Steerable endoscope with continuum manipulator

A steerable endoscope system comprising:

• a continuum manipulator including
• a plurality of spaced discs each including a plurality of backbone openings, and
• a plurality of backbones, each including a proximal end fixedly coupled to a proximal end of the continuum manipulator and a distal end slidably extending beyond a distal end of the continuum manipulator, wherein each backbone of the plurality of backbones slidably extends through a backbone opening of each disc of the plurality of spaced discs,
• wherein the continuum manipulator is configured such that a bending movement of the continuum manipulator changes a linear displacement of the distal end of each backbone of the plurality of backbones extending from the distal end of the continuum manipulator;
• a plurality of syringes coupled to the continuum manipulator, wherein each syringe of the plurality of syringes is coupled to the distal end of a different one of the plurality of backbones such that linear displacement of a backbone in a first direction pushes a piston of the syringe and linear displacement of the backbone in a second direction pulls the piston of the syringe, wherein either the piston of the syringe or an outer body of the syringe is fixedly coupled relative to the distal end of the continuum manipulator;
• a steerable tip including an end effector and a plurality of bellows, the end effector including a distal end and a proximal end, wherein each bellow of the plurality of bellows is pneumatically coupled to a different syringe of the plurality of syringes such that movement of the piston of a syringe in the first direction causes inflation of a bellow of the plurality of bellows and movement of the piston of the syringe in the second direction causes deflation of the bellow;
• a primary backbone extending through each disc of the plurality of spaced discs, wherein the plurality of backbones includes a plurality of secondary backbones, and wherein the plurality of backbone openings of each disc of the plurality of spaced discs includes a primary backbone opening positioned at a center of the disc and a plurality of secondary backbone openings positioned around the primary backbone opening at a defined radius from the primary backbone opening;
• and
• a handle coupled to the continuum manipulator at the proximal end of the continuum manipulator, wherein a proximal end of the primary backbone is fixedly coupled to the proximal end of the continuum manipulator, wherein a distal end of the primary backbone slidably extends beyond the distal end of the continuum manipulator, and wherein the continuum manipulator is configured such that an external linear force applied to the handle in the second direction increases a stiffness of the steerable tip by causing all bellows of the plurality of bellows to deflate,
• wherein a distal end of each bellow of the plurality of bellows is fixedly coupled to the proximal end of the end effector such that inflation variations in the plurality of bellows causes a bending of the steerable tip.