Steerable extendable devices
AssigneeSouthern Methodist University
InventorsAdam Cohen, Edmond Richer
Life of this patent
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Abstract
The present invention is a Distally Assembled Steerable Cannula (DASC), a robotically-manipulated device that can be deployed and extended within a patient's body by growing from its distal end, or can be used in non-medical applications. In one embodiment, growth occurs by sequentially assembling segments that interlock to form a rigid tube with a complex 3-D shape. The segments are individually transported through the growing cannula, and then assembled at the distal end. A segment can be wedge-shaped in profile, allowing adjustment of the local radius of curvature and direction of the cannula to be controlled by relative segment orientation.
Claims32
An elongatable, steerable apparatus capable of growing from a proximal end to a distal end through a process of assembly wherein one or more segments are added to the distal end of the apparatus, the apparatus comprising:
- a first segment having a lumen therethrough, the first segment having a proximal end and a distal end;
- a segment transporter that delivers one or more additional segments to the first segment through the lumen of the first and any subsequent segment;
- and
- a second segment having a lumen, a proximal end, and a distal end, wherein the second segment is attached to the distal end of the first segment by the segment transporter, and wherein the second segment is capable of changing a growth direction of the distal end of the apparatus and of one or more subsequent segments.
A method of lengthening and steering an apparatus capable of growing from a proximal end to a distal end through a process of assembly wherein one or more segments are added to the distal end of the apparatus, the method comprising:
- obtaining a first segment having a lumen therethrough, the first segment having a proximal end and a distal end;
- and
- adding a second segment having a lumen, a proximal end, and a distal end, wherein the second segment is attached to the distal end of the first segment by a segment transporter, wherein the segment transporter delivers one or more additional segments to the first segment through the lumen of the first and any subsequent segment, and wherein the second segment is capable of changing a growth direction of the distal end of the apparatus and of one or more subsequent segments.
Dependencies are inferred from the claim text.