] The steering plate 110 of the instrument 100 is movably connected to a support member 111, which is shown as a spherical shape in this embodiment, but can be shaped differently in different embodiments. In some embodiments, the steering plate 110 can be connected in different ways (e.g., directly connected to a channel or locking plate) and / or does not include a support member 111. The support member 111 is rigidly connected around the shaft 106 at the proximal end of the shaft 106. The steering plate 110 can deflect (but not rotate) around the support member 111. For example, this can be accomplished by pins and grooves in the support member 111 and the steering plate 110, respectively. Such movement enables the steering plate 110 to move for steering operations, but prevents a complete rotation that can result in the winding of the elongated element 108, which can result in a loss of steering ability and reduced control of the deflection of the distal end of the instrument 100.

[0053] Each elongated element 108 is connected through an opening 112 in the steering plate 110 and is fixed to the steering plate 110 in one of a variety of different ways (e.g., curling, bending the end of the element, attaching a ball or other device larger than the opening to the end of the element, etc.). The elongated elements 108 are generally connected to different parts of the steering plate 110 circumferentially around the steering plate 110. Although the connection of the elongated elements 108 to the steering plate 110 is depicted as open; in the instrument in use, the elements 108 and possible steering plates 110 may be covered by, for example, sleeves. The fixing of the elongated elements 108 to the steering plate 110 is generally completed at the time of manufacture, so that the instrument 100 can be transported to a ready-to-use position by a simple connection with the steering device 102. Different instruments may include different numbers of elongated elements 108 depending on the desired deflection capacity.

[0054] Attached to the steering plate 110 are three axially extending tabs 114 for connecting the instrument 100 to a locking plate 116 of the steering device 102. Different embodiments may have more or fewer connection points and / or may include different releasable coupling arrangements for connecting the instrument 100 to the steering plate 110 and the steering device 102.

[0055] The steering device 102 includes a locking plate 116, a first plate 118 having an opening 120, and a second plate 122 having a fixing slot 123 (see Figure 2A ) to form a bayonet fitting. The first plate 118 is rotatably connected to the second plate 122 so that the second plate 122 can be in an open position in which the wider portion of the fixed slot 123 is aligned with the opening 120 to a closed position in which the narrower portion of the fixed slot 123 is aligned with the opening 120 (see Figure 2A In the closed position, the protrusion 114 is fixed in the opening 120 and the diverter plate 110 is thereby fixed to the locking plate 116 to move together with the locking plate 116 .

[0056] The locking plate 116 is connected to the steering unit. A simple version of the steering device 102 and the connection is shown in Figure 1A to Figure 1B 1, where the locking plate 116 is connected to the actuator 124 about the hinge axis 126. Other embodiments may include another frame having another hinge axis (see, e.g. FIG. 3A to FIG. 3B ) to achieve any movement of the steering plate 110 (and the locking plate 116) in space. The steering device 102 can be controlled manually, or by robot control, or a combination of the two.

[0057] like Figure 1A and Figure 2AAs shown, the instrument 100 is connected to the steering device 102 via the steering plate 110 connected to the locking plate 116 by securing the protrusion 114 in the opening 120. The second plate 122 is rotated so that the protrusion is secured by the slot 123 and cannot return through the opening 120.

[0058] The instrument 100 can then be controlled by the steering device by moving the locking plate 116 using the actuator 124. When the steering plate 110 is fixed to the locking plate 116, the steering plate 110 will move as the locking plate 116 moves around the support member 111, thereby causing tension in some elements 108 and tension in other elements 108. This will cause the elements 108 of the instrument 100 to be connected to (such as Figure 3B In some embodiments, the element 108 may be connected at a point along the instrument 100 shaft 106 (not at the very distal end), thereby causing the portion of the instrument shaft 106 to which the element 108 is connected to bend or deflect. Any number of deflection or bending zones may be included by using an appropriate number of elongated elements 108 and connecting them at appropriate locations along the length of the instrument 100. In addition, the amount of angular deflection may be reduced from the proximal end to the distal end by connecting the elements at the proximal end at a point at a greater radial distance around the longitudinal axis than at the distal end. This results in a larger movement at the proximal end being converted into a smaller deflection at the distal end to ensure precise and accurate movement of the tool at the distal end. In some embodiments, the instrument may be configured in an opposite manner such that movement from the proximal end is amplified at the distal end.

