Patent ID: 9220398
Filing Date: 2015-12-29
Classification: A61B,B25J,F16C,G02B

Abstract:
1. A system for managing the transmission of force to articulate an elongate medical device, the system comprising: an elongate body comprising a plurality of articulatable segments; a plurality of coil pipes, wherein each coil pipe is fixed at a proximal end of each coil pipe relative to an actuator, and at a distal end of each coil pipe relative to a proximal portion of a differing one of said plurality of articulatable segments; and a plurality of tensioning members each housed in one of said plurality of coil pipes, wherein a proximal end of each of said plurality of tensioning members is coupled to said actuator, wherein a distal end of each of said plurality of tensioning members extends out the distal end of one of said plurality of coil pipes, and wherein the articulatable segments are actuated by the plurality of tensioning members, with the distal ends of at least two of the plurality of tensioning members being connected to differing articulatable segments of the plurality of articulatable segments to respectively actuate the differing articulatable segments in response to tensioning of the tensioning members, wherein said plurality of coil pipes extend along each of the differing articulatable segments in a spiral pattern; and wherein the articulatable segments comprise: