Steerable elongate instrument with flex member and pull wire
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Solution Overview
Problem
Minimally invasive surgical procedures require extension tools that are difficult to use and control, limiting the number of surgeons skilled enough to perform complex operations, often leading to the choice of standard surgery despite its lesser benefits for patients.
Innovation Solution
A steerable elongate instrument with a flexible body and multiple lumens, featuring flex members and pull wires, allows for adjustable shape and articulation control through a control unit, enabling easy manipulation and precise navigation within the body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If extension tools are used for minimally invasive surgical procedures, then patient trauma is reduced and recovery time is minimized, but the tools are difficult to use and control
Solution Approach 1:
The elongate instrument is divided into multiple segments or sections that can be independently controlled. The instrument includes a proximal section and a distal section that can be manipulated separately, allowing the surgeon to control the distal tip independently while maintaining overall instrument stability. This segmentation enables easier control of the instrument tip for minimally invasive procedures.
Solution Approach 2:
The instrument incorporates dynamic control mechanisms including a control unit with processors that receive input signals and dynamically adjust the instrument's configuration. The instrument can change its shape, curvature, and articulation in real-time based on control signals, transforming from a static tool to a dynamically adjustable instrument that adapts to surgical requirements.
2Ease of operation
If extension tools with adjustable shape and articulation are provided, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The instrument employs a nested structure where control elements are housed within the elongate body. The control unit, processors, and actuation mechanisms are integrated within the instrument's lumens and structural components, creating a compact nested arrangement that reduces overall complexity while maintaining advanced control capabilities.
Solution Approach 2:
The instrument is designed as a multi-functional tool that can perform various surgical operations through its adjustable shape and articulation capabilities. A single instrument can access different target sites and perform multiple tasks, replacing the need for multiple specialized tools and reducing overall device complexity in the surgical arsenal.
3Manufacturing precision
If multiple flex members and pull wires are used for shape control, then articulation precision is improved, but manufacturing complexity increases
Solution Approach 1:
The instrument is pre-assembled with flex members and pull wires in a controlled manufacturing environment, where the complex internal structure is built up systematically. The flex members are positioned and secured within lumens during manufacturing, and the pull wires are routed and anchored in advance, so that during surgery only simple actuation is required without complex assembly procedures.
Data Source
AI summary
An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body.