[0059] When the operation or procedure is completed, the instrument 100 can be easily and quickly disconnected from the steering device 102. This is done by rotating the second plate 122 to the open position and moving the instrument 100 so that the steering plate 110 and the protrusion 114 are axially away from the steering device 102 and move out of the opening 120. The instrument 100 can then be discarded, and the steering device 102 can be used for use with a new cleaning instrument 100 for further operation. In some embodiments, the instrument 100 can be sent for cleaning and disinfection to prepare for reuse. In such embodiments, the ability to disconnect the part that needs to be cleaned can help ensure that appropriate cleaning and disinfection can be completed. For example, the disconnected instrument can be placed in a sanitary treatment room, while the undisconnected instrument may not be due to size and / or other sensitive components.

[0060] As discussed in the background, reusable past instruments need to go through a lot of cleaning and decontamination operations to be safely reused. This is a time-consuming process that does not always eliminate all contaminants. Some steerable instruments are disposable, to avoid the time, cost and risk of trying to clean, but it is quite expensive to handle complete instruments after each operation. By using a steering device 102 that can be connected to and disengaged from the instrument 100 in a fast, easy and safe manner, the only part of the instrument that experiences contamination (or in some cases is cleaned and disinfected) can be discarded, and other parts can be safely reused without a lot of decontamination processes. Since the steering portion of such instruments may be a complex and relatively expensive part, it is possible to disengage the exposed portion of the instrument from the steering portion, and only disposing of the exposed portion has great economic benefits and causes less waste. Use a quick and simple connection between the steering plate 110 and the locking plate 116 of the steering device 102 to realize the quick connection and disengagement of the disposable instrument 100 at the use position with the reusable steering device 102, and it is carried out by untrained or untechnical personnel.

[0061] Figure 3A A perspective view of a second embodiment of an end portion of the apparatus 100 connected to a steering device 102 including a schematic depiction of a robot space 129, and Figure 3B The complete instrument 100 is shown with the steering device 102 connected and with the deflection of the distal end. Figures 1A to 2B is shown coupled to the steering device 102, wherein the steering plate 110 is coupled to the locking plate ( FIG. 3A to FIG. 3B not shown).

[0062] The steering device 102 includes an inner frame 130 connected to an outer frame 131 at an articulation axis 134 so that the inner frame 130 can rotate within the outer frame 131 about the axis 134. The rotation about the axis 134 is controlled by the actuator 124. The outer frame 131 is connected to the steering device 102 at the articulation axis 132 (this connection is not shown). Figure 3A , Figure 3B130). The rotation about axis 132 is also controlled by actuator 124. This suspension about two axes 132 and 134 allows the steering plate 110 to move at any angular position in space. The steering plate 110 is also circumferentially connected to the inner frame 130 by a ball bearing suspension so that the steering plate 110 and therefore the instrument 100 can rotate within the inner frame 130. This rotation suspension can be a rotation bearing between the locking plate 110 and the inner frame 130, but can be done in other ways in different embodiments. The rotation causes the locking plate 110 (and therefore the rotating element 108) and all instruments including the instrument shaft 106 to rotate. Typically, the shaft 106 (or another tube of the instrument 100) is configured to ensure that the instrument stays in the desired deflection position, thus ensuring that the rotation is along the longitudinal axis and does not cause the orbital rotation of the deflection end. This ensures that the cable 108 will not be twisted by the rotational movement and the end can rotate while maintaining its spatial orientation.

[0063] Figure 3B An example of deflection of the steering plate 110 causing deflection of the distal end of the instrument 100 is shown. The actuator 124 moves the inner frame 130 so that it deflects in a particular direction. This results in tension in some wires and slack in other wires, thereby causing deflection of the distal end. For different deflections, the steering mechanism 102 can cause the frame 131 to rotate about the axis 132. By rotating the steering plate 110 relative to the inner frame 130, the instrument 100 can also rotate at this bent position. The rotation of the instrument 100 is translated to the distal end by the shaft, inner tube and / or outer tube. The distal end of the instrument 100 (with possible tools) is then rotated. Some embodiments may include wires that are connected in different ways at the distal end (e.g., rotated 180 degrees) so that they cause opposite deflections of the distal end for the same movement depicted in the steering device 102. As described above with respect to Figure 1A to Figure 1B As discussed, the deflection movement may increase or decrease.

