Variably flexible insertion device and method for variably flexing an insertion device
A torque-transmitting, variably-flexible device, comprising a hollow body having a proximal end and a distal end, a torque-transmitting element operable to transmit torque from the proximal end towards the distal end of the hollow body, and a steering element operable to steer the distal end of the hollow body.
1. A torque-transmitting, variably-flexible device, comprising:
a hollow body having:
a proximal end and a distal end; and
a given length;
a torque-transmitting element that extends substantially entirely over the given length of the hollow body and transmits torque from the proximal end towards the distal end of the hollow body;
a steering element that steers the distal end of the hollow body, the steering element being comprised of steering tendons disposed within the hollow body, wherein at least some of the steering tendons are individually adjustable in length for steering the distal end of the hollow body; and
stiffening tendons disposed within the hollow body to selectively maintain the hollow body in a relatively stiff condition, wherein the stiffening tendons are unassociated with the steering element of the device.
2. The device according to claim 1 , wherein:
the proximal end of the hollow body has an entrance for receiving an instrument; and
the distal end of the hollow body has a tip for protrusion of the instrument.
3. The device according to claim 1 , wherein the torque-transmitting element is a torque braid.
4. The device according to claim 1 , further comprising vertebrae disposed within the hollow body for guiding the steering tendons.
5. The device according to claim 4 , wherein some of the vertebrae have channels formed therein permitting movement of some of the steering tendons.
6. The device according to claim 1 , further comprising a transitioning device selectively transitioning the hollow body between a relatively flexible condition and the relatively stiff condition.
7. The device according to claim 6 , further comprising a coil disposed within the hollow body, the coil tending to maintain the hollow body with an approximately round cross section and in a straight condition when in the relatively flexible condition.
8. The device according to claim 6 , wherein the transitioning device is a vacuum-activated device applying suction to the hollow body to place the hollow body in the relatively stiff condition.
9. The device according to claim 8 , wherein suction applied by the vacuum-activated device frictionally locks the stiffening tendons in place to selectively maintain the hollow body in the relatively stiff condition.
10. The device according to claim 9 , wherein the stiffening tendons are not under tension in both the relatively flexible and relatively stiff conditions.
11. The device according to claim 9 , wherein the stiffening tendons vary in number along the hollow body for providing zones of varying stiffness.
12. The device according to claim 11 , wherein the number of stiffening tendons is greater toward the distal end than toward the proximal end for increasing stiffness at the distal end.
13. The device according to claim 9 , wherein the hollow body has an outer jacket and an inner sleeve defining a space therebetween, the stiffening tendons are at least partly disposed in the space, and the vacuum-activated device applies suction to the space for frictionally locking the stiffening tendons in place.
14. The device according to claim 13 , wherein the vacuum-activated device is a vacuum connection communicating with the space.
15. The device according to claim 14 , wherein the hollow body has a handle at the proximal end, the handle has an outer handle and an inner handle defining a vacuum plenum volume therebetween communicating with the space, and the handle has a vacuum port communicating with the vacuum plenum volume.