Steerable extendable devices
The present invention is a Distally Assembled Steerable Cannula (DASC), a robotically-manipulated device that can be deployed and extended within a patient's body by growing from its distal end, or can be used in non-medical applications. In some embodiments, growth occurs by sequentially assembling segments that interlock to form a rigid tube with a complex 3-D shape. The segments are individually transported through the growing cannula, and then assembled at the distal end. A segment can be wedge-shaped in profile, allowing adjustment of the local radius and plane of curvature of the cannula to be controlled by relative segment orientation.
1. A method of forming a self-supporting elongatable and retractable tube comprising:
obtaining a flexible strip of material having a length that is large in comparison to a width of the flexible strip;
forming a section of the strip into a distal winding of a tube by curving the section and joining the distal winding to an adjacent section;
advancing the strip through a lumen of the tube from a proximal to a distal location;
wherein the tube elongates through an addition of one or more windings that are added at a distal end of the flexible strip to form the self-supporting elongatable and retractable tube, wherein the self-supporting and retractable tube is a tube that needs no support after forming the tube, wherein self-supporting is a tube that does not collapse from its weight after its formed; and
reversing the step of forming the self-supporting and retractable tube to retract the tube with the strip.
2. The method of claim 1 , wherein at least one of: (1) the forming comprises joining a proximal edge of a section of the strip to a distal edge of an adjacent section of the strip; (2) the width of the portion of the strip is varied; (3) the forming comprises overlapping the proximal edge of a section of the strip with a distal edge of an adjacent section of the strip; (4) an amount of overlap of the section of the strip is varied; or (5) the strip comprises at least two wedges and a variation in the width comprises adjusting the relative position of the at least two windings.
3. A method of forming a self-supporting elongatable and retractable tube comprising:
obtaining a flexible strip of material having a length and a width, the width of the flexible strip having a first and a second edge;
winding the flexible strip into a tube, wherein the first edge of the flexible material contacts or overlaps the second edge to form the tube;
advancing the flexible strip distally through a lumen of the tube, wherein the tube elongates through an addition of windings at a distal end of the flexible strip to form the self-supporting elongatable and retractable tube, wherein the self-supporting and retractable tube is a tube that needs no support after forming the tube; and
reversing the step of forming the self-supporting and retractable tube to retract the tube with the flexible strip.
4. The method of claim 3 , further comprising the step of mechanically joining the first edge of the flexible strip to the second edge of the flexible strip as the tube elongates.
5. The method of claim 3 , further comprising the step of overlapping the first and the second edges of the flexible strip to mechanically strengthen the tube and/or allow for a variable amount of overlap between the first and second edge.
6. The method of claim 5 , wherein the amount of overlap of a first and a second edge of the flexible strip is varied along a portion of the length of the flexible strip to produce a change in an elongation direction of the tube.
7. The method of claim 3 , wherein the width of the winding of the strip is varied along the length of the flexible strip to produce a change in an elongation direction of the tube.
8. The method of claim 7 , wherein a variation in the width of the flexible strip comprises adjusting a relative position of one or more windings that comprise the flexible strip.