Manipulable arm with cords of different sizes and method for producing the same

Abstract

A tubular body of a maneuverable arm for endoscopic surgery, comprising: a plurality of ribs extending from a spine; a plurality of translation guides for guiding the movement of a plurality of wires; a plurality of wires respectively passing through the plurality of translation guides; each of the plurality of translation guides comprising at least one eyelet formed on the inner surface of the tubular body; at least one eyelet of each translation guide having a size different from that of at least one eyelet of other translation guides; so that the plurality of translation guides are matched with wires of matching diameters.

Description

Technical Field

[0001] The present invention relates to the field of endoscopic surgical instruments, and in particular to a method for manufacturing a micro-mechanical arm for use in surgical operations through an endoscope or beside an endoscope. Background Art

[0002] Preferred methods of gastrointestinal (GI) tract surgery include minimally invasive surgery, such as the use of micro-surgical instruments to manipulate tissue. An endoscope is proposed, in which two flexible surgical instruments are inserted into its biopsy channel for surgical manipulation of tissue. A manipulable micro-robotic arm is provided at the distal end of each surgical instrument. In turn, an end effector is provided at the distal end of the manipulable arm. There are many types of end effectors, which can be a pair of surgical forceps, a hot knife, an injection needle, a suturing tool, etc. The end effector determines the purpose of each surgical instrument.

[0003] A transmission tube is fixed to the maneuverable arm for manipulating the bending and extension of the maneuverable arm. When the surgical instrument is installed in the endoscope, the transmission tube passes through the biopsy channel and the maneuverable arm extends slightly from the distal end of the endoscope.

[0004] The most common flexible endoscopes are manufactured by Olympus TM The diameter of the biopsy channel of the endoscope is about 3.7 mm. There are some other different endoscopes with a biopsy channel diameter of 2.8 mm. Therefore, the diameter of the maneuverable arm must be smaller to be able to pass through these biopsy channels.

[0005] During surgery, the surgeon uses a control handle on the proximal end of the endoscope to manipulate the endoscope in the body so that the end of the endoscope with a maneuverable arm reaches the target tissue. Surgical instruments are disposable consumables that are removed from the endoscope and discarded after surgery.

[0006] The type of manipulable arm that this application is concerned with is a curved manipulable arm made of a continuous piece of nickel titanium. A wire is passed through a hollow inner core in the curved manipulable arm, and the ends of the wire are fixed to points defining the inner surface of the inner core. The wire can be pulled to straighten the curved manipulable arm.

[0007] Due to their complex structure, the manufacture of manipulable arms is often a manual operation. Typically, the manipulable arm is cut from a small hollow tube, leaving a gap on one side of the hollow tube. The cut hollow tube is then bent toward the side without the gap, which opens the gap, and heated. This will give the manipulable arm a permanent bend. When cooled, the manipulable arm is straightened in the fingers of the maker. A wire is then passed through and fixed to the far end of the manipulable arm on the side of the hollow tube with the gap. Pulling on the wire closes the gap and straightens the manipulable arm. Further pulling on the wire closes the gap further, causing the manipulable arm to bend in the opposite direction. Releasing the wire returns the manipulable arm to its original bent state. Despite best efforts, the bends between different manipulable arms often vary; some manipulable arms are not as pronounced as others. The problem with a more gradual bend is that it reduces the range of motion of the steerable arm's tip; the surgeon may pull on the wire slightly before the steerable arm is fully extended, and the steerable arm cannot be extended any further.

[0008] More importantly, large bending differences will weaken the surgeon's skills in controlling the steerable arm; the surgeon cannot rely solely on experience to steer each next steerable arm.

[0009] Therefore, it is desirable to provide a steerable arm with less bending difference, and a method for producing such a steerable arm. Summary of the invention

[0010] In a first aspect, the present invention provides a method for manufacturing a tubular body of a manipulatable arm for endoscopic surgery, comprising the following steps: providing a hollow metal tube, configuring the hollow metal tube into a tubular body, the tubular body having a plurality of ribs along at least one side of the tubular body, the ribs extending from a spine; inserting at least one wire rope into the tubular body; bending the tubular body having the wire rope inside; heating the bent tubular body having the bent wire rope inside; causing the tubular body and the wire rope to have a memory of their respective bends.

[0011] In the prior art, the generally straight interior of the wires would resist bending of the manipulable arms, resulting in large bending differences between the manipulable arms. Heating the wires within the bent hollow tubes would cause the hollow tubes and wires to bend permanently. The wires no longer resist bending. The reduction in resistance of the wires to bending is more pronounced in the manipulable arms where multiple wires are inserted and bent and heated. This provides the potential to reduce bending differences in the manipulable arms, resulting in more consistent product quality.

[0012] Another problem solved by the present invention is the inconsistency of stiffness. Stiffness refers to the strength of the "springback" when the force pulling the steerable arm straight is removed.

[0013] Preferably, the method further comprises the step of cutting the metal hollow tube to provide a plurality of rings connected in series; one edge of each ring defining a rib of the tubular body and the other edge of each ring being part of a ridge.

[0014] Preferably, the method further comprises the steps of: cutting two slits in at least one rib to provide a strip along the rib; pressing the strip against the inner core of the tubular body to form an eyelet; wherein the step of inserting at least one cord into the tubular body comprises inserting the cord into the eyelet.

[0015] "Eyelets" include any means welded or bonded to the surface of each rib, as well as any means cut from the rib and / or formed from the rib itself by permanently / plastically deforming a portion of the rib itself. Eyelets can be hooks having free, unattached or endless loops.

[0016] Passing the cord through the eyelet allows the cord to acquire a bend that is as close as possible to the bend of the side of the hollow tube that the cord is desired to straighten, which further reduces the difference.

[0017] Preferably, the method further comprises the steps of: making a plurality of eyelets on a plurality of ribs, each eyelet being located on a respective one of the plurality of ribs; aligning the plurality of eyelets to form a channel within the tubular body; and inserting at least one cord into the tubular body comprising inserting the cord through the channel.

[0018] Optionally, the method further comprises the step of providing a plurality of perforations of different sizes; wherein the perforations are arranged such that the passage has an increasing diameter along the length of the tubular body.

[0019] In the embodiment of two such channels with enlarged apertures, the channels can be arranged on opposite sides of the inner surface of the tubular body, with one channel arranged on one portion along the length of the tubular body and the other channel arranged on another portion along the length of the tubular body. The larger aperture of each channel can be arranged toward the center of the tubular body so that a single cord can be easily passed through both channels.

[0020] Preferably, the passage is a first passage, the method further comprising the steps of: making a plurality of eyelets on a further plurality of ribs, each eyelet being made on a respective one of the further plurality of ribs; aligning the plurality of eyelets to form a second passage; and the step of inserting at least one wire into the tubular body comprises inserting a second wire through the second passage. For embodiments where two or more wires are heated simultaneously with the tubular body, this feature enables a memory of the bend. Generally, the more unbent wires there are in the tubular body, the greater the resistance to bending of the tubular body. Thus, heating a plurality of wires within the tubular body greatly reduces the likelihood that the wires will straighten to resist bending of the tubular body.