[0064] like FIG. 3A to FIG. 3B As can be seen in the figure, the suspension and control by the steering device 122 can be complex in order to achieve movement in any three-dimensional plane and rotational movement of the steering plate 110, and therefore any bending or rotation of the instrument 100. By using the steering plate 110 to which the elongated element 108 of the instrument is fixed, and providing a quick but simple and secure connection with the locking plate 116, the steering device 102 can be reused while allowing the use of disposable instruments 100. This makes more complex steering devices 102 possible, which is particularly useful in robotic applications.

[0065] Figures 1A to 3BAn instrument using a flexible wire or cable as the elongated element 108 for controlling the instrument is shown. Such an instrument requires the elongated element 108 to be connected to a steering plate 110, which is connected to the shaft 106 (via a support member 111) or another fixed connection at the proximal end to ensure that the elongated element 108 is maintained in tension to achieve proper steering movement when connected to the steering plate. Such tensioning may be accomplished at the time of manufacture and / or may be accomplished in part by a coupling for coupling to the steering device 102 (e.g., see FIG. 10A to FIG. 10D ). The movement of the steering device 102, which causes the steering plate 110 to move, causes the instrument to move, particularly to bend at the distal end. The frames 130, 131 are then Figure 3A 132, the elongated elements 108 are in a resting position and the instrument is generally extended straight along its longitudinal axis (or any resting position for which the instrument is configured). When the steering device 102 causes one of the frames to move, such as bending about the axis 132, the elongated elements on one side of the axis 132 are pulled into tension, and the elongated elements on the opposite side move to a relaxed position. This causes the distal tip to bend in 3D space because the tensioned elongated elements pull the distal tip of the instrument 100 in the direction, while the relaxed elements allow the bending movement. Of course, performing more complex bending and / or rotational movements can be performed by using the frame and the axis of rotation, especially when the robotic steering device 129 is used to control precise movements.

[0066] Figures 4 to 10D An alternative embodiment is shown that may use a cable, wire or other elongated element that is rigid in the longitudinal direction (these figures show the elongated strips only as a schematic diagram). An instrument using such a rigid cable or wire 108 will have additional deflection capabilities because the element 108 can be pushed or pulled by the steering plate 110 for precise deflection of the distal tip of the instrument 100. In addition, the longitudinal stiffness of the rigid cable or wire may eliminate the need to connect the steering plate 110 to the shaft 106 because the rigid elongated element will not need to be tensioned to the steering plate 110. Therefore, they can be directly connected to the steering / locking plate, as shown in the embodiments below.

[0067] Figure 4 The rigid elongated element 408 is shown expanded to connect to the steering unit as part (rather than as Figures 1A to 3B An example of a deflector plate of a portion of a disposable device as seen in FIG. Elongated element 408 is arranged to extend outwardly from a central axis 409 of the device through a cone 402, wherein the cone 402 is arranged around shaft 406 so that the elongated element 408 expands through the outer surface of the rod cone 402.

[0068] It should be understood that any other suitable device or method may be used to appropriately position the elongate element at the proximal end such that the elongate element extends outwardly from the central axis of the instrument.

[0069] Figure 5 A steering device 500 is shown with an implement connected, according to one embodiment.

[0070] The steering device 500 includes a support member 502 and a steering member 504. The support member 502 includes a spherical element traversed by a first channel 508, wherein the first channel 508 has a circular shape and extends from a proximal end 510 of the steering device 500 to a distal end 512 of the steering device 500. The first channel 508 extends from the spherical element 506 at the proximal end of the steering device 500, thereby defining a hollow tube 514 extending outwardly from the spherical element.

[0071] The steering member 504 includes a steering plate 516 and a second channel 518 located in the center of the steering plate 516, wherein the second channel 518 includes a circular shape. The support member 502 is arranged in the second channel 518 so that the steering member 504 can move around the spherical element 506 (but not as much as with respect to Figures 1A to 2B The first channel 508 is rotated about the central axis 530 as explained above), and the central axis 520 of the first channel 508 is made coincident with the central axis 530 of the second channel.

[0072] The deflector plate 516 includes a plurality of grooves 532 extending inwardly from the circumference of the deflector plate 516 , wherein the grooves 532 have a U-shape, but may take a variety of different shapes in different embodiments.

