Steerable Bronchoscope with Nested Torque Shaft
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Solution Overview
Problem
Current bronchoscopes, including robotic ones, have limitations in accessing and maneuvering through the narrow, twisting bronchial pathways of the lungs due to their minimum diameter of 3.5 to 4.2 mm and limited flexibility, making it difficult to reach and treat lesions in the outer third of the lungs, where 70% of lung lesions are located.
Innovation Solution
A multi-stage bronchoscope with a distal stage of less than 3 mm diameter and enhanced articulation capabilities, utilizing a two-stage design with a flexible, steerable introducer sheath and tensioning cables to navigate through tight spaces without damaging vascular structures, and equipped with sensors and tools for biopsy and therapy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the bronchoscope diameter is reduced to access narrower bronchial pathways, then the ability to reach outer third lung lesions is improved, but the structural integrity and maneuverability of the device deteriorates
Solution Approach 1:
The catheter is divided into multiple articulated sections with flexible joints, allowing each segment to bend and adapt independently while maintaining overall structural integrity. This segmentation enables the device to navigate narrow, twisting bronchial pathways without compromising strength.
Solution Approach 2:
The catheter employs a nested structure where smaller diameter distal sections are contained within or coupled to larger proximal sections. This nested design allows the device to maintain a small profile for navigating narrow bronchi while preserving structural support through the larger proximal segments.
2Adaptability or versatility
If the bronchoscope diameter is reduced to access narrower bronchial pathways, then the ability to reach outer third lung lesions is improved, but the ease of manipulation by the surgeon deteriorates
Solution Approach 1:
The catheter incorporates dynamic articulation capabilities with flexible joints that allow real-time adjustment of the device configuration. This dynamic flexibility enables the surgeon to manipulate the catheter through narrow, twisting pathways while maintaining control, as the device can adapt its shape in response to operator input and anatomical constraints.
3Strength
If prior art bronchoscopes with minimum diameter of 3.5 to 4.2 mm are used, then structural integrity is maintained, but the ability to access and maneuver through narrow bronchial pathways deteriorates
Solution Approach 1:
The catheter utilizes flexible polymer materials and thin-film constructions that provide sufficient structural integrity while allowing the device to bend and conform to narrow bronchial pathways. The flexible shell design maintains strength where needed while enabling adaptation to the complex geometry of the bronchial tree.
Data Source
AI summary
Catheter device and driving system configured to navigate the catheter through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by an isolation transition coupler connected to this torque shaft. The distal position of the catheter is controlled by at least one steering cable/isolation coil arrangement. The system uses processor-controlled actuators that simultaneously rotate the torque shaft and the at least one steering cable/isolation coil in a 1:1 relationship, while also actuating the steering cable. The catheter is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.