Elongate steerable devices for insertion into a subjects body
Elongate, steerable devices for insertion into a subject's body, including very narrow (small diameter) devices that may be configured as steerable catheters and guidewires for use in interventional cardiology and neuroradiology. Also described are methods of making and using these devices, and controllers for controlling these steerable devices. These steerable devices may have a bendable distal region, a plurality of tendons each attached to the distal bendable region and extending from the distal bendable region to a proximal handle region with a plurality of axial translation regions. The axial translation regions may be arranged along an outer surface of the proximal handle region and each axial translation region may be coupled to a tendon for bending the distal region. The axial translation regions may be elastically connected to each other, and configured to translate the tendon and thereby steer the distal bendable region.
1. An elongate steerable device for insertion into a subject's body, the device extending from a bendable distal tip region to a proximal handle region, the device comprising:
a plurality of tendons, wherein each tendon of the plurality of tendons is attached to the distal tip region and extends from the distal tip region to the proximal handle region; and
a plurality of axial translation regions sequentially arranged along an outer surface of the proximal handle region, wherein each axial translation region of the plurality of axial translation regions is coupled to a tendon of the plurality of tendons;
wherein each axial translation region is configured to move in a proximal to distal line to axially translate the tendon coupled to the axial translation region and thereby deflect the distal tip;
wherein the axial translation regions are configured to allow passage of a vascular catheter over the axial translation regions.
2. The device of claim 1 , wherein the axial translation regions are elastically connected to each other.
3. The device of claim 1 , wherein the axial translation regions are connected to a core within the proximal handle region.
4. The device of claim 1 , wherein the device is configured as a guidewire.
5. The device of claim 1 , wherein the device is configured as a catheter having a central lumen extending therethrough.
6. The device of claim 1 , wherein the axial translation regions comprise cylindrical regions that are adjacently arranged along the outer surface of the proximal handle region.
7. The device of claim 1 , wherein each tendon of the plurality of tendons is attached to the distal tip region at radially offset attachment sites.
8. The device of claim 1 wherein the tendon comprises a multi-filament wire.
9. The device of claim 1 , further comprising an elongate body including the bendable distal tip region, an intermediate region and the proximal handle region.
10. The device of claim 1 , further comprising an elongate body including the bendable distal tip region, an intermediate region and the proximal handle region, wherein the elongate body comprises a hypotube.
11. A method of steering an elongate device having a plurality of tendons, wherein each tendon is coupled at a distal end of the device to a distal tip region and each tendon is coupled to a separate axial translation region at a proximal end of the device, and wherein the axial translation regions are arranged in a proximal to distal line along a proximal handle region of the device, the method comprising:
separately holding at least a first one and a second one of the axial translation regions;
sliding the first one of the axial translation regions proximally or distally relative to the second one of the axial translation regions to increase or decrease the distance between the first one and the second one, to axially translate the tendon that is coupled with the first one to deflect the distal tip region; and
passing a vascular catheter over the axial translation regions.
12. The method of claim 11 , further comprising inserting the device into a subject's body.
13. The method of claim 11 , wherein separately holding comprises frictionally securing each of the axial translation regions to a separate gripper of an actuator.
14. The method of claim 11 , further comprising holding a portion of the device that is distal or proximal to the proximal handle region while sliding the first one of the axial translation regions so that the first one of the axial translation regions slides relative to the portion of the device that is distal, proximal or distal and proximal to the proximal handle region.
15. The method of claim 11 , wherein separately holding comprises holding the first one of the axial translation regions in a first grip and holding the second one of the axial translation regions in a second grip.
16. The method of claim 11 , wherein separately holding each of the axial translation regions comprises holding each of the axial translation regions in separate frictional grips that are independently movable relative to each other.
17. The method of claim 11 , wherein separately holding each of the axial translation regions comprises holding either or both a portion of the device that is distal to the proximal handle region and/or a portion of the device that is distal to the axial translation regions.