[0073] The steering device 500 is arranged to be attached to the instrument in the following manner. Each slender element 408 includes a connecting part 509 that can be assembled into the groove 532 and fixed in the groove 532. In this case, the T-shaped connection is formed to have a narrower part to enter the groove and a wider part at the end to ensure that longitudinal movement of the slender element is not allowed once connected. The inner shaft 406 of the instrument is introduced into the side of the first channel 508 of the support member 502 located at the distal end of the steering device 500, so that the central axis 409 of the instrument coincides with the central axis 520 of the first channel, and so that the connecting part 509 of the slender element 408 is aligned with the groove 532. The connecting part 509 of the slender element 408 is then pushed into the groove 532 so that the upper wider part of the T is fixed at the proximal side of the steering plate, as shown. Figure 6 shown.

[0074] Once the elongated element 408 is secured to the steering plate 516, movement of the steering plate 516 about the support element 506 pushes or pulls the elongated element 408, thereby causing distal deflection (eg, Figure 3B as seen).

[0075] Figure 7 Shows Figure 5 An alternative embodiment of the steering device 500 of FIG. 500 is shown in FIG. 500 , wherein the steering plate 516 includes a plurality of openings 702 instead of a circumferential groove. The manner of attaching the instrument to the steering device 700 is similar to that of the reference Figure 5 In the manner explained above, but in this embodiment, the connecting parts 509 of the elongated elements are pushed against the openings so that they "snap" into the receiving parts of the receiving part deflector plate 516. As can be seen in this embodiment, the connecting parts snap into complementary shaped receiving parts in the deflector plate 516, with the central opening and the ramp guiding the snap feature (here, the wider "top" of the T-shaped connecting part 509) into a fixed position.

[0076] Fig. 8A and Figure 8B Shows Figure 6 An embodiment further comprises a locking mechanism in the form of a locking plate 804. Fig. 8A and Figure 8B The locking mechanism 802 is shown in an open position ( Fig. 8A ) and the closed position ( Figure 8B ) between the

[0077] from Fig. 8A As can be seen in FIG. 1 , the steering device 500 and the instrument are coupled to each other so that the elongated element 408 is placed in the groove 532, as shown in FIG. Figure 5 Explained. Fig. 8A A locking mechanism 802 for securing the elongated element 408 to the steering member 504 is shown, wherein the locking mechanism 802 is in an open position so that the elongated element 408 can be inserted into or removed from the groove 532. The locking mechanism 802 includes a locking plate 804 having a circular shape with an opening at the center so that the tube 514 of the support member 502 can pass through the opening. The locking plate 804 can be axially moved from an open position in which the elongated element 408 is inserted into or removed from the groove 532 to a locked position in which the elongated element is secured within the opening, for example, the locking plate 804 can be moved toward or away from the steering device 500 along the central axis 806 and / or can be moved in a rotational manner.

[0078] Figure 8B Shows Fig. 8A An embodiment in which the locking mechanism has been moved from the locking plate axially toward the instrument Fig. 8A The open position shown moves to Figure 8BThis movement continues until the locking plate 804 snaps against the steering plate 516 and / or the connecting part 509 of the elongated element 408, thereby preventing the elongated element 408 from being removed from the groove 532 or the opening 702. The locking mechanism and / or plate 804 can be a variety of different shapes and / or connected in a variety of different ways, so long as it can be quickly and securely connected to the steering plate 516 to ensure that the elongated element 408 is fixed to the steering plate 516. The connection must also be quick and easy to disengage when the operation is completed.

[0079] Fig. 9A , Fig. 9B and Fig. 9C Shows Fig. 8A and Figure 8B An alternative structure of the locking mechanism. Fig. 9A , Fig. 9B and Fig. 9C The locking mechanism 1000 shown in FIG. 1 includes a locking plate 1002. The locking plate 1002 includes an opening arranged so that the locking plate 1002 can be rotatably mounted relative to the steering plate 516. The locking plate 1002 includes a plurality of protruding elements 1004 extending around the outer circumference of the locking plate. Each protruding element 1004 includes a hook-shaped side 1006 forming a channel 1010 and an inclined side 1008.

[0080] Fig. 9A The locking mechanism 1000 is shown in a position wherein each elongated element 408 is positioned between the hook side 1006 of the protruding element 1004 and the angled side 1008 of an adjacent protruding element 1004 such that the elongated element 408 may be removed from the recess 532 of the diverter plate 516 .

