Patent ID: 7833191

Claim:
A controllable catheter ( 10 ) comprising: an elongated shaft ( 13 ), which is subdivided into multiple shaft segments; tilt segments ( 12 ) of which at least two of the multiple shaft segments are implemented with; said tilt segments ( 12 ) each connected to at least one adjustment device ( 16 , 20 ), so that said tilt segments ( 12 ) can be tilted about a desired tilt angle with respect to a longitudinal axis of the elongated shaft ( 13 ); wherein each of the at least one adjustment device ( 16 , 20 ) is individually controllable and allows individual tilt of a corresponding tilt segment ( 12 ) by the desired tilt angle; a motion sensor, which records a displacement of catheter ( 10 ) in a distal and/or proximal direction; a control device connected with the at least one adjustment device; and, wherein said control device is configured to automatically monitor and adjust a respective setting of tilt angles of individual tilt segments ( 12 ) based on an angle of a front segment ( 12 ) located in a furthermost distal direction at each said displacement of said elongated shaft ( 13 ) in said distal and/or proximal direction as determined by said motion sensor; set a respective proximal tilt segment ( 12 ) to a first tilt angle, that a distally adjacent tilt segment ( 12 ) tilted at when said distally adjacent tilt segment was located at a first displacement where the respective proximal tilt segment is currently located at in a tissue channel when said catheter is displaced at a second displacement in the distal direction by a length of a tilt segment ( 12 ); set a respective distal tilt segment ( 12 ) to said first tilt angle, that a proximally adjacent tilt segment ( 12 ) tilted at when said proximally adjacent tilt segment was located at said second displacement where the respective distal tilt segment is currently located at in a tissue channel when said catheter is displaced at said first displacement in the proximal direction by a length of a tilt segment.