[0021] Optionally, the first channel and the second channel are angularly offset about the axis of the tubular body. This allows the wire in the second channel to be used to bend the tubular body in a different plane direction than the wire in the first channel. The ridges and ribs provided in the first channel may be angularly offset from the ridges and ribs provided in the second channel.

[0022] Preferably, the method further comprises the steps of: punching holes forming the first passage using a punch having a first size suitable for providing holes sized for the passage of a wire of a first diameter; punching holes forming the second passage using another punch having a second size suitable for providing holes sized for the passage of a wire of a second diameter. The wires can be identified by their diameter, and therefore the part of the manipulable arm controlled by each wire can also be identified.

[0023] Preferably, the step of pressing the strip toward the inner core of the tubular body to form the eyelets comprises: punching the strip using a punch having a concave surface; the curvature of the concave surface extending from one slit to another slit.

[0024] Preferably, for each rib, cutting of that rib is completed before cutting the next rib along the hollow metal tube.

[0025] Typically, the method further comprises the step of connecting an end effector to the distal end of at least one wire. This feature is related to the wire used to operate the end effector, and the wire can also be bent and heated to obtain the curvature of the curved manipulable arm. Therefore, the manipulable arm can have a wire for straightening the manipulable arm and another wire for operating the end effector.

[0026] Preferably, the plurality of holes are formed at apexes of the respective ribs.

[0027] In a second aspect, the present invention provides a tubular body of a manipulatable arm for endoscopic surgery, comprising: a plurality of ribs; the ribs extending from a spine; at least one wire passing through the tubular body; wherein the tubular body has a bend in a natural state; and at least one wire has a bend in a natural state that is consistent with the bend of the tubular body.

[0028] Preferably, the tubular body further comprises: at least one translation guide for guiding the movement of a respective one of the at least one wire; the at least one translation guide is located within the tubular body.

[0029] Preferably, said at least one translation guide comprises at least one eyelet formed on the inner surface of said tubular body.

[0030] Preferably, the edge of the at least one eyelet is folded towards the inner core of the tubular body or towards the axis of the hollow tube. This prevents the edge of the eyelet from scratching the cord during its translation.

[0031] In certain embodiments, though not preferred, eyelet can be formed on the outer surface of tubular body.In these embodiments, can use digging warping tool that seam is pulled out.

[0032] Preferably, the tubular body has a plurality of translation guides; and each translation guide corresponds to at least one of a plurality of eyelets; each translation guide is used for a respective wire rope within the tubular body; and the size of the eyelet of each translation guide is different from the size of the eyelet of at least another translation guide; thereby, the wire ropes of different translation guides have different diameters according to the size of the corresponding eyelet.

[0033] Preferably, each of at least one of the plurality of eyelets is formed at the apex of the respective rib. The eyelets formed at the apex of the rib allow the cord to be pulled to bend the tubular body, thereby having a better influence on the moving rib and more accurately guiding the movement of the rib. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings show possible layouts of the present invention, and it is convenient to further describe the present invention with reference to the accompanying drawings, in which similar reference numerals refer to similar components. There are other possible embodiments of the present invention, so the particularity of the accompanying drawings should not be understood as replacing the generality of the preceding description of the present invention.

[0035] Figure 1 An apparatus comprising an embodiment of the present invention is shown;

[0036] Figure 2 Two are shown for use with an endoscope. Figure 1 The device shown;

[0037] Figure 3A close-up view of an embodiment of the present invention is shown in FIG. Figure 2 A portion of the shown;

[0038] Figure 4 is a schematic diagram of an embodiment;

[0039] Figure 5 for Figure 4 Operation diagram of an embodiment of the present invention;

[0040] Figure 6 Show Figure 4 A method for manufacturing an embodiment of the present invention;

[0041] Figure 7 Show Figure 4 A second manufacturing method of an embodiment of the present invention;

[0042] Figure 8 Show Figure 4 A third manufacturing method of an embodiment;

[0043] Fig. 9 Show Figure 4 A part of a method of manufacturing an embodiment of the present invention;

[0044] Figure 10(a) to Figure 10(j) Show Figure 4 A part of a method of manufacturing an embodiment of the present invention;

[0045] Fig.11 is a set of technical diagrams corresponding to Fig. 10(j);

[0046] Fig.12 is a set of technical diagrams corresponding to Fig. 10(j);

[0047] Figure 13(a) to Figure 13(h) A manufacturing method of another embodiment is shown;

[0048] Figure 14(a) to Figure 14(d) A manufacturing method of another embodiment is shown;

[0049] Fig.15 Another embodiment is shown;

[0050] Fig.16 A manufacturing method of another embodiment is shown;

[0051] Fig.17 Another embodiment is shown;

[0052] Fig.18 for Fig.17 A perspective view of an embodiment of; and

[0053] Fig.19 for Fig.17 Another schematic diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0054] Figure 1 A flexible surgical instrument 100 is shown insertable into an endoscope 200.

[0055] The flexible surgical instrument 100 includes a transmission tube 107, which constitutes most of the length of the flexible surgical instrument 100. The distal end 103 of the transmission tube 107 is provided with a manipulable arm 101. The distal end of the manipulable arm 101 is fixed with a surgical end effector 203 (see FIG. 2 ) that determines the function of the flexible surgical instrument 100. Figure 2 ), such as surgical forceps, electric knife, injection needle, suture tools, etc. Figure 2 An endoscope 200 is shown with two flexible surgical instruments 100 inserted therein.

[0056] Endoscope 200 is an optical instrument that can be inserted into the gastrointestinal (GI) tract through the mouth or anus to provide a view of a target location in the GI tract. Endoscope 200 can include a video display connected to its proximal end, and a light source and a large field of view camera at its distal end 211. Image transmission from the camera to the video display can be provided by a fiber optic system or a sensor chip system.

[0057] The length of the endoscope 200 used for GI surgery is usually more than 1 meter. The inner core of the most common GI endoscope 200 is provided with one or two translation channels, which can be 2.8mm to 3.7mm in diameter, commonly referred to as a biopsy channel 205 or instrument channel. The biopsy channel 205 has a channel entrance 213 located at the proximal end of the endoscope 200 and a channel exit located at the distal end 211 of the endoscope 200. The flexible surgical instrument 100 can enter the channel entrance and pass through the biopsy channel 205.

[0058] Figure 2 The endoscope 200 in the embodiment has two biopsy channels 205, one for each of the two flexible surgical instruments 100. The outer diameter of the endoscope 200 with two biopsy channels is usually greater than 1.2 cm.

[0059] Figure 3 for Figure 2 The enlarged view of the middle inset shows an exemplary arrangement of a camera 301 and a light source 303 at the tip of the endoscope 200 or on the cover 201 on the distal end 211 of the endoscope 200. The camera 301 provides a real-time view of the surgical site, the maneuverable arm 101, and the end effector 203 to guide the surgeon in manipulating the maneuverable arm 101. The distal end of one of the maneuverable arms 101 is equipped with a surgical forceps as the end effector 203, while the distal end of the other is equipped with a suturing tool.

