STEERABLE MEDICAL DEVICE
A medical device is provided. The medical device includes an elongated device body having a steerable portion including a plurality of segments. The segments are co-axially mounted over at least one elongated elastic element which is configured for limiting rotation of the segments with respect to each other. The medical device also includes a control wire running alongside the elongated device body and being unrestrained at the steerable portion such that tensioning of the control wire angles the steerable portion from a longitudinal axis of the elongated device body and deflects the control wire away from the steerable portion.
1 . A medical device comprising:
(a) an elongated device body having a steerable portion including a plurality of segments;
(b) at least one control wire running alongside said elongated device body and being unrestrained at said steerable portion such that tensioning of said at least one control wire angles said steerable portion from a longitudinal axis of said elongated device body and deflects said at least one control wire away from said steerable portion;
and optionally;
(c) at least one elongated elastic element running through said plurality of segments and being configured for limiting rotation of said segments with respect to each other.
2 . The medical device of claim 1 , wherein each of said plurality of segments is configured so as to limit rotation thereof with respect to flanking segments.
3 . The medical device of claim 1 , wherein said at least one elongated elastic element has a rectangular cross section.
4 . The medical device of claim 1 , further comprising an elastic tubular sheath covering said steerable portion.
5 . The medical device of claim 1 , comprising a plurality of control wires, each being for angling said steerable portion of said elongated device body in a specific direction.
6 . The medical device of claim 2 , wherein said plurality of segments are interlinked.
7 . The medical device of claim 1 , further comprising a tissue manipulator attached to a distal end of said elongated device body.
8 . The medical device of claim 7 , wherein said tissue manipulator is a grasper, a tissue cutter, or a needle holder.
9 . The medical device of claim 1 , further comprising a rigid sheath covering non-steerable portion of said elongated device body.
10 . The medical device of claim 1 , wherein said elongated elastic element is a spring coil.
11 . The medical device of claim 2 , wherein rotation between adjacent segments of said plurality of segments is limited by tab-slot engagement between said adjacent segments.
12 . The medical device of claim 9 , wherein said control wire is trapped between said device body and said rigid sheath at said non-steerable portion.
13 . The medical device of claim 1 , further comprising at least one retractable lever positioned at a distal end of said steerable portion, said at least one retractable lever being attached to a distal end of said at least one control wire.
14 . A medical device comprising:
(a) an elongated device body having a steerable portion including an elastic shaft; and
(b) at least one control wire running alongside said elongated device body and being unrestrained at said steerable portion such that tensioning of said at least one control wire angles said steerable portion from a longitudinal axis of said elongated device body and deflects said at least one control wire away from said steerable portion.
15 . The medical device of claim 14 , wherein said at least one control wire is routed through a pair of guide clamps flanking said steerable portion.