Patent ID: 9055960
Filing Date: 2015-06-16
Classification: A61B

Abstract:
1. A surgical device comprising: a tube comprising a wall having a plurality of slits oriented generally transverse to a longitudinal axis of the tube, wherein each slit is defined by opposing surfaces, the tube comprising a proximal segment and a distal segment; a plurality of force transmission elements coupled to the tube and actuatable to alter the distal segment of the tube between a flexible state and a stiffened state; a plurality of routing members, each routing member including an attachment surface coupled to a surface of the wall of the tube, the routing members configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress, wherein some of the routing members are coupled to the proximal segment and some of the routing members are coupled to the distal segment; and a decoupling structure that reduces force applied to the proximal segment when a force is applied to the distal segment by the force transmission elements; wherein in the flexible state of the tube, at least some of the opposing surfaces defining respective slits are separated from one another; wherein in the stiffened state of the tube, a force exerted on the force transmission elements causes the opposing surfaces of each slit to contact one another so that the tube is straight and compressed along the longitudinal axis of the tube in the stiffened state; and wherein in the stiffened state of the tube, the force exerted on the force transmission elements causes first and second portions of distal segment of the tube to rotate with respect to each other around the longitudinal axis of the tube.