[0060] Typically, the outer diameter of the transmission tube 107 and the maneuverable arm 101 is 2.7 mm or less to match most biopsy channels 205 provided in commonly available GI endoscopes 200. The length of the maneuverable arm 101 is about 3 cm. The length of the transmission tube 107 can be determined according to the design and depends on the length of the endoscope 200 used with the flexible surgical instrument 100. By pulling the wire passing through the transmission tube 107, the maneuverable arm 101 can be moved or straightened.

[0061] In particular, the end effector wire 109a is connected to the end effector 203 at one end for operating the end effector 203. The body of the end effector wire 109a extends through the hollow core of the manipulator arm 101 and the transmission tube 107. The other end of the end effector wire 109a emerges from the proximal end of the transmission tube 107.

[0062] Similarly, a straightening cable 109b is provided in the inner core of the manipulable arm 101. The distal end of the straightening cable 109b is connected to a point on the inner surface of the manipulable arm 101 defining the inner core and is close to or located at the distal end of the manipulable arm 101. The remaining length of the straightening cable 109b passes through the transmission tube 107 and emerges from the proximal end of the transmission tube 107.

[0063] The manipulable arm 101 and the portions of the end effector wire 109a and the straightening wire 109b within the manipulable arm 101 are permanently bent in a natural state. "Permanent" does not mean that the manipulable arm 101 and the wire 109 are rigid and inflexible. On the contrary, the manipulable arm 101 is made of a metal such as nickel titanium that is elastic and flexible, which allows the manipulable arm 101 to bend and deform, but can immediately return to its original shape after the bending force is released.

[0064] Pulling the straightening wire 109b, and feeding the proximal end portion of the straightening wire 109b into the delivery tube, causes the steerable arm 101 to be bent against the bend, which will straighten the steerable arm 101. Further pulling will even reverse the bend of the steerable arm 101.

[0065] The ends of the wires 109 extending from the proximal end 105 of the flexible surgical instrument 100 are coupled to an adapter (not shown) located outside the endoscope 200. The adapter includes knobs, pulleys, or levers (not shown) to which the ends of the wires are individually connected. Rotation or translation of each knob, pulley, or lever either pulls on the respective wires, or releases tension, depending on the direction of rotation or translation. Pulling on the proximal end of the wires can move or straighten the manipulable arm 101, or drive the end effector 203. The adapter can be operated manually or automatically by electronic components and software to control the movement of the manipulable arm 101 and the end effector 203.

[0066] Figure 4The steerable arm 101 is shown without the end effector 203 and without an internal wireless tether, which is a tubular body including a spiral chain or a metal ribbon coil. The tubular body 407 includes a plurality of rings arranged in series, so that the tubular body 407 is in the shape of an elongated tube.

[0067] The manipulator arm 101 is bent in a natural state so that the tubular body 407 has a convex side 403 and a concave side 401. On the concave side 401, the edges of the rings of the tubular body 407 are close together, with the edge of each ring abutting the edge of the adjacent ring, thereby preventing compression of the rings on the concave side 401. This provides a ridge 711 on the concave side 401. On the convex side 403, the edges of the rings are spaced apart, which forms ribs 709 extending from the ridge 711. When the ridge 711 is bent, the edges of the ribs 709 on the concave side 401 can move closer or further away from each other. Therefore, the bent manipulator arm 101 can be bent to make it straight, or even bend it to the opposite side, reversing the initial bend. However, metal is a resilient material that can provide a structural bias in the manipulator arm 101 to restore it to its original bent state when the bending force is removed.

[0068] Figure 5 Three figures are shown schematically showing the bending stages of the maneuverable arm 101. The figure shows that the end of the wire 109 used to control the maneuverable arm 101 passes through the inner core of the maneuverable arm 101 and is connected to the rib 709 at or near the distal end of the tubular body 407. For clarity, the wire 109 is shown in solid lines, but the skilled reader will understand that the wire 109 is located inside the tubular body 407. The distal end of the wire 109 is fixed to the tubular body 407 by tying a knot, crimping, or any other method that ensures that the wire 109 is always fixed to the inner surface of the tubular body 407.

[0069] The leftmost figure shows the manipulatable arm 101 in its natural state, whose shape includes a bend such that the ridge 711 side is concave ( Figure 5 a). The ribs 709 are located on the convex side and spread out to accommodate the bend. When the cord 109 is pulled, some of the ribs 709 are pulled closer to each other, and the ridges 711 are bent and straightened ( Figure 5 b). When the wire 109 is further pulled, the ribs 709 are pulled closer to each other, causing the curvature of the manipulable arm 101 to reverse, and now bend away from the initial bending direction ( Figure 5 c) Releasing the tension allows the bias to manifest and restores the manipulable arm 101 to its original curvature. This bias makes it unnecessary to provide another wire to pull the straightened manipulable arm 101 back to its original curvature. This single-wire method of moving the manipulable arm 101 in two directions is simpler than a two-wire method, which requires coordination of pulling one wire while releasing the other wire.

[0070] Therefore, the manipulator arm 101 can move within a plane, from bending in one direction to bending in another direction. This allows the end effector 203 on the manipulator arm 101 to move toward the tissue to be treated.

[0071] The proximal portion of the straightening cable 109b within the manipulable arm 101, while having a permanent bend that conforms to the bend of the manipulable arm 101, assumes the bend of the transfer tube 107 when it is pulled into the transfer tube 107. The coupler connecting the manipulable arm and the transfer tube 107 provides the required physical influence. When the pulling force is released, the manipulable arm 101 rebounds back to the permanent bend, pulling the proximal portion of the straightening cable 109b back into the manipulable arm 101. The permanent bend of the straightening cable 109b also recovers back into the manipulable arm 101. Generally, although not necessarily, the elastic force of the straightening cable 109b is lower than the elastic force of the manipulable arm. Similarly, during translation, the end effector cable 109a can conform to the shape of the manipulable arm 101 and the transfer tube 107.

[0072] Overall manufacturing process of the manipulable arm

[0073] Figure 6 One possible overall process of manufacturing the manipulator arm 101 is shown. In general, the process shown mainly concerns how to manufacture the tubular body 407 and how to thread the wire into the tubular body 407. The manufacture of the end effector 203 is not within the scope of this application.

[0074] First, a hollow metal tube 601 of nickel titanium is cut to produce a tubular body 407. Then, a steel wire 109b is inserted into the hollow inner core of the tubular body 407. Optionally, the distal end of the wire 109b is fixed to a position on the inner surface of the tubular body 407. In order to control the distal end of the tubular body 407, the fixed position is preferably close to or located at the distal end of the tubular body 407. The length of the wire 109b is greater than the length of the transmission tube 107. Therefore, the portion of the wire 109b extending out of the tubular body 407 passes through the transmission tube 107, and the excess length is exposed from the proximal end of the transmission tube 107 (not shown). The excess length of the wire 109b can be controlled by a control adapter to which the wire 109b is fixed. In this regard, the wire or any wire having the same purpose is referred to as a straightening wire 109b.

