Methods and apparatus for constructing endoscopic device with helical lumen design
View Patent ↗An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.
1. A method for constructing a medical device, comprising:
providing a first elongated body;
providing a plurality of second elongated bodies
laying the plurality of second elongated bodies at a pitch in a helical pattern around the first elongated body;
braiding a layer of braid wire around the first elongated body and the plurality of second elongated bodies to generate a braided composite; and
removing the plurality of second elongated bodies from the braided composite in order to generate a helical lumen within the braided composite.
2. The method of claim 1 , further comprising:
removing the first elongated body from the braided composite in order to generate a central lumen in the braided composite.
3. The method of claim 2 , wherein the central lumen is configured to convey tools and sensors to the distal end of the braided composite.
4. The method of claim 1 , further comprising:
sheathing the braided composite with an outer jacket.
5. The method of claim 1 , further comprising:
casting an outer jacket around the braided composite.
6. The method of claim 1 , wherein the pitch of the helical pattern is predetermined.
7. The method of claim 1 , wherein the pitch of the helical pattern varies along the length of the first elongated body.
8. The method of claim 7 , wherein the pitch of the helical pattern is parallel to the first elongated body along a section of braided composite that is configured to be actuated.
9. The method of claim 1 , further comprising:
inserting a pull wire within the helical lumen.
10. The method of claim 9 , further comprising:
attaching the pull wire near the distal end of the braided composite, such that tension along the pull wire results in a compressive force along the braided composite.
11. The method of claim 10 , wherein the helical lumen is configured to radially distribute the compressive force along the braided composite arising from tension in the pull wire.
12. The method of claim 1 , further comprising:
attaching a digital camera at the distal end of the braided composite.
13. The method of claim 1 , further comprising:
attaching light sources configured to be used with the digital camera at the distal end of the braided composite.
14. The method of claim 1 , further comprising:
inserting the first elongated body and the second elongated body into a braiding machine;
wherein the braiding machine comprises a feed tube and a nose cone.
15. The method of claim 14 , further comprising:
advancing the plurality of second elongated bodies through respective side holes in the nose cone.
16. The method of claim 15 , further comprising:
advancing the first elongated body through the feed tube and a central hole in the nose cone.
17. The method of claim 16 , further comprising:
rotating the first elongated body;
wherein the rotating occurs as the plurality of second elongated bodies are laid around the first elongated body.
18. The method of claim 16 , further comprising:
rotating the nose cone;
wherein the rotating occurs as the plurality of second elongated bodies are laid around the first elongated body.
19. The method of claim 18 , wherein the nose cone is concentrically aligned with the feed tube.
20. The method of claim 19 , wherein the nose cone is fixedly coupled to the feed tube, such that the feed tube rotates if the nose cone rotates.
21. The method of claim 20 , wherein the plurality of second elongated bodies are constructed from at least one of braiding and thermoset polymer.
22. The method of claim 21 , wherein the plurality of second elongated bodies are each coated with a lubricious coating.