Dynamically rigidizing composite medical structures
A rigidizing device includes an elongate flexible tube, a braid layer positioned over the elongate flexible tube, an outer layer over the flexible tube and the braid layer, and an inlet between the elongate flexible tube and the outer layer and configured to attach to a source of vacuum or pressure. The braid layer has a plurality of strands braided together at a braid angle of 5-40 degrees relative to a longitudinal axis of the elongate flexible tube when the elongate flexible tube is straight. The rigidizing device is configured to have a rigid configuration when vacuum or pressure is applied through the inlet and a flexible configuration when vacuum or pressure is not applied through the inlet. The braid angle is configured to change as the rigidizing device bends when the rigidizing device is in the flexible configuration.
1. A rigidizing device comprising:
an elongate flexible tube;
a braid layer positioned over the elongate flexible tube, the braid layer having a plurality of strands braided together at a braid angle of 5-40 degrees relative to a longitudinal axis of the elongate flexible tube when the elongate flexible tube is straight;
an outer layer over the elongate flexible tube and the braid layer;
an inlet between the elongate flexible tube and the outer layer and configured to attach to a source of vacuum or pressure; and
a sealed channel between the elongate flexible tube and the outer layer, the sealed channel comprising a working channel, a cable guide, or an inflation lumen;
wherein the rigidizing device is configured to have a rigid configuration when vacuum or pressure is applied through the inlet and a flexible configuration when vacuum or pressure is not applied through the inlet; and
wherein the braid angle is configured to change as the rigidizing device bends when the rigidizing device is in the flexible condition.
2. The rigidizing device of claim 1 , wherein the rigidizing device in the rigid configuration is at least two times stiffer than the rigidizing device in the flexible configuration.
3. The rigidizing device of claim 1 , wherein the elongate flexible tube comprises a reinforcement element extending therein.
4. The rigidizing device of claim 1 , wherein the plurality of strands are braided together at 4-60 picks per inch.
5. The rigidizing device of claim 1 , wherein the plurality of stands comprise polyethylene terephthalate or stainless steel.
6. The rigidizing device of claim 1 , wherein the braid layer provides a coverage of 30-70% relative to the elongate flexible tube.
7. The rigidizing device of claim 1 , wherein the inlet is configured to attach to a source of pressure, and wherein the rigidizing device further comprises a bladder layer therein, the bladder layer configured to be pushed against the braid layer when pressure is supplied through the inlet.
8. The rigidizing device of claim 1 , wherein the outer layer further comprises a plurality of reinforcement elements therein.
9. The rigidizing device of claim 1 , wherein the inlet is configured to attach to a source of vacuum, and wherein the outer layer is a thin flexible sheath.
10. The rigidizing device of claim 1 , further comprising a radial gap between the braid layer and the outer layer, the gap having a thickness of 0.00002″-0.04″.
11. The rigidizing device of claim 1 , further comprising a steerable distal end.
12. A rigidizing device comprising:
an elongate flexible tube;
a braid layer positioned over the elongate flexible tube;
an outer layer over the elongate flexible tube and the braid layer;
an inlet between the elongate flexible tube and the outer layer and configured to attach to a source of vacuum or pressure; and
a sealed channel between the elongate flexible tube and the outer layer, the sealed channel comprising a working channel, a cable guide, or an inflation lumen;
wherein the rigidizing device is configured to have a rigid configuration when vacuum or pressure is applied through the inlet and a flexible configuration when vacuum or pressure is not applied through the inlet, and where a ratio of stiffness of the rigidizing device in the rigid configuration to stiffness of the rigidizing device in the flexible configuration is greater than 5.
13. The rigidizing device of claim 12 , wherein the ratio is greater than 10.
14. The rigidizing device of claim 12 , wherein the elongate flexible tube comprises a reinforcement element extending therein.
15. The rigidizing device of claim 12 , wherein the braid layer comprises a plurality of strands braided together, the plurality of stands comprising polyethylene terephthalate or stainless steel.
16. The rigidizing device of claim 12 , wherein the inlet is configured to attach to a source of pressure, and wherein the rigidizing device further comprises a bladder layer therein, the bladder layer configured to be pushed against the braid layer when pressure is supplied through the inlet.
17. The rigidizing device of claim 12 , wherein the outer layer further comprises a plurality of reinforcement elements therein.
18. The rigidizing device of claim 12 , wherein the inlet is configured to attach to a source of vacuum, and wherein the outer layer is a thin flexible sheath.