[0075] Also shown is the end effector 203 fixed to the distal end of the tubular body 407. The end effector 203 in the example is a pair of surgical forceps. The end effector 203 is provided with an end effector wire 109a for operating the end effector 203, for example, closing the surgical forceps when pulled. Therefore, the end of the end effector wire 109a is connected to the end effector 203 at the distal end, and its length is sufficient to pass through the tubular body 407 and the transmission tube 107, so that the excess length is exposed from the proximal end of the transmission tube 107. The excess length can be controlled by a control adapter (not shown) to operate the surgical forceps.

[0076] Once the surgical forceps, end effector wire 109a and straightening wire 109b are in place, the entire assembly becomes a manipulable arm and is loaded into a mold. The mold is made of three small metal blocks that can be stacked together. The intermediate piece 609 is cut to provide an elongated and narrow groove 613 with a bend. The tubular body 407 can be removably placed in the groove 613 with sufficient tightness. There is almost no room or no room for shaking, and the tubular body 407 can be firmly and stably maintained. The part of the wire 109a, 109b outside the tubular body is very long, but only the part of the wire inside the tubular body 407 is bent in the groove 613 together with the tubular body 407.

[0077] The top metal piece 607 and the bottom metal piece 611 are placed on both sides of the middle piece 609 to assemble the mold. Then, the mold is placed in an oven for heating. Optionally, the middle piece 609 has a small channel 615, into which a needle thermometer 617 is inserted to observe the mold temperature.

[0078] The mold is heated to a temperature above the recrystallization temperature of the tube, which is about 500 degrees Celsius if the material is nickel titanium. At this temperature, nickel titanium is recrystallized, and the stress in the tubular body 407 is released, so that the tubular body 407 can have a permanent memory of the bend after cooling. In this way, the bend becomes the permanent shape of the tubular body 407, that is, the shape of the tubular body 407 in its natural state.

[0079] The material used to make the end effector wire 109a and the straightening wire 109b in the tubular body 407 will also undergo recrystallization and stress relief, and in the process will develop a memory of the same bend. These wires do not have to be made of nickel titanium. In some embodiments, steel wires are also suitable due to similar or overlapping recrystallization temperatures with nickel titanium.

[0080] The advantage of the steel cable is that it has elastic flexibility, that is, the steel cable can bend with the manipulator arm 101 and return to the memorized bend, and another advantage is that the elongation of the steel cable in the relevant use environment is relatively low. The wires 109a, 109b used to manipulate the manipulator arm 101 cannot have significant stretchability, because when the wires are pulled, the nonlinearity of the movement of the manipulator arm 101 increases, and precise control of the instrument will become more challenging.

[0081] At this stage it should be noted that flexibility refers, in particular, to the ability to bend or straighten; and elasticity refers, in particular, to the ability to return to an earlier or initial state.

[0082] Since the tubular body 407 and the wire are both made of elastic material, when the straightening wire 109b is pulled, the tubular body 407 is straightened, but when the pulling force is released, the tubular body 407 will restore the memorized bend. Similarly, the surgical forceps are designed to close when the end effector wire 109a is pulled, and automatically spring open only when the pulling force is released.

[0083] In some embodiments not described in detail herein, the material may be other than nickel titanium and steel. In addition, there are many types of steel. Regardless of the material used, the mold temperature should be higher than the highest recrystallization temperature of all the materials used, but not so high as to approach the melting point of any material.

[0084] Figure 7 Another method of heating the tubular body 407 is shown, in which tools such as clamps are used to clamp the two ends of the assembled manipulable arm 101; the manipulable arm has been threaded with the end effector wire 109a and the straightening wire 109b. The distance between the tools and the arrangement of the tools are precisely set. Then, the tools are brought close to each other to form a bend in the middle of the tubular body 407. A heating instrument 713 (such as a heat gun) heats the tubular body 407 and the wires inside the tubular body 407 for an appropriate length of time and an appropriate temperature. The tubular body 407 remains bent during its cooling process. After cooling, the tubular body 407 and the wires 109b, 109a inside the tubular body 407 will acquire the bend to permanently serve as its shape.

[0085] Figure 8 Show Figure 6 A variation of the method, Figure 8The difference in FIG. 4 is that, before heat treatment, the end effector wire 109a passes through the tubular body 407, but the end effector 203 is not fixed to the tubular body 407. The tubular body 407 having the straightening wire 109b and the end effector wire 109a therein but without the end effector 203 fixed thereto is placed into the groove in the mold and heated. After cooling, the tubular body 407 and the portion of the wire in the tubular body 407 have acquired a bend. Subsequently, the end effector 203 is fixed to the end effector wire 109a to complete the manipulable arm.

[0086] Prior to heat bending, the wire is described as being straight. However, "straight" only refers to being relatively or reasonably straight over the length of the manipulable arm 101 (approximately 3 cm). The straightness of the wire makes it easier to insert the wire into the unbent tubular body 407. However, any metal wire piece of one meter in length will typically have a gentle bend or slight curve. Such a gentle bend is not of concern to the present application and is considered straight in the context of the present application.

[0087] As the tubular body 407 remains bent, any wires within the tubular body 407 will bend with it. By allowing the wires within the tubular body 407 to achieve a permanent bend along with the tubular body 407, the tendency for the wires to straighten and resist the bending of the tubular body 407 is eliminated. Thus, this embodiment alleviates one of the causes of large differences in the bending of the steerable arms in the prior art.

[0088] Furthermore, the bent wire reinforces the bending of the tubular body 407, which helps the manipulator arm to overcome the transmission friction and restore the bent state more elastically when the straightening wire 109b is released from the pulled state.

[0089] Cutting hollow metal tubes to form tubular bodies

[0090] The tubular body 407 is made of a hollow tube 601 of a superelastic material. Superelastic materials refer to materials that have elasticity to undergo large deformation under external force and immediately return to their pre-deformation shape after the external force is removed, such as Nitinol (nickel titanium) and a non-exhaustive list of the following alloys: Cu-Zn, Cu-Al-Ni, Au-Cd, Au-Cu-Zn, and In-Tl.

[0091] Preferably, the diameter of tube 601 is small enough to allow the maneuverable arm to be inserted into the biopsy channel of most endoscopes. This typically means a diameter of 2.7 mm or less. The length of tube 601 is approximately 3 cm. The transfer tube 107 attached to the maneuverable arm 101 has a similar diameter. Alternatively, the diameter of tube 601 is suitable for insertion into an external instrument channel attached along the length of an endoscope, which is often larger in diameter.

[0092] Fig. 9 (a) to Fig. 9(c) Schematic diagram showing how the hollow tube 601 is helically cut at 903 into a helical metal ribbon coil 905 having rings arranged in series, maintaining the elongated shape of the tube 601. The cutting may be accomplished by precision machining, such as laser cutting by equipment such as a laser source 703, a computer numerically controlled (CNC) milling machine, or the like.

[0093] Fig. 9 (a) shows a side view of the uncut tube 601. Fig. 9 (b) shows the cuts made by the laser along the length of tube 601 and around tube 601. Finally, Fig. 9 (c) shows that the tube 601 becomes a tubular body 407 made of a metal strip arranged in series of rings 905. It can also be described as a flat, flat and wide strip arranged in a spiral structure, but it generally remains tubular. The gaps between the rings 905 are shown enlarged.

