# US 2014/0155822 A1 · Active catheter device and associated system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0155822 A1 - Document ID: US20140155822A1 - Status: Published application - Kind: A1 - Application number: 14/004,381 - Filed: 2012-03-28 - Published: 2014-06-05 - Earliest claimed: 2011-03-28 - Assignees: North Carolina State University - Inventors: Gregory Dale Buckner; Arun Shankar Veeramani; Stephen B. Owen; Shaphan R. Jernigan - Web page: https://patentgrep.com/patent/US20140155822A1 ## CPC - A61M 25/0158: {with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials} - A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)} - A61M 25/0105: {Steering means as part of the catheter or advancing means; Markers for positioning (systems for detection of markers A61B)} - A61M 25/0147: {with movable mechanical means, e.g. pull wires} - A61B 2017/00867: {shape memory effect} - A61B 2018/00011: {with fluids} - A61B 2090/065: {for measuring contact or contact pressure} - A61M 2205/0266: Shape memory materials - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An active catheter device is provided. At least one elongate catheter segment includes an elongate flexible tube member defining an axis, and a pair of ferrule members operably engaged with and spaced apart along the tube member. The ferrule members are not rotatable about the axis relative to each other. At least one articulation member is operably engaged with and extends at least between the ferrule members along the tube member. Each articulation member is configured to be actuatable to cause a change in a distance between the ferrule members so as to articulate the tube member. Associated systems and methods are also provided. ## Claims ### Claim 1 An active catheter device, comprising: at least one elongate catheter segment, including: an elongate flexible tube member defining an axis; a pair of ferrule members operably engaged with the tube member, in spaced apart relation with respect to each other, such that the ferrule members are not rotatable about the axis relative to each other; and at least one articulation member operably engaged with and extending at least between the ferrule members along the tube member, the at least one articulation member being configured to be actuatable to cause a change in a distance between the ferrule members so as to articulate the tube member. ### Claim 2 (depends on 1) A device according to claim 1 wherein the at least one articulation member is comprised of a superelastic material and is formed into a first actuated configuration, before being plastically deformed into a second configuration for operable engagement between the ferrule members, the superelastic material being configured to undergo a material phase change upon application of a stimulus thereto such that the at least one articulation member changes from the second configuration to the first configuration in response to the stimulus and thereby causes the distance between the ferrule members to change and the tube member to substantially conform thereto. ### Claim 3 (depends on 2) A device according to claim 2 wherein the superelastic material comprises a nickel-titanium alloy. ### Claim 4 (depends on 1) A device according to claim 1 wherein the at least one articulation member includes opposed ends and comprises an anchor member integrally formed therewith about each of the opposed ends, each anchor member being configured to operably engage one of the ferrule members. ### Claim 5 (depends on 4) A device according to claim 4 wherein the at least one articulation member and the anchor members comprise an integral nanofabricated element. ### Claim 6 (depends on 1) A device according to claim 1 further comprising an actuator element operably engaged with the at least one articulation member, the actuator element being comprised of a superelastic material and being formed into a first actuated configuration, before being plastically deformed into a second configuration for operable engagement with the at least one articulation member, the superelastic material being configured to undergo a material phase change upon application of a stimulus thereto such that the actuator changes from the second configuration to the first configuration in response to the stimulus and thereby causes a force to be exerted on the at least one articulation member so as to, in turn cause the distance between the ferrule members to change. ### Claim 7 (depends on 2) A device according to claim 2 further comprising at least one sensor disposed proximate to a leading end of the elongate flexible tube member, the at least one sensor being configured to determine a force applied about the leading end along the axis and to generate a signal corresponding thereto. ### Claim 8 (depends on 2) A device according to claim 2 further comprising a tensioning system configured to interact with opposed articulation members, one of the tensioning system and the opposed articulation members being operably engaged with the ferrule members, wherein actuation of one of the opposed articulation members with substantially simultaneous deactuation of the other of the opposed articulation members causes a displacement differential in the tensioning system to articulate the tube member. ### Claim 9 (depends on 8) A device according to claim 8 wherein the tensioning system comprises a lever member having a medial pivot, one end of the lever member on one side of the medial pivot being configured to engage a first displacement member operably engaged with the tube member and the other end of the lever member on the other side of the medial pivot being configured to engage a second displacement member operably engaged with the tube member opposing the first displacement member. ### Claim 10 (depends on 9) A device according to claim 9 wherein one of the opposed articulation members is configured to slidably engage a first slot defined by the lever member between the medial pivot and the engagement with the first displacement member, and the other of the opposed articulation members is engaged with a second slot defined by the lever member between the medial pivot and the engagement with the second displacement member, and wherein changing of one of the opposed articulation members from the second configuration to the first configuration causes the opposed articulation members to laterally translate within the respective slots toward the changed one of the opposed articulation members and to correspondingly rotate the lever member about the medial pivot, the rotated lever member correspondingly increasing an effective length of one of the displacement members and decreasing an effective length of the other of the displacement members to articulate the tube member. ### Claim 11 (depends on 2) A device according to claim 2 further comprising a pulley assembly operably engaged with the at least one articulating member, the pulley assembly