Axial Support Structure for Flexible Elongate Articulation

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Solution Overview

Problem

Minimally invasive medical procedures using flexible elongate devices face challenges in maintaining the neutral axis length and structural integrity under axial loads, leading to distortion, compression, and collapse of the articulable body portion, which affects the device's functionality and reliability.

Innovation Solution

The flexible elongate device incorporates an axial support structure with transverse support segments and tubular struts that are circumferentially offset, allowing the device to bend along multiple axes while preserving the neutral axis length and providing axial stiffness, and includes pull wires and component lines that minimize friction and tensile stress.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Stability of the object's composition

If traditional flexible elongate devices are used, then the device can navigate anatomic passageways, but the device experiences distortion, compression, and collapse under axial loads

Engineering Contradiction:

Improveneutral axis lengthVSAvoidsupport under axial loads

Core Design Contradiction:

Stability of the object's compositionVSStrength

Solution Approach 1:

The axial support structure is divided into multiple transverse support segments that are longitudinally spaced along the articulable body portion. Each support segment provides localized support while allowing controlled articulation between segments, preventing overall collapse under axial loads while maintaining the neutral axis length.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Tubular struts are circumferentially offset relative to one another between adjacent support segments, creating a three-dimensional lattice structure. This spatial arrangement provides support in multiple directions and prevents distortion while allowing bending along multiple axes.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Stability of the object's composition

If axial support structures are added to maintain neutral axis length, then structural stability improves, but device complexity and manufacturing cost increase

Engineering Contradiction:

Improveneutral axis lengthVSAvoidaxial support structure

Core Design Contradiction:

Stability of the object's compositionVSDevice complexity

Solution Approach 1:

The axial support structure serves multiple functions simultaneously: it maintains the neutral axis length, provides support under axial loads, allows controlled articulation through pull wires, and creates space for sensors and other components. This multi-functionality reduces the need for separate structural elements.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The tubular struts and transverse support segments form a nested lattice structure where smaller elements are positioned within and between larger structural components. This nesting provides structural support while minimizing the overall volume and complexity of the support system.

Inventive Principle:

Principle #7Nested doll (Nesting)

3Stability of the object's composition

If axial support structures are added to provide structural support, then distortion and collapse are reduced, but manufacturing cost increases

Engineering Contradiction:

Improveneutral axis lengthVSAvoidmanufacturing cost

Core Design Contradiction:

Stability of the object's compositionVSEase of manufacture

Solution Approach 1:

The support structure is segmented into standardized transverse support segments and tubular struts that can be manufactured separately and assembled. This modular approach allows for efficient manufacturing of individual components and simplifies quality control and assembly processes.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The structure incorporates flexible elements and articulation points that allow the device to adapt to various configurations during use. This dynamic design reduces the need for over-engineering rigid structures, thereby lowering manufacturing costs while maintaining performance.

Inventive Principle:

Principle #15Dynamics

4Adaptability or versatility

If space is allocated for sensors and components within the device, then functionality is enhanced, but the available space for articulation and flexibility is reduced

Engineering Contradiction:

Improvespace for sensorsVSAvoidarticulation flexibility

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

Sensors and other components are nested within the hollow tubular struts and support segments. This nesting accommodates additional functionality while maintaining the external dimensions and flexibility characteristics of the original structure, as the components are housed within the existing lattice framework.

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

Components are arranged in the circumferential and radial dimensions within the lattice structure rather than occupying longitudinal space. This three-dimensional arrangement provides room for sensors and components without compromising the articulation flexibility along the longitudinal axis.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS12605053B2Flexible elongate devices having axial support structures

Publication Date: 2026.04.21 INTUITIVE SURGICAL OPERATIONS INC

AI summary

Flexible elongate devices include an elongate body having an articulable body portion and an axial support structure within the articulable body portion. The axial support structure can include a plurality of transverse support segments with tubular struts disposed between the support segments. The flexible elongate devices can include a component line that has a helical shape within the articulable body portion.