[0094] Fig. 9 (a) to Fig. 9 The process shown in (c) is an overly simplified example and is only used to illustrate how to perform spiral cutting on the tube 601 to form the tubular body 407. Figure 10(a) to Figure 10(j) A more instructive method of cutting tube 601 is shown.

[0095] FIG. 10( a) shows that the cutting starts from one end of the tube 601. The horizontal sequence diagram at the top of FIG. 10( a) shows in more detail how the cutting is done. Specifically, the horizontal sequence diagram shows that two cuts are required to form the gap 705 under each rib 709. First, a first spiral cut 1009 is cut on the circumference of the tube 601 to define the lower edge of the first rib 709, "lower" being in accordance with the direction of the figure. The first cut is shown with a solid line. The first cut 1009 is an incomplete spiral that only surrounds a large portion of the tube 601 rather than the entire circumference. The starting point of the first cut 1009 is shown to be higher than the tube 601, and the end of the first cut 1009 is shown to be lower than the tube.

[0096] Then, a second spiral cut 1011 is cut on the circumference of the tube 601, as shown by the dotted line. The slope of the second cut 1011 is smaller than that of the first cut 1009 and is located directly below the first cut 1009. The second cut 1011 intersects with the first cut 1009 at both ends, so that a portion of the tube 707 can be cut off. This forms a gap 705 between each two adjacent rings.

[0097] The same steps are repeated lower down the tube 601 to form the next ring and gap. The "second cut" of each ring is made at an angle and length that connects to the second cut above at one end and to the second cut below at the other end. This forms a continuous spiral cut around the circumference of the tube 601 and along its length.

[0098] Finally, as shown in FIG. 10( b), a series of rings separated by gaps are formed on one side of the tube 601. These individual rings are the ribs 709 on the manipulable arm. The ridge 711 side of the tube 601 is also cut equally along the tube, but no tube material is removed. Each ring on one side of the ridge of the tubular body 407 abuts against an adjacent ring. When the manipulable arm 101 is bent by pulling the straightening rope 109b, the abutment prevents the ridge 711 from compressing, while the gaps 705 between the ribs 709 allow the ribs 709 to approach each other, thereby straightening the bent manipulable arm 101.

[0099] To make a clean cut in any object, the object must have sufficient structural strength to resist overall deformation under the action of the cutting force, except for the cutting plane that bisects the object. However, nickel titanium is a superelastic material and deforms easily. Therefore, in order to provide a certain degree of structural strength, the tube 601 is cut from one end to the other, cutting the distal end first and then the proximal end. The tube 601 is cut to the next rib 709 only after the previous rib 709 and gap are completed. This leaves as much of the tube 601 uncut as possible to provide structural strength. In contrast, if the tube 601 is cut spirally and continuously along it before the gap is cut, the tube 601 may become too weak to maintain structure when the gap 705 is cut. This may cause the cut to be imprecise or inaccurate, thereby damaging the tube 601.

[0100] Finally, all the required ribs 709 and ridges 711 have been formed. The next step is to provide eyelets 715 on the inner surface of the ribs 709. Eyelets 715 are guides for translating the pull line rope 109b. The rows of eyelets together provide a translation channel.

[0101] Preferably, each eyelet 715 is disposed on the inner surface below the apex of the corresponding rib 709. This ensures that the straightening cable 109b remains as close to the apex of the rib as possible, so that when the tubular body 407 is bent and heated, the bend imparted to the straightening cable 109b is consistent with the curve passing through the apex of the rib 709. This reduces mismatched bending between the steerable arm 101 and the straightening cable 109b, and further reduces the reaction force to the bending of the steerable arm 101. In addition, if the rib 709 is manipulated by its apex, there is a greater influence when closing the rib 709 and straightening the steerable arm.

[0102] In some embodiments, the tube 601 is cut only on one side to provide the gap 705 defining the rib 709. The spiral cut is not performed over the entire circumference. Thus, the side of the tube 601 forming the ridge 711 remains intact and complete without being cut.

[0103] FIG10( c ) is a cross-sectional view of the tubular body 407 as viewed from the proximal end, showing that four holes 715 are punched on the circumference of the tubular body 407 toward the inner core.

[0104] In the most basic method, the eyelets 715 are formed one by one. Figures 10(d), 10(e) and 10(f) show how a single eyelet 715 is made near the distal end of the tube 601 before the first rib 709 is cut into the tube 601. Figure 10(e) is an enlarged view of the portion of the tube 601 being processed in Figure 10(d). First, two slits are cut into the tube 601 using a laser. The slits are preferably parallel to the edges of the rib 709 to be formed. The portion of the tube between the two slits becomes a strip, with both ends of the strip attached to the tube 601. The strip is heated to the recrystallization temperature of the tube using a suitable heater. After sufficient heating, the center portion of the strip is punched into the center of the tube 601 using a punch 717. The two sides of the strip remain connected to the tube 601, and the depressed strip becomes the eyelet 715. After cooling, the eyelet 715 becomes a permanent feature on the tube 601.

[0105] In Fig. 10(f), the upper left figure is a cross-sectional view of the end of tube 601. The figure shows the circumference of the punch driven into tube 601. The upper right figure is a side view of tube 601. The lower figure is a stereoscopic view of tube 601 with the punch driven into it.

[0106] The punch is a block of metal with one end called face 719. The face is rectangular in cross section and is placed on the strip to punch the holes. Preferably, face 719 is not planar but concave in side view. The edges of concave face 719 cause the sides of the concave strip to be folded toward the inner core of tube 601. This reduces the likelihood that the sharp edges on eyelet 715 will scratch and impede translation of the pull-line 109b through the eyelet 715, which could affect performance and reduce the product life of the manipulable arm 101.

[0107] The preferred method of punching holes one by one is to punch all holes 715 on one side of the tubular body 407 at once, rather than making holes 715 one by one. Batch punching holes 715 requires first forming the ribs 709. Subsequently, each rib 709 is cut with a laser to form strips on the ribs 709. Then, multiple punches precisely positioned on the batch punching tool can be used to punch holes for all strips at the same time.

[0108] FIG10( g) is a diagram of a possible large-scale punching tool. The large-scale punching tool comprises a metal die that can be opened into two halves 719. Each half 719 is a rectangular metal block with an elongated, straight and narrow groove 721 extending across the length of the metal block. After the ribs 709 and ridges 711 are formed on the tubular body 407, the groove 721 is used to place the tubular body 407 in a snug position.

[0109] There are a series of through holes along the base of each groove 721. The size and shape of each through hole are just suitable for the punch to extend from the outside of the mold and punch holes in the mold to form strips. When the tubular body 407 is placed in the groove 721, the strips on the ribs 709 must be aligned with the through holes for accurate punching.

[0110] Punches 717 are provided on punch blocks 723. Two punch blocks 723 are shown, one for each groove 721. The upper punch block 723 has five punches 717, the number and position of which correspond to the through holes on the half body 719 of the mold shown above. The bottom punch block 723 also has five punches 717, the number and position of which correspond to the through holes on the bottom half body 719 of the mold. Any different number of punches can be provided on each punch block 723.