[0081] The locking plate 1002 is configured to Fig. 9A Turn clockwise to the open position shown. Fig. 9B Shown in locked position. Rotate Fig. 9A 1002 is shown in the figure, so that the hooked side of each of the protruding elements 1004 moves toward the corresponding slender element 408 until the slender element is located inside the channel 1010 defined by the hooked side, thereby achieving Fig. 9B In the illustrated position the elongated member 408 is secured in a locked position within the channel 1010 .

[0082] Fig. 9C Shown after counterclockwise rotation from the locked position to the disengaged position Fig. 9B , where the elongated element 408 has been removed from the groove. By rotating the locking plate 1002 counterclockwise, the inclined side 1008 of each of the protruding elements 1004 moves toward the corresponding elongated element 408, so that the elongated element slides on the inclined side 1008 and is pushed from its corresponding groove 532 by the inclined side 1008, thereby reaching Fig. 9C The elongated member 408 is shown in a separated position outside of the groove 532.

[0083] FIG. 10A to FIG. 10D Another embodiment is shown including an apparatus 1100 , a steering device 1101 , and a locking mechanism 1103 . Fig. 10A and Fig. 10D Shown in Fig. 10A In the open position, not completely in Fig. 10B An apparatus and a steering device coupled to a locking mechanism in a closed position. Fig. 10C and Fig. 10D A cross-sectional view of the instrument 1100 and the steering device coupled together is shown.

[0084] FIG. 10A to FIG. 10D Shown with Figure 1A-1B 1000 is similar to the instrument in FIG. 1000 , wherein the connecting part 1104 of the slender element 1102 has a circular shape rather than the different shapes shown in other embodiments.

[0085] FIG. 10A to FIG. 10D The locking mechanism 1103 shown in FIG. 1 includes a hemispherical shape with a locking portion, which operates similarly to 9A to 9C The locking plate 1002 is shown in FIG. The locking mechanism 1103 includes a slot for receiving a connecting portion 1104 of the elongated element 1102. The elongated element 1102 can be slid into place by following the curvature of the tapered section 1106 leading to the receiving groove 1108. Fig. 10C As can be seen in FIG, when in the open position, the tapered portion 1106 moves closer to the locking mechanism 1103. This allows for easier insertion (and removal) of the elongated element into the groove 1108. When the elongated element 1102 is placed in the groove, the locking mechanism 1103 rotates to secure the elongated element in place in the groove. This Fig. 10A and Fig. 10D This rotational movement to the locked position also causes the tapered section 1106 to extend axially relative to the locking mechanism 1103 (see Fig. 10D ). This ensures proper tensioning of the elongated element 1102 to ensure proper bending and deflection of the instrument. The instrument can be easily removed by following similar steps, rotating the locking mechanism 1103 to bring the tapered section 1106 closer to the steering device 1101 and push the elongated element 1102 out of the groove 1108, and then pulling the instrument axially away from the steering device 1101. When the locking mechanism 1103 is rotated to the open position, as shown in FIG. Fig. 10B As seen in FIG. 1 , the elongated element 1102 is pushed from the groove 1108 to facilitate removal of the instrument from the steering device. The rotation may be performed manually, such as by using the grip portion 1110, or may be automated.

[0086] Figures 11 to 13 An embodiment of a support part and a support arrangement is shown which can be used to enable an elongated element to be connected to a steering mechanism (similar to Figures 4 to 10D Each support member shown may be made of metal or plastic material, and in some embodiments (e.g., Fig.13 ) may be formed as part of the device 100 itself.

[0087] Fig.11 A support member 1120 is shown having a base portion 1122 and fingers 1124 rigidly connected to the base portion 1122 and extending outwardly from a central longitudinal axis 409 extending along the instrument and support member 1120. The base portion 1122 is fixed around the outside of the shaft 106 of the instrument 100 so that the base portion 1122, and therefore the support member 1120, cannot move or shift longitudinally relative to the instrument shaft 106. The base portion 1122 can be fixed by tight coupling, welding, bonding, adhesive, screws, threads, spring elements, or any other means that will fix the base portion 1122 relative to the shaft 106.

