Articulating sheath for flexible instruments
A sheath useful for remote steering, guidance and/or manipulation of a flexible instrument, including e.g. an endoscope, received through the sheath.
1. A sheath for delivery and navigation of a flexible instrument, the sheath comprising:
an elongate shaft;
proximal and distal sections having multiple pairs of interconnected links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair;
multiple sets of cables, with each set connecting a discrete pair of links, such that movements of one link of each of the interconnected pairs of links causes corresponding relative movement of the other link of the pair;
a lumen extending at least partially through the shaft and opening through the distal end of the distal section; and
an inlet port located between the proximal and distal sections, the inlet port in communication with the lumen, the lumen and inlet port configured for receipt and passage of a flexible instrument.
2. The sheath of claim 1 wherein two or more adjacent links are joined by flexible hinges.
3. The sheath of claim 2 wherein at least one flexible hinge is oriented perpendicular to the longitudinal axis of the shaft.
4. The sheath of claim 2 wherein at least one of the flexible hinges is oriented at an acute angle relative to at least one other flexible hinge.
5. The sheath of claim 2 wherein at least one of the flexible hinges is oriented orthogonal to at least one other flexible hinge.
6. The sheath of claim 2 wherein the flexible hinges are oriented parallel to each other.
7. The sheath of claim 1 wherein movement of the proximal section results in corresponding relative movement of the distal section.
8. The sheath of claim 7 wherein said corresponding relative movement of the distal section is reciprocal to the movement of the proximal section.
9. The sheath of claim 7 wherein said corresponding relative movement of the distal section mirrors the movement of the proximal section.
10. The sheath of claim 1 wherein pairs of links include channels for receipt and passage of sets of cables associated with adjacent pairs of links.
11. The sheath of claim 1 further comprising one or more additional links not connected by discrete sets of cables.
12. The sheath of claim 1 wherein the cables connecting a pair of links are at a different radial distance from the center of the first link of the pair as compared to the second link of the pair.
13. The sheath of claim 1 further comprising a locking mechanism for locking the proximal and distal sections into a fixed position.
14. A method of introducing a flexible endoscope to a desired location within a patient's body comprising the steps of:
advancing the sheath of claim 1 to a desired location within a patient's body; and
advancing a flexible endoscope through the sheath.
15. A method of claim 14 further comprising the step of manipulating the proximal section of the sheath to facilitate movement of the endoscope.
16. A system for performing endoscopy comprising:
the sheath of claim 1 ; and
an endoscope received through the lumen of the sheath and with its distal end extending from the distal section of the sheath.