[0111] After the mold is assembled, the two grooves are closed to wrap the tubular body 407, and then two punching blocks are attached to the two sides of the mold by inserting the puncher into the corresponding through holes. The assembly is then placed in an oven and heated to the recrystallization temperature of the tube. After sufficient heating, the puncher is used to impact the punching block 723 to punch the strip into holes 715.

[0112] The tubular body 407 is hollow but sufficiently shock resistant so that the strip can be struck. The shock resistance is provided by the walls of the supporting coil structure that are close to the groove 721.

[0113] The mold is then opened and the tubular body 407 is removed, and now both sides of the tubular body 407 have holes 715 on the inner surface of the ribs 709. The tubular body 407 can now be threaded with the tensioning wire 109b and the end effector wire 109a.

[0114] FIG10( h) shows the straightening cord 109b being inserted. The distal end of the straightening cord 109b is provided with a stopper or knot 1015 that is too large to pass through the eyelets 715, and the proximal end is inserted through the eyelets 715. Once the proximal end of the straightening cord 109b passes through all the eyelets 715, the straightening cord 109b can be passed through the tubular body 407 until the knot abuts against the distal-most eyelet 715 and stops pulling, as shown in FIG10( i). The knot prevents the straightening cord 109b from being pulled out of the eyelets 715. Instead of a knot, the end of the straightening cord 109b can be crimped, fused, or welded to a point near the distal end of the tube 601, or otherwise secured.

[0115] Figure 10(j) shows the tube 601 being subsequently bent into the desired shape and heated with the straightening cord 109b within the eyelet 715, as previously described.

[0116] During a surgical procedure, when the straightening wire 109b is pulled to straighten the steerable arm 101, and when the straightening wire 109b is released to restore the steerable arm 101 to its original curvature, the eyelet 715 acts as a guide to ensure smooth translation of the straightening wire 109b.

[0117] Each rib 709 may be provided with an eyelet 715, so that the eyelet 715 forms a translation channel for the tensioning rope 109b. However, in other embodiments, an eyelet 715 may be provided every other rib 709 (not shown). In other embodiments, a single eyelet is sufficient for the translation guide.

[0118] In embodiments where eyelet 715 forms a translational channel for straightening cord 109b, the eyelet helps straighten straightening cord 109b as the ribs close, thereby helping straighten manipulable arm 101. When straightening cord 109b is further pulled, the eyelet guides further translation of straightening cord 109b, helping straightening cord 109b bend in the opposite direction as the bend of manipulable arm 101 reverses. These bending functions are described above. Figure 5 It has been shown in Figure 5 If the vertices of the ribs are provided with holes 715, these bending functions will be more prominent. When the straightening rope 109b is released, the manipulable arm 101 and the straightening rope 109b can both return to the initial permanent bending state.

[0119] Fig.11 and Fig.12 A technical diagram of a set of ribs 709 and ridges 711 is shown, in which the content of the diagram of Figure 10(j) is simply repeated.

[0120] Fig.11 The left figure in FIG. 1 shows an external image of the manipulator arm 101 from a side view angle, while Fig.11 The right figure in the figure is the corresponding cross-sectional view from the direction marked hh.

[0121] Fig.12 The left picture in the figure is a cross-sectional view in the jj direction, and Fig.12 The right picture in FIG. 1 is the corresponding appearance picture of the manipulable arm 101. Fig.11 and Fig.12 As can be seen in the figure, the straightening cable 109b passes through a translation channel defined by a series of eyelets 715, and the straightening cable 109b is fixed in place by a knot tied at the distal end of the straightening cable 109b to prevent the straightening cable 109b from slipping out of the eyelets 715.

[0122] Tubular body with different bends

[0123] The steerable arm described so far can be straightened and bent in one plane of movement using only one straightening cable 109b in the steerable arm 101. However, in other embodiments, the steerable arm can also be composed of different sections, each section being able to move in different planes.

[0124] The various segments of the manipulable arm can be designed in a modular manner. FIG. 13( a) shows a tubular body 407 cut from a single tube 601, such that the tubular body 407 has two segments 801, 803. The functions of the two segments 801, 803 are similar to Figure 4 Two tubular bodies 407 are shown connected in series. The two segments 801, 803 are coaxial, sharing the same axis, but are angularly offset. The spines and ribs of one segment face one direction, while the spines and ribs of the other segment face a different direction. If the angular offset is 180 degrees, the two segments 801, 803 can move in the same plane, but in opposite directions.

[0125] The top segment 801 may be driven by a straightening cable 109b secured to a distal end of the top segment 801 , while the bottom segment 803 may be driven by another straightening cable 109b secured to a distal end of the bottom segment 803 , which is somewhat midway along the tubular body 407 .

[0126] However, since the top segment 801 extends from the bottom segment 803, bending the bottom segment 803 allows the top segment 801 to swing over a wide range. This allows any end effector 203 fixed to the tip of the top segment 801 to reach a greater range.

[0127] Coaxiality here does not require a straight axis. The axis is the center of the steerable arm 101, but it can also be a meandering axis that accompanies the bending of the steerable arm. According to the method, these bends can be permanently obtained by bending the steerable arm in two places and then heating the steerable arm.

[0128] like Figure 13(b) to Figure 13(d) As shown, the process of cutting the tubular body 407 in FIG. 13( a) is similar to that already described in relation to FIG. 10 , except that the process now involves cutting the top section 801 first and then the bottom section 803. First, the top section of the hollow tube 601 is cut to form the tubular body 407, i.e., the tubular body 407 forms a ridge from which the ribs extend. Subsequently, a similar cut is made to the bottom section of the hollow tube 601, but the direction of the cut tubular body 407 is opposite. FIG. 13( d) shows two series of eyelets 715, each series of eyelets being punched at the apex of the rib 709 of a respective section 801, 803. Each series of eyelets provides a translational passageway for the respective straightening cord 109b to pass through.

[0129] The inset in Figure 13(e) shows that the two channels are located on opposite sides of the tubular body 407, 180 degrees apart, so that the plane of movement is the same. Figure 13(g) is a set of technical drawings, which complement the schematic drawings showing the same concept, showing that the ribs 709 and ridges 711 of the top segment 801 and the bottom segment 803 are oriented in different directions. A cross section of the perforations 715 on the inner surface of the apex of the rib 709 can be seen. The mold (not shown) used to heat the tubular body 407 has a groove with two bends, one for each segment, to impart the bend shown in Figure 13(f) to the steerable arm.

[0130] If the two segments 801, 803 are offset by an angle less than 180 degrees, such as shown in the axial view of the tubular body 407 in FIG. 13(h), where the angular displacement θ is shown, the movement of the two segments 801, 803 will be in different planes. In this case, the tubular body 407 cannot be inserted into the flat groove in the heated mold. In order to cope with the angular offset, the groove (not shown) must have different convexities or inclinations for different segments.

[0131] Alternatively, Figure 7 The heating method in can be used to perform a separate, sequential heating process on two segments. First, the top segment 801 is held bent in the plane defined by the ridges 711 and ribs 709 of segment 801 and heat treated to create a memory of the bend. Then, the bottom segment 803 is held bent in the plane defined by the ridges 711 and ribs 709 of the bottom segment 803 and heat treated. This heating method is used for a manipulable arm with several segments, each segment moving in a different plane.