being configured to increase a force applied by the at least one articulating member, upon changing of the at least one articulation member from the second configuration to the first configuration. ### Claim 12 (depends on 2) A device according to claim 2, further comprising a plurality of ferrule members operably engaged with the tube member, in successive spaced apart relation with respect thereto, such that the ferrule members are not rotatable about the axis relative to each other, wherein the at least one articulation member is operably engaged with and extends between a non-adjacent pair of the ferrule members along the tube member. ### Claim 13 (depends on 2) A device according to claim 2 further comprising a stimulus-applying element operably engaged with each of the at least one articulation member for applying the stimulus thereto. ### Claim 14 (depends on 13) A device according to claim 13 wherein the stimulus-applying element is further configured to be capable of applying heat to each of the at least one articulation member, the heat being configured to cause the material phase change in the superelastic material. ### Claim 15 (depends on 2) A device according to claim 2 further comprising a controller device operably engaged with the at least one articulation member and configured to apply the stimulus thereto. ### Claim 16 An active catheter system, comprising: an elongate flexible tube member defining an axis and having a leading end and an opposed trailing end; a plurality of ferrule members operably engaged with the tube member, in successive spaced apart relation with respect thereto from the leading end toward the trailing end, the ferrule members being operably engaged with the tube member so as to be not rotatable about the axis relative to each other; at least one articulation member operably engaged with and extending between a first pair of ferrule members, including a first ferrule member about the leading end and a second ferrule member along the tube member, so as to define a first catheter segment; at least one articulation member operably engaged with and extending between a second pair of ferrule members, including the second ferrule member and a third ferrule member toward the trailing end along the tube member, so as to define a second catheter segment, each articulation member being comprised of a superelastic material and formed into a first actuated configuration, before being plastically deformed into a second configuration for operable engagement between the respective first and second pair of ferrule members; and a controller device operably engaged with the at least one articulation member of each of the first and second catheter segments, and configured to selectively and discretely apply a stimulus individually to each of the at least one articulation member, the superelastic material being configured to undergo a material phase change upon application of a stimulus thereto such that the at least one articulation member of each of the first and second catheter segments changes from the second configuration to the first configuration in response to the respective selective stimulus, and thereby causes the tube member to substantially conform thereto, such that the first and second catheter segments are capable of changing configuration independently of each other. ### Claim 17 (depends on 16) A system according to claim 16 wherein the superelastic material comprises a nickel-titanium alloy. ### Claim 18 (depends on 16) A system according to claim 16 wherein the controller device is further configured to be capable of applying heat to each of the at least one articulation member of each of the first and second catheter segments, the heat being configured to cause the material phase change in the superelastic material. ### Claim 19 An active catheter system adapted to be applied to an anatomical channel, the active catheter system comprising: an elongate flexible tube member defining an axis and having a leading end and an opposed trailing end; a plurality of ferrule members operably engaged with the tube member, in successive spaced apart relation with respect thereto from the leading end toward the trailing end, the ferrule members being operably engaged with the tube member so as to be not rotatable about the axis relative to each other; at least one articulation member operably engaged with and extending between a first pair of ferrule members, including a first ferrule member about the leading end and a second ferrule member along the tube member, so as to define a first catheter segment; at least one articulation member operably engaged with and extending between a second pair of ferrule members, including the second ferrule member and a third ferrule member toward the trailing end along the tube member, so as to define a second catheter segment, each articulation member being comprised of a superelastic material and formed into a first actuated configuration, before being plastically deformed into a second configuration for operable engagement between the respective first and second pair of ferrule members; an articulation controller device operably engaged with the at least one articulation member of each of the first and second catheter segments, and configured to selectively and discretely apply a stimulus individually to each of the at least one articulation member, the superelastic material being configured to undergo a material phase change upon application of a stimulus thereto such that the at least one articulation member of each of the first and second catheter segments changes from the second configuration to the first configuration in response to the respective selective stimulus, and thereby causes the tube member to substantially conform thereto, such that the first and second catheter segments are capable of changing configuration independently of each other; and an axial advancement controller device operably engaged with the articulation controller device, the axial advancement controller device being configured to determine a threading configuration of the first catheter segment, as the first catheter segment is threaded through a portion of the anatomical channel, and to direct the articulation controller to replicate the threading configuration in the second catheter segment, as the second catheter segment is subsequently threaded through the portion of the anatomical channel. ### Claim 20 (depends on 19) A system according to claim 19 wherein the superelastic material comprises a nickel-titanium alloy. ### Claim 21 (depends on 19) A system according to claim 19 wherein each of the articulation controller device and the axial advancement controller device is further configured to be capable of applying heat to each of the at least one articulation member of each of the first and second catheter segments, the heat being configured to cause the material phase change in the superelastic material.