SHAPE-TRANSFERRING CANNULA SYSTEM AND METHOD OF USE

1 . A medical cannula system comprising:

a conduit;

an endoscope comprising a distal steerable tip, wherein the endoscope is inside the conduit, and wherein the distal steerable tip of the endoscope extends out of the conduit;

a tip liner surrounding the distal steerable tip of the endoscope; and

a wiper link surrounding the tip liner at a close tolerance.

2 . The medical cannula system of claim 1 , further comprising:

an outer linkage comprising a distal end;

wherein the wiper link is at the distal end of the outer linkage.

3 . The medical cannula system of claim 1 , further comprising:

an outer linkage that surrounds the conduit.

4 . The medical cannula system of claim 1 , further comprising:

an outer linkage that surrounds the conduit;

wherein the outer linkage is rigidizable.

5 . The medical cannula system of claim 1 , further comprising:

a gasket between the distal steerable tip of the endoscope and the tip liner.

6 . The medical cannula system of claim 1 , further comprising:

an outer cover that surrounds the conduit; and

a gasket coupled between the outer cover and the distal steerable tip of the endoscope.

7 . The medical cannula system of claim 1 :

wherein the conduit is rigidizable.

8 . The medical cannula system of claim 1 :

wherein the tip liner comprises a mesh.

9 . The medical cannula system of claim 1 :

wherein the tip liner comprises a helical mesh.

10 . A medical cannula system comprising:

an outer linkage comprising a distal end;

an endoscope comprising a distal steerable tip that extends out of the distal end of the outer linkage; and

a wiper link at the distal end of the outer linkage and that surrounds the distal steerable tip of the endoscope at a close tolerance.

11 . The medical cannula system of claim 10 , further comprising:

a tip liner that surrounds the distal steerable tip of the endoscope.

12 . The medical cannula system of claim 10 , further comprising:

a tip liner that surrounds the distal steerable tip of the endoscope;

wherein the tip liner comprises a mesh.

13 . The medical cannula system of claim 10 , further comprising:

a tip liner that surrounds the distal steerable tip of the endoscope;

wherein the tip liner comprises a helical mesh.

14 . The medical cannula system of claim 10 , further comprising:

a tip liner that surrounds the distal steerable tip of the endoscope; and

a gasket between the steerable tip and the tip liner.

15 . The medical cannula system of claim 10 , further comprising:

a tip liner that surrounds the distal steerable tip of the endoscope;

wherein the tip liner is between the distal steerable tip of the endoscope and the wiper link; and

wherein the wiper link surrounds the tip liner at a close tolerance.

16 . The medical cannula system of claim 10 :

wherein the outer linkage is rigidizable.

17 . The medical cannula system of claim 10 , further comprising:

a conduit that surrounds the endoscope;

wherein the distal steerable tip of the endoscope extends out of the conduit.

18 . The medical cannula system of claim 10 , further comprising:

a conduit that surrounds the endoscope;

wherein the conduit is rigidizable.

19 . The medical cannula system of claim 10 , further comprising:

an outer cover that surrounds the outer linkage; and

a gasket coupled between the outer cover and the distal steerable tip of the endoscope.

20 . A medical cannula system comprising:

an outer linkage comprising a distal end;

a conduit inside the outer linkage;

an endoscope comprising a distal steerable tip, wherein the endoscope is inside the conduit, and wherein the distal steerable tip of the endoscope extends out of the conduit;

a tip liner surrounding the steerable tip;

a gasket between the distal steerable tip of the endoscope and the tip liner; and

a wiper link at the distal end of the outer linkage and surrounding the tip liner at a close tolerance.