Guide for steering wires for a steering mechanism for a steerable tool
The invention relates to a longitudinal member, LM, guide ( 300 ) for guiding a set of LMs ( 110 ) for a mechanical transmission system, MTS, ( 100 ) for a steerable tool ( 500 ), which LM guide ( 300 ) comprises a body ( 302 ) having a proximal side ( 342 ), a distal side ( 344 ) and an outside edge ( 316 ), wherein the body ( 302 ) of the LM guide ( 300 ) comprises a set of channels ( 310 ) arranged around a fictive tube ( 320 ), each channel ( 310 ) passing from the proximal side ( 342 ) to the distal side ( 344 ) of the body ( 302 ), configured to retain an LM ( 110 ) of the set in a fixed radial position around the fictive tube ( 32 ), being connected to the outside edge ( 316 ) of the body ( 302 ) via a slot ( 314 ), wherein the slot has a width ( 326 ) narrower than the channel ( 310 ) width ( 320 ).
1. A mechanical transmission system, MTS, for a steerable tool, which MTS has a proximal end, a distal end, a transmission shaft region, TSR, and transmission bendable distal part (TBDP) adjacent to the TSR that moves omnidirectionally responsive to actuation of the MTS at the proximal end, wherein the MTS comprises:
a set of longitudinal members, LMs, configured to transmit actuating movement along the TSR to the TBDP,
a set of longitudinal member, LM guides for guiding the set of LMs, which LM guide comprises a body having a proximal side, a distal side, and an outside edge, wherein the body of the LM guide comprises a set of channels comprising at least 2 channels arranged around a pattern of a fictive tube, each channel:
passing from the proximal side to the distal side of the body,
configured to retain an LM of the set in a fixed radial position around the pattern of the fictive tube,
being connected to the outside edge of the body via a slot, wherein the slot has a width narrower than the channel width,
wherein each LM is inserted into a channel of the set of channels of an LM guide such that they are arranged around the pattern of the fictive tube in a fixed radial position, and wherein each LM is disposed at one end with a longitudinal tail having a trailing end at one end attached to the LM and at the other end a leading end, wherein at least the trailing end is configured for passage through the slot of the LM guide, wherein the tail leading end is provided with an end stop having a width greater than the channel width to prevent entry of the end stop into the channel.
2. The LM guide according to claim 1 , wherein the number of channels is at least 4.
3. The MTS according to claim 2 , wherein at least two of the LM guides in the set are articulated LM guides tandemly arranged in the TDBP and are mutually articulated, thereby supporting omnidirectional bending of the LMs in the TDBP.
4. The MTS according to claim 3 , wherein the articulated LM guides are in pairwise mutual contact through a pivot joint.
5. The MTS according claim 2 , wherein
at least two of the LM guides in the set are fixed LM guides arranged in the TSR and are rotationally fixed with respect to each other, or
only one of the LM guides in the set is a fixed LM guide arranged in the TSR, and having a continuous body spanning the length of the TSR.
6. The MTS according to claim 2 , further comprising a transmission bendable proximal part, TBPP, for omnidirectional actuation by the user and which induces the omnidirectional movement response of the TBDP.
7. The MTS according to claim 6 , wherein the TBDP is configured for movement in at least two different intersecting planes responsive to the movements of the TBPP, and wherein the MTS is further provided with an end effector at the distal end of the TBDP wherein the MTS is configured such that the end effector is rotationally fixed in relation to the distal bending part TBDP, and the end effector is rotatable when the TBDP is in a bent position, by a complementary rotation of the TBPP.
8. The MTS according to claim 2 , wherein the combined transverse profile of the channel and slot in the body of the LM guide is a T-shaped or mushroom-shape.
9. The MTS according to claim 1 , wherein the end stop is further configured to limit entry of the tail leading end into the slot.
10. The MTS according to claim 9 , wherein the leading ends of at least two tails are connected to a common end stop.
11. The MTS according to claim 1 , wherein a non-tailed end of each LM in the set is attached to an anchoring tab configured to limit entry of the LM into the channel of the LM guide.
12. The MTS according to claim 11 , wherein the non-tailed ends of at least two LMs are connected to a common anchoring tab.
13. A surgical robot comprising an MTS according to claim 1 .
14. A steerable tool comprising an MTS according to claim 1 .
15. The steerable tool according to claim 14 , wherein the distal end is provided with an end effector that is a gripper, and the proximal end is provided with a handle to steer the tool and to control the gripper.