[0088] Each arm 1124 includes a collar portion 1126 to which the elongated member 1102 is secured. Fig.11 In the illustrated embodiment, each collar portion includes a cylinder fixed around the longitudinal element 1102, thereby maintaining the element 1102 in the correct radial position / orientation and tension. The element 1102 can move longitudinally relative to the collar portion 1126 to facilitate steering. Each element 1102 has a connecting portion 509 in the form of a sphere or other mechanical features (e.g., a cylinder, a hook, a hole) at the end of each element 1102. The sphere and / or the entire support part can facilitate connection to a steering device (which may include a steering plate), as explained and shown with respect to the aforementioned accompanying drawings. The longitudinal tension can be maintained by the friction between the elongated element 1102 and the connection with the support member 1120. In other embodiments, a combination or mechanical attachment or connection can be used to maintain the longitudinal tension in the elongated element 1102. The attachment can be configured so that it breaks after being connected to the steering device. This may be due to the activation of steering, or because the mechanism in the steering device disconnects the connection in the steering device. For example, a small amount of adhesive can be inserted at the connection of the element 1102 with the collar portion 1126. This may be physically located where a portion of the steering device would break the adhesive connection and / or where tension connected to the steering device would break the adhesive connection.

[0089] Fig.12 A perspective view of a second embodiment of a support member 1220 connected to the end of the instrument is shown. The support member 1220 is similar to the support member 1120 connected to the elongate member 1102 in a similar manner, but the base portion 1222 is formed as part of the shaft 106 of the instrument 100.

[0090] Fig.12 The instrument shown in FIG. 1 is formed of one or more cylindrical tubes extending along and forming at least a portion of the shaft 106. The one or more tubes forming the shaft 106 typically extend from a proximal end piece (shown) connected to a steering device to a distal end (see FIG. Figure 3B ). The distal end typically has some kind of instrumentation (e.g., scissors, a grip), but need not have an instrumentation.

[0091] The support portion 1220 is formed by an outer tube 1222 split into fingers 1224 at the proximal end. The fingers 1224 can be formed to a certain length, for example, 5mm-100mm, preferably 10mm-50mm, and more preferably 15mm-30mm, by cutting the tube 1222 longitudinally at different points around the circumference from the proximal end. The fingers 1224 can then be positioned as shown or bent outward to keep the elongated element 1102 taut and in place for connection to the steering plate and / or steering device ( Fig.12 This bending can be achieved by using Figure 4 The cutting can be done by, for example, laser cutting.

[0092] Fig.13 A perspective view of a third embodiment of a support member 1320 is shown, which is also formed by an outer longitudinal tube 1322 that is cut longitudinally to form a finger 1324. The finger 1324 includes an opening 1326 to which the elongated element 1102 can be connected. The elongated element 1102 in the form of a flexible cable is connected to the opening 1326 by a hook connection that fixes the cable relative to the finger 1324. Other suitable connections may include connection through another element, laser welding, brazing, and / or bonding. In this embodiment, the finger 1324 then includes a connecting portion 1328 that can be connected to a steering plate and / or steering device. The longitudinal cut of the tube 1322 can extend only a portion or the entire length of the instrument and can be used in some embodiments to transfer steering or bending forces from the proximal end to the distal end.

[0093] Figures 11 to 13The support part fingers shown in the figure can be made in the configuration shown, and when the device is packaged, the fingers are folded or bent to a smaller diameter substantially parallel to the longitudinal axis. When unpacking and preparing to be connected to the steering device, the fingers can be manually folded outward, or can be configured to simply pop into place for connection (i.e., tensioned in place when they are stationary). The ability to move the fingers from a storage position to a use position allows for less storage and / or shipping space to be required, as well as less packaging material due to the smaller overall volume. The use of support parts with fingers provides an easy way to support and tension the elongated element 1102 of the device for easy connection and then use with the steering device. Therefore, the use of support parts can eliminate the need for disposable components of the device including a steering plate.

[0094] In summary, having an instrument that can be easily connected to and disconnected from a steering device allows for more economical and effective instruments. The ability to quickly and easily connect or disconnect an instrument allows for the use of disposable instruments, while more complex and expensive parts can be reused. The safe and simple connection ensures that even non-technical personnel can prepare a complete device for operation, or can be disconnected when the operation is completed. The use of a steering device for connection to a steering plate ensures that even a slender instrument with a flexible wire or cable is easy to use and will move under precise control when connected to the steering device.

[0095] The examples and embodiments described herein are intended to illustrate rather than limit the invention. Elements from different embodiments may be combined to form embodiments not shown in the figures, unless such combinations are incompatible. A person skilled in the art will be able to design alternative embodiments without departing from the scope of the claims. Reference signs in brackets in the claims should not be construed as limiting the scope of the claims. Items described as separate entities in the claims or in the specification may be implemented as a single item or multiple hardware items combining the features of the items.