[0132] Figure 14(a) to Figure 14(c) An embodiment is shown in which the size and arrangement of the eyelets in the manipulable arm are varied. The eyelets 715 in the top section 801 and the bottom section 803 of the tubular body 407 are located on opposite lateral sides. However, in both sections 801 and 803, the size of the eyelets 715 increases toward the middle of the tubular body 407. Thus, a single straightening cord 109b can be passed through the eyelets of the top section 801 and the bottom section 803. Prior to heating, the tubular body 407 is held so that the two sections 801 and 803 are bent in opposite orientations. Thereafter, the tubular body 407 permanently acquires the two bent shapes.

[0133] FIG. 14( d ) shows another variation of the eyelets, where the lower set of eyelets are the same size except for the farthest eyelet, and the upper set of eyelets are the same size except for the most proximal eyelet. In this configuration, the smaller eyelets better ensure that the straightening cord 109b passing through the eyelets of the two segments bends as closely as possible to the curves of the two segments. The larger eyelets near the middle of the tubular body 407 provide a guide for the straightening cord to pass from one side of the steerable arm to the other side.

[0134] Fig.15 Another embodiment is shown, with a manipulable arm 101 for two segments. A corresponding number of straightening cables 109b are provided for the different segments, each straightening cable 109b being attached to the distal end of the corresponding segment and passing through a respective eyelet (not shown) provided in each segment. The distal-most segment shown in the example is not curved in its natural state, but straight, and can alternatively be curved by pulling on cables attached to both sides of the segment. Fig.15 a shows the manipulable arm 101 in its natural state. Fig.15 b shows the different directions in which each component can move or bend under the action of the respective straightening rope 109b.

[0135] Fig.15 The maneuverable arm 101 in FIG. 1 has four parts 1001, 1003, 1005 and 1007. Below the first distal end part 1001 of the maneuverable arm 101a are the second part 1003 and the third part 1005. The first part 1001 and the second part 1003 are axially offset so that the first part 1001 can bend in a first plane 1012, and the second part 1003 can bend in a second plane 1014 at a certain angle to the first plane 1012. The second part 1003 and the third part 1005 are also axially offset so that the third part 1005 can bend in a third plane 1013 at a certain angle to the second plane 1014. Therefore, the three parts 1001, 1003, 1005 can move in different planes 1012, 1014, 1013 and provide three degrees of freedom of movement. As shown, the fourth portion 1007 located below the third portion 1005 is a coupler that mates with a corresponding coupler on the transmission tube 107. Preferably, when the transmission tube 107 is twisted at the proximal end of the endoscope, the coupling allows the maneuverable arm 101 to rotate, further increasing the range of motion. The view in FIG10( c) is a view from the proximal end of the maneuverable arm.

[0136] Fig.16 The steps for threading a tubular body 407 are shown, the tubular body having three sections, each section requiring a straightening cord 109b to be bent. It can be seen that the eyelets 715 are arranged on different sides of the inner surface of the tubular body 407. The first straightening cord 109b is inserted into a series of eyelets (not shown) defining the translation channel of the most distal section; the second straightening cord 109b is inserted into a series of eyelets (not shown) defining the translation channel of the second distal section; and the third straightening cord 109b is inserted into a series of eyelets (not shown) defining the translation channel of the most proximal section. In this embodiment, no single cord 109 is threaded through more than one translation channel.

[0137] Subsequently, the distal-most section of the tube 601 is bent and heated, and the first straightening cord 109b is passed through the corresponding eyelet.

[0138] Then, the second distal segment is bent and heated, the second straightening cable 109b for the second distal segment is passed through the corresponding eyelet, and a portion of the first straightening cable 109b extends from the first segment and passes through the second segment. When translating in the second distal segment, the first straightening cable 109b does not need any eyelet to guide it, but only needs to pass through the inner core of the hollow steerable arm.

[0139] Then, the third distal segment is bent and heated, the third straightening cable 109b is passed through the corresponding eyelet, and a portion of the first straightening cable 109b and a portion of the second straightening cable 109b extend through the inner core of the steerable arm in the third segment.

[0140] Fig.17 , Fig.18 and Fig.19 Different embodiments are shown, including variations of the tubular body 407, wherein each rib 709 is rotatably coupled to the next rib 709 via a coupling joint 1801. One rib 709 may have a male portion 1701 of the coupling joint, which is a circular extrusion that can be embedded in a corresponding female portion 1703 on the next rib 709, so that the circular extrusion can rotate in the bracket when the steerable arm is bent. The coupler improves the reliability of the steerable arm 101 by reducing the possibility of radial expansion of the ring and reducing compression deformation along the axis of the steerable arm when actuated. The coupling joint 1801 prevents the rib from radially widening or sliding, or prevents twisting in the axial direction around the steerable arm. In this embodiment, the ridge is not located on one side of the tubular body, while the ribs extend to the other side. Instead, the ridge is "centrally arranged". The ridge is composed of two rows of coupling joints 1801, which are arranged on opposite sides of the steerable arm. However, the ribs extending from the coupling joints are connected to the next coupling joint along the tubular body so as to be spirally connected to the next coupling joint. Thus, this embodiment remains a continuous structure with no discrete, disconnected parts. Thus, unlike the previous embodiment, the spine is not defined by abutting ribs on the concave side. Instead, the spine is defined by coupling joints 1801, which prevent the ribs from being compressed, and which are arranged in two rows along the length of the steerable arm so that the coupling joints 1801 provide a pivot about which the ribs can rotate and the spine can bend to each side. In other words, the ribs and spine are arranged orthogonally relative to the axis of the tube.

[0141] To manufacture the tubular body of this embodiment and provide a permanent bend, the Figure 6 to Figure 10, the only difference being the cutting, now the metal tube 601 must be engraved to form the coupling joint and ribs. As described in the previous embodiment, this continuous structure allows the embodiment to be bent with the cord inserted and heated to create a memory of the bend.

[0142] Fig.18 It is a three-dimensional view of the embodiment before heating and bending. It can be seen that the slits are arranged on different sides of the tubular body 407 to provide different bending directions or different bending surfaces. Fig.18 The illustration in FIG. 1 is a portion of a tubular body, and the reference numerals indicate coupling joints on opposite sides of the tubular body.

[0143] Fig.19 The corresponding top view 1901, front view 1903, bottom view 1905, and rear view 1907 are shown. There are cutouts on the four orthogonal sides of the tubular body 407, so the holes form four different channels on four different sides of the tubular body 407. The straightening rope 109b passing through the channel can be used to bend the tubular body 407 in different planes or in different directions. As shown in the figure, the size of the holes punched on different sides of the tubular body is different to accommodate ropes of corresponding thickness. Therefore, the depth of the punch is determined according to the required size of the hole. Different rope diameters or thicknesses provide different tensile strengths for the ropes, which match the rigidity of each section of the manipulable arm.