19. The rigidizing device of claim 12 , further comprising a steerable distal end.
20. A rigidizing device comprising:
an elongate flexible tube;
a braid layer positioned radially outwards of the elongate flexible tube;
a slip layer adjacent to the braid layer;
an outer layer over the elongate flexible tube, the braid layer, and the slip layer; and
a vacuum or pressure inlet between the elongate flexible tube and the outer layer and configured to attach to a source of vacuum or pressure;
wherein the rigidizing device is configured to have a rigid configuration when vacuum or pressure is applied through the inlet and a flexible configuration when vacuum or pressure is not applied through the inlet; and
wherein the slip layer is configured to reduce friction between the braid layer and the elongate flexible tube or the outer layer when the rigidizing device is in the flexible configuration.
21. The rigidizing device of claim 20 , wherein the slip layer has a lower coefficient of friction than the braid layer.
22. The rigidizing device of claim 20 , wherein the slip layer comprises a powder.
23. The rigidizing device of claim 20 , wherein the elongate flexible tube comprises a reinforcement element extending therein.
24. The rigidizing device of claim 20 , wherein the braid layer comprises a plurality of strands braided together, the plurality of stands comprising polyethylene terephthalate or stainless steel.
25. The rigidizing device of claim 20 , wherein the inlet is configured to attach to a source of pressure, and wherein the rigidizing device further comprises a bladder layer therein, the bladder layer configured to be pushed against the braid layer when pressure is supplied through the inlet.
26. The rigidizing device of claim 20 , wherein the outer layer further comprises a plurality of reinforcement elements therein.
27. The rigidizing device of claim 20 , wherein the inlet is configured to attach to a source of vacuum, and wherein the outer layer is a thin flexible sheath.
28. The rigidizing device of claim 20 , further comprising a steerable distal end.
29. A rigidizing device comprising:
an elongate flexible tube;
a braid layer positioned over the elongate flexible tube, the braid layer having a plurality of strands braided together at a braid angle of 5-40 degrees relative to a longitudinal axis of the elongate flexible tube when the elongate flexible tube is straight;
an outer layer over the elongate flexible tube and the braid layer;
an inlet between the elongate flexible tube and the outer layer and configured to attach to a source of pressure; and
a bladder layer, the bladder layer configured to be pushed against the braid layer when pressure is supplied through the inlet;
wherein the rigidizing device is configured to have a rigid configuration when pressure is applied through the inlet and a flexible configuration when pressure is not applied through the inlet; and
wherein the braid angle is configured to change as the rigidizing device bends when the rigidizing device is in the flexible configuration.
30. The rigidizing device of claim 29 , wherein the rigidizing device in the rigid configuration is at least two times stiffer than the rigidizing device in the flexible configuration.
31. The rigidizing device of claim 29 , wherein the elongate flexible tube comprises a reinforcement element extending therein.
32. The rigidizing device of claim 29 , wherein the plurality of strands are braided together at 4-60 picks per inch.
33. The rigidizing device of claim 29 , wherein the plurality of stands comprise polyethylene terephthalate or stainless steel.
34. The rigidizing device of claim 29 , wherein the braid layer provides a coverage of 30-70% relative to the elongate flexible tube.
35. The rigidizing device of claim 29 , wherein the outer layer further comprises a plurality of reinforcement elements therein.
36. The rigidizing device of claim 29 , further comprising a radial gap between the braid layer and the outer layer, the gap having a thickness of 0.00002″-0.04″.
37. The rigidizing device of claim 29 , further comprising a steerable distal end.
38. A rigidizing device comprising:
an elongate flexible tube;
a braid layer positioned over the elongate flexible tube;
an outer layer over the elongate flexible tube and the braid layer;
an inlet between the elongate flexible tube and the outer layer and configured to attach to a source of pressure; and
a bladder layer, the bladder layer configured to be pushed against the braid layer when pressure is supplied through the inlet;
wherein the rigidizing device is configured to have a rigid configuration when pressure is applied through the inlet and a flexible configuration when pressure is not applied through the inlet, and where a ratio of stiffness of the rigidizing device in the rigid configuration to stiffness of the rigidizing device in the flexible configuration is greater than 5.
39. The rigidizing device of claim 38 , wherein the ratio is greater than 10.
40. The rigidizing device of claim 38 , wherein the elongate flexible tube comprises a reinforcement element extending therein.
41. The rigidizing device of claim 38 , wherein the braid layer comprises a plurality of strands braided together, the plurality of stands comprising polyethylene terephthalate or stainless steel.
42. The rigidizing device of claim 38 , wherein the outer layer further comprises a plurality of reinforcement elements therein.
43. The rigidizing device of claim 38 , further comprising a steerable distal end.