Tubular compliant mechanisms for ultrasonic imaging systems and intravascular interventional devices

An ultrasonic imaging system useful for intravascular ultrasound forward imaging applications, the ultrasonic imaging system comprising:

• a compliant apparatus sized for intravascular use, having no mechanical joints and capable of being manipulated through at least one degree of freedom without permanent deformation, the compliant apparatus comprising:
• a tubular structure having an axis and formed from a tube made of a material having a reversible structural behavior;
• at least one compliant mechanism integrally formed from the tube by removing material from the tube to facilitate bending motion;
• a forward-looking ultrasound transducer coupled to the compliant apparatus;
• and
• at least one force-generating actuators attached to and located with the compliant apparatus for manipulating the compliant apparatus by bending the at least one compliant mechanism away from the axis.

An intravascular system comprising:

• a micromanipulator having no mechanical joints, comprising a tubular structure having an axis and being made of an elastic or superelastic material;
• and
• a plurality of compliant mechanisms spaced apart along the tubular structure, wherein each such mechanism is integrally formed from the tubular structure by removing material from the tubular structure to allow flexure of the mechanism;
• and
• at least one force-generating actuators coupled to and located with at least one of the plurality of compliant mechanisms for effecting bending motions of the micromanipulator away from the axis.