[0144] The thickness of the wire is selected based on the tensile load requirements of the corresponding manipulator arm segment. As a general rule, all wires in a manipulator arm should be as thin as possible to reduce crowding in the transmission body connected to the base of the manipulator arm. However, different segments of the manipulator arm require wires with different tensile loads to bend the segment. A wire that is too thin may not have enough tensile strength to bend the stiffer segment without breaking. The force required to bend a segment depends on how much material is removed from the segment and where the material is removed. Therefore, the choice of wire thickness can be estimated based on the design of each segment. In addition, it usually takes more force to bend the closer segment than to bend the distal segment.

[0145] Typically, the end effector wire 109a does not pass through any eyelets, but simply passes through the inner core of the tubular body 407, extending between all eyelets. This is because the end effector wire 109a is not used to close the ribs, and therefore does not need to translate near the apex of the eyelet. However, in order not to affect the curvature of the tubular body 407, the end effector wire 109a is still permanently bent by heat treatment.

[0146] Therefore, this embodiment includes the following steps:

[0147] 1. Bare hollow tube 601 is laser cut to have ribs 709, ridges 711 and slits for cord guidance.

[0148] 2. The hollow tube 601 is perforated (heated) to form the wire guide, i.e., eyelet 715, from the seam.

[0149] 3. The straightening cord 109b for bending the manipulable arm 101 is passed through the corresponding punched eyelets, while the end effector cord 109a is passed through the inner core of the tubular body 407 without passing through any eyelets 751. The ends of the straightening cord 109b are attached to the distal ends of the respective segments of the tubular body 407 (e.g., by welding, friction fit, adhesives, or various methods of bonding, or by knots).

[0150] 4. The tubular body 407, the end effector 203 and the wire 109 are placed in a mold that keeps the tubular body 407 in the desired curved shape and heated.

[0151] 5. The curved steerable arm 101 is then attached to the delivery tube (e.g. by welding, but an intermediate flange may also be used to facilitate the connection between the steerable arm and the delivery body). The excess length of wire extending from the proximal end of the steerable arm 101 is passed through the length of the delivery tube 107.

[0152] Therefore, an embodiment includes a method for manufacturing a tubular body 407 of a manipulable arm 101 for endoscopic surgery, comprising the following steps: 1: providing a hollow metal tube, and configuring the hollow metal tube 601 as a tubular body 407, having a plurality of ribs along at least one side of the tubular body 407, and the ribs 709 extending from a spine 711; inserting at least one wire 109a, 109b into the tubular body; bending the tubular body 407 having the wires 109a, 109b inside; heating the bent tubular body 407 having the bent wires 109a, 109b inside; so that the tubular body 107 and the wires 109a, 109b have a memory of their respective bends.

[0153] In some embodiments, Figure 5 As shown schematically, the ridge is located on the side of the tubular body 407 opposite to at least one side; at least one string 109a is inserted. In other embodiments, as Fig.18 As shown, the spine is centrally located and consists of two rows of coupling tabs from which the ribs extend.

[0154] Moreover, the embodiment also includes a tubular body 407 of a manipulable arm 101 for endoscopic surgery, comprising: a plurality of ribs 709; the ribs 709 extending from a spine; at least one wire 109a, 109b passing through the tubular body 407; wherein the tubular body 407 has a bend in a natural state; and at least one wire 109a, 109b has a bend corresponding to the bend of the tubular body 407 in a natural state.

[0155] Although the preferred embodiments of the present invention have been described above, those skilled in the art will appreciate that variations or modifications may be made to the details of design, construction or operation without departing from the scope of the present invention.

[0156] For example, although the eyelets 715 are described as recessed strips cut into the ribs 709 of the tubular body 407, the eyelets 715 may be formed by welding or attaching a ring to the inner surface of each rib 709. The method of making the eyelets 715 is different, but it does not affect the function of the eyelets 715 to provide translation guidance for the straightening rope 109a.

[0157] Additionally, in some embodiments, eyelets 715 may be provided on the inner surface of the ridges. Such eyelets allow the tensioning cord 109a to be positioned close to the ridges of one segment so that the cord extends straight to the eyelets of the next segment, which are located on the same side of the tubular body 407 as the ridges.

Claims

1. A method for manufacturing a tubular body of a maneuverable arm for endoscopic surgery, comprising the following steps: Provide a hollow metal tube; configuring the hollow metal tube to be a tubular body having a plurality of ribs along at least one side of the tubular body, the ribs extending from a spine; making a plurality of holes on the plurality of ribs aligned to form a first passageway within the tubular body, wherein each hole is made on a respective one of the plurality of ribs by punching the plurality of ribs with a punch, for providing holes of a first size suitable for passage of a cord of a first diameter, the cord of the first diameter being compatible with the holes of the first size; making a plurality of holes on another plurality of ribs aligned to form a second passageway within the tubular body, each hole being made on a respective one of the another plurality of ribs by punching the another plurality of ribs with a punch, for providing holes of a second size suitable for passage of a cord of a second diameter different from the first diameter, the cord of the second diameter being compatible with the holes of the second size; inserting a cord of the first diameter through the first passage and securing the cord so that pulling the cord closes the ribs of the first section; A cord of the second diameter is inserted through the second passage and secured so that pulling the cord closes the ribs of the second section.

2. A method of manufacturing a tubular body of a maneuverable arm for endoscopic surgery as claimed in claim 1, comprising the earlier step of: cutting the hollow metal tube to provide a plurality of serially connected rings; One edge of each ring defines a rib of the tubular body and the other edge of each ring is part of the ridge.

3. A method of manufacturing a tubular body of a maneuverable arm for endoscopic surgery as claimed in claim 1 or claim 2, wherein The first passage and the second passage are angularly offset from each other about an axis of the tubular body.

4. The method of manufacturing a tubular body of a maneuverable arm for endoscopic surgery as claimed in claim 1, wherein The steps of punching the ribs with a punch to provide holes include: cutting two slits in at least one of the ribs to provide a strip along the rib; The strip is pressed against the inner core of the tubular body to form the eyelets.

5. The method of manufacturing a tubular body of a maneuverable arm for endoscopic surgery as claimed in claim 4, wherein The step of pressing the strip toward the inner core of the tubular body to form the eyelet comprises Punching the strip using a punch having a concave surface; The curvature of the concave surface extends from one slot to the other.

6. The method of manufacturing a tubular body of a maneuverable arm for endoscopic surgery as claimed in claim 1, wherein The plurality of holes are formed at apexes of the respective ribs.

7. A tubular body of a maneuverable arm for endoscopic surgery, comprising: multiple ribs extending from the spine; a plurality of translation guides for guiding the movement of the plurality of wire ropes; A plurality of wires respectively passing through the plurality of translation guides; Each of the plurality of translation guides includes at least one eyelet formed on an inner surface of the tubular body; At least one eyelet of each translation guide has a size that is different from the size of at least one eyelet of the other translation guides; such that The plurality of translation guides are matched to wire ropes of matching diameters.

8. The tubular body of a maneuverable arm for endoscopic surgery according to claim 7, wherein Each eyelet is formed at an apex of a respective rib.

9. The tubular body of a maneuverable arm for endoscopic surgery according to claim 7 or claim 8, wherein: The edge of the at least one eyelet is folded towards the inner core of the tubular body.

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