[0096] The term robotics has been used to describe possible embodiments of the steering device. This term is generally used to refer to a programmable machine that can autonomously or semi-autonomously perform a series of actions; and may include multiple components, including but not limited to one or more computers, processors, memory, control units, etc. The series of actions may include movement of the device, including bending, rotation, etc., and the use of robotics may allow more precise movement in some cases than is normally achievable with manual control.

[0097] It should be understood that the present invention is limited only by the appended claims and their technical equivalents. In this document and its claims, the verb "comprise" and its variants are used in their non-restrictive sense to mean that the items following the word are included, but items not specifically mentioned are not excluded. In addition, an element referenced by the indefinite article "a" or "an" does not exclude the possibility that more than one of the elements is present, unless the context clearly requires the presence of one and only one of the elements. Therefore, the indefinite article "a" or "an" generally means "at least one".

Claims

1. A steering device for coupling to an elongated instrument, the elongated instrument comprising a plurality of elongated elements extending along an instrument shaft and fixed at a proximal end of the instrument shaft to a steering plate, the steering plate being movably connected about a support member fixed to the instrument shaft, the steering device comprising: a locking plate having a coupling to which the steering plate can be fixed so that the steering plate and the locking plate move together; as well as a steering unit, the steering unit being used to move the locking plate, wherein the locking plate comprises: a first plate having one or more openings for receiving one or more protrusions from the steering plate; and a second plate capable of securing the one or more protrusions in the one or more openings.

2. A steering device as described in claim 1, wherein the second plate is rotated from an open position to allow the one or more protrusions to move into or out of the one or more openings, to a locked position, in which the steering plate is fixed to the locking plate and the one or more protrusions cannot move out of the one or more openings.

3. A steering device as claimed in any preceding claim, wherein the steering unit comprises one or more frames connected about one or more axes to enable movement of the steering plate in space.

4. The steering device according to claim 1 or 2, wherein the locking plate is connected to the steering unit such that the locking plate can rotate relative to the steering unit.

5. The steering device according to claim 4, wherein the locking plate is connected to the steering unit via a circumferential ball bearing.

6. The device of claim 1 or 2, wherein the steering device comprises a robotic unit.

7. The device of claim 6, wherein the steering device includes an actuator to move the locking plate.

8. The steering device of claim 1 or 2, wherein the elongated element is a flexible cable extending through the instrument for moving the distal end of the instrument.

9. The steering device of claim 1 or 2, wherein the elongated element is a flexible wire extending through the instrument for moving the distal end of the instrument.

10. An elongated device for connection to a steering device, the device comprising: an elongated shaft having a distal end and a proximal end; a steering plate located at the proximal end of the elongated shaft, the steering plate being movably disposed about a central support member connected about the elongated shaft, the steering plate including a coupling for coupling the steering plate to a steering device to control movement of the steering plate, the steering plate including one or more protrusions configured to be received by one or more openings in a locking plate of the steering device such that the one or more protrusions can be releasably secured in the one or more openings; as well as A plurality of elongated elements extend along the elongated shaft and are secured to the steering plate at the proximal end.

11. The elongated instrument of claim 10, wherein the plurality of elongated elements are fixed circumferentially around the deflector plate.

12. The elongate instrument of any one of claims 10-11, wherein the central support member comprises a spherical element, and the steering plate is connected to the spherical element such that the steering plate can rotate about the spherical element.

13. The elongated instrument of any one of claims 10-11, wherein the plurality of elongated elements extend through a plurality of openings in the steering plate and each elongated element includes a snap at the proximal end for securing the elongated element to the steering plate.

14. The elongated instrument of any one of claims 10-11, wherein the elongated instrument has a distal end, the plurality of elongated elements being configured to deflect the distal end of the elongated instrument.

15. The elongate instrument of any one of claims 10-11, wherein the plurality of elongate elements comprises a plurality of flexible wires.

16. The elongated instrument of claim 15, wherein the plurality of flexible wires are tensioned between locations along the elongated shaft and the steering plate.

17. The elongate instrument of any one of claims 10-11, wherein the plurality of elongate elements comprises a plurality of flexible cables.

18. The elongated instrument of claim 17, wherein the plurality of flexible cables are tensioned between locations along the elongated shaft and the steering plate.

19. A medical device comprising a steering device as claimed in any one of claims 1 to 9 and an elongate instrument as claimed in any one of claims 10 to 18.

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