Articulating vertebrae with asymmetrical and variable radius of curvature
An endoscope has a first segment with a proximal end and a distal end and is symmetric about an axis. A second segment, comprising a flexible and interconnected linkage system, is pivotably coupled to the first segment and, when subject to an applied force, is configurable along an arc having a variable radius of curvature. The linkage system is capable of articulation through an angle from zero degrees through about 280 degrees.
1. An endoscope comprising:
a first segment having a proximal end and a distal end thereof wherein the first segment is symmetric about an axis of the segment body; and
a second segment comprising
a first set of interconnected links having a first length, pivotably coupled to the first segment and bendable away from the axis; and
a second set of interconnected links having a second length that is different from the first length and connected to the first set of links and bendable away from the axis in the same radial direction as the first set of links to a smaller radius of curvature than the first set of links, the second set of links having at least one angle of articulation different than the first set of links;
a set of guide wires for applying a force to the first and second set of links, the guide wires circumferentially positioned at varying rotational angles about the axis for each individual link; and
wire guides for guiding the set of guide wires along the first and second set of links, said wire guides circumferentially positioned at varying rotational angle about the axis for each individual link, the varying rotational angle being variable for each individual link.
2. The endoscope according to claim 1 wherein each individual link of the first set of links comprises:
a front face beveled at a first and second angle;
a rear face beveled at a third and fourth angle;
a first pivot member projecting from the front face; and
a second pivot member projecting from the rear face;
wherein the first pivot member of one link is pivotably coupled about a rotational axis to the second pivot member of a second link.
3. The endoscope according to claim 1 wherein the front face of each of the pivotable links is rotated by an angle of θ about the axis with respect to the rear face wherein the arc is extraplanar.
4. The endoscope according to claim 1 wherein the set of guide wires are attached to the individual links at variable distances from the axis.
5. The endoscope according to claim 1 wherein the first and second sets of links, when bent away from the axis, form an arc that subtends an angle of from zero degrees to greater than 180 degrees.
6. The endoscope according to claim 5 wherein the radius of curvature increases along the arc.
7. The endoscope according to claim 5 wherein the radius of curvature decreases along the arc.
8. The endoscope according to claim 5 wherein the arc lies in a plane.
9. The endoscope according to claim 8 wherein the arc is a spiral.
10. The endoscope according to claim 9 wherein the spiral has an increasing radius of curvature.
11. The endoscope according to claim 9 wherein the spiral has a decreasing radius of curvature.
12. The endoscope according to claim 5 wherein the arc lies on a geometrical body.
13. The endoscope according to claim 12 wherein the geometrical body is a cone.
14. The endoscope according to claim 1 wherein each radius of curvature for each set of links is calculated according to the following equation:
R
i
=
V
L
2
sin
(
∑
Ω
2
∑
V
)
wherein i=1, 2, V L is the length of the link, Ω is the bend angle between adjacent links, ΣΩ is the total bend angle, ΣV is the total number of links.
15. A flexible endoscope comprising:
pivotably interconnected first set of links, each link having a first lenath and second set of links, each link having a second length that is different from the first length, the second set of links is bendable to a radius of curvature smaller than the radius of curvature to which the first set of links is bendable in the same radial direction thereas;
a plurality of guide wires connected to the first and second sets of links for applying force thereto such that the first and second sets are subject to different torques, the plurality of guide wires are circumferentially positioned at varying rotational angles about an axis for each individual link; and
wire guides for guiding the set of guide wires along the endoscope, said wire guides circumferentially positioned at varying rotational angle about the axis for each individual link, the varying rotational angle being variable for each individual link.
16. The endoscope according to claim 15 wherein the first and second sets of links, when bent away from the axis, form an arc that subtends an angle of from zero degrees to greater than 180 degrees.
17. The endoscope according to claim 16 wherein the arc is a spiral.
18. The endoscope according to claim 17 wherein the spiral has an increasing radius of curvature.
19. The endoscope according to claim 17 wherein the spiral has a decreasing radius of curvature.
20. The endoscope according to claim 16 wherein the arc lies on a geometrical body.
21. The endoscope according to claim 20 wherein the geometrical body is a cone.