Steerable medical device with braided structure and the preparing method thereof

An elongate, flexible, medical device, comprising:

• an elongate, flexible portion having a distal end and a proximal end, further comprising:
• an elongate, flexible inner member extending from the proximal end and the distal end and having a first outer surface over the circumference and length thereof;
• a support member extending around the first outer surface of the inner member intermediate the proximal end and the distal end thereof;
• an outer member surrounding over the inner member and the support member and having a second outer surface over the circumference and length thereof and an opposed inner surface, the inner surface terminating at an outer member open end at the distal end thereof;
• wherein the outer member open end at the distal end is adjacent to the elongate, flexible member and
• a bendable portion having at least one ionic electroactive polymer actuator, the actuator further comprising:
• at least one polymer electrolyte layer secured adjacent to the inner member at the distal end of the elongate, flexible portion and having a polymer electrode layer outer surface forming at least a portion of the outer circumferential surface extending around the distal end of the elongate, flexible portion;
• a plurality of electrodes circumferentially spaced from one another in the circumferential direction around and over the polymer electrode layer outer surface, and at least a portion of each of the plurality of electrodes is in physical contact with the polymer electrode layer outer surface of the at least one polymer electrolyte layer at a different circumferential location thereof;
• a plurality of electrically-conductive wires being deployed between the first outer surface of the inner member and the inner surface of the outer member along a longitudinal direction of the elongate, flexible portion, each being braided with the support member and having a distal end that extends outwardly from the outer member open end of the outer member of the elongate, flexible portion to be electrically connected to one of the electrodes;
• and
• wherein the at least one polymer electrolyte layer is configured to deform asymmetrically in response to the application of an electrical signal through at least one of the plurality of electrically-conductive wires to at least one of the plurality of electrodes.