Variably flexible insertion device and method for variably flexing an insertion device
A variably flexible insertion device includes a hollow body having a proximal end with an entrance for receiving an instrument and a distal end with a tip for protrusion of the instrument. A device transitions the hollow body between a relatively flexible condition and a relatively stiff condition. Tendons within the hollow body maintain the hollow body in the relatively flexible and relatively stiff conditions. A method for variably flexing an insertion device for receiving an instrument, includes providing a hollow body having inner and outer sleeves defining a space therebetween in which tendons are disposed. Suction is applied to create a vacuum in the space for frictionally locking the tendons in place between the sleeves in a relatively stiff condition of the hollow body. The vacuum is relieved to release the tendons in a relatively flexible condition of the hollow body.
1. A variably flexible insertion device, comprising:
a hollow body having:
a proximal end with an entrance for receiving an instrument;
a distal end with a tip for protrusion of the instrument; and
inner and outer sleeves defining a space therebetween;
tendons in the form of wires disposed in said space;
a transitioning device operable to apply suction to said space to transition said hollow body between a relatively flexible condition and a relatively stiff condition; and
vertebrae disposed within said space and having one or more channel grooves that guide said tendons.
2. The device according to claim 1 , wherein said hollow body has a given length and said tendons extend substantially entirely over said given length.
3. The device according to claim 1 , wherein said tendons are frictionally locked in place selectively by the suction applied by said transitioning device to maintain said hollow body in said relatively flexible condition when the suction is not applied and said relatively stiff condition when the suction is applied.
4. The device according to claim 1 , wherein said tendons float in said hollow body when said hollow body is in said relatively flexible condition.
5. The device according to claim 1 , wherein said tendons are not in tension or compression when said hollow body is in said relatively stiff condition.
6. The device according to claim 1 , wherein said tendons are not under tension in both said relatively flexible and relatively stiff conditions.
7. The device according to claim 1 , wherein said vertebrae include a distal-most vertebrae at which said tendons are attached.
8. The device according to claim 1 , wherein said transitioning device is a vacuum port communicating with said space.
9. The device according to claim 1 , wherein said tendons are free from both of said sleeves.
10. The device according to claim 1 , wherein said tendons are engaged only when suction is applied to said space.
11. The device according to claim 1 , wherein said tendons move longitudinally.
12. The device according to claim 1 , wherein said hollow body has a handle at said proximal end, said tendons are free to move longitudinally in said handle, and at least some of said tendons are adjustable in length for steering said distal end.
13. A variably flexible insertion device, comprising:
a hollow body having inner and outer sleeves defining a space therebetween, said hollow body having a longitudinal slit formed therein for loading said hollow body onto an instrument;
tendons in the form of wires disposed in said space;
a transitioning device operable to apply suction to said space to transition said hollow body between a relatively flexible condition and a relatively stiff condition; and
vertebrae disposed within said space and having one or more channel grooves that guide said tendons.
14. The device according to claim 13 , wherein said hollow body further comprises:
a proximal end; and
a distal end having a tip for protrusion of a distal portion of the instrument.
15. The device according to claim 13 , wherein said slit has a closure permitting said slit to be resealed after said hollow body has been loaded.
16. The device according to claim 15 , wherein said closure is a slide or press zipper.
17. The device according to claim 13 , wherein said tendons are frictionally locked in place selectively by the suction applied by said transitioning device to maintain said hollow body in said relatively flexible condition when the suction is not applied and said relatively stiff condition when the suction is applied.
18. The device according to claim 13 , wherein said tendons float in said hollow body when said hollow body is in said relatively flexible condition.
19. The device according to claim 13 , wherein said tendons are not in tension or compression when said hollow body is in said relatively stiff condition.
20. The device according to claim 13 , wherein said tendons are not under tension in both said relatively flexible and relatively stiff conditions.