Flexible instrument with nested conduits
A medical instrument includes a nested conduit extending through an elongate flexible body. A tendon extends through an inner lumen of the inner conduit. A first control element is coupled to the outer conduit and a second control element is coupled to the inner conduit. Each of the first and second control elements is adjustable between a first state and a second state. The outer conduit is axially constrained proximate the first control element in the first state of the first control element and is not axially constrained in the second state. The inner conduit is axially constrained proximate the second control element in the first state of the second control element and is not axially constrained in the second state. An articulatable length of the nested conduit is variable based on adjustment between the first and second states of the first control element and the second control element.
1. A minimally invasive medical instrument comprising:
an elongate flexible body including a proximal portion, a distal portion, and a distal end;
a tendon extending from the proximal portion through the distal portion of the elongate flexible body, the tendon being actuatable to bend the distal portion;
a nested conduit extending through the elongate flexible body along a longitudinal axis, wherein the nested conduit includes:
an outer conduit; and
an inner conduit disposed inside the outer conduit and having an inner lumen such that the tendon extends through the inner conduit, wherein each of the outer conduit and the inner conduit is axially compressible;
a first control element coupled to the outer conduit; and
a second control element coupled to the inner conduit, wherein each of the first control element and the second control element is adjustable between a first state and a second state, wherein the outer conduit is axially constrained proximate the first control element in the first state of the first control element, wherein the outer conduit is not axially constrained proximate the first control element in the second state of the first control element, wherein the inner conduit is axially constrained proximate the second control element in the first state of the second control element, wherein the inner conduit is not axially constrained proximate the second control element in the second state of the second control element, and wherein an articulatable length of the nested conduit is variable based on adjustment between the first and second states of the first control element and based on adjustment between the first and second states of the second control element.
2. The minimally invasive medical instrument of claim 1 , wherein the inner conduit extends through the proximal portion and distal portion; and
the outer conduit extends through the proximal portion.
3. The minimally invasive medical instrument of claim 2 , further comprising a proximal termination element disposed between the proximal portion and the distal portion, wherein the outer conduit terminates at the proximal termination element.
4. The minimally invasive medical instrument of claim 3 , further comprising a distal termination element disposed between the distal portion and the distal end, wherein the inner conduit terminates at the distal termination element.
5. The minimally invasive medical instrument of claim 4 , wherein the distal portion comprises a proximal steerable portion extending between the proximal termination element and the distal termination element of the elongate flexible body.
6. The minimally invasive medical instrument of claim 5 , further comprising a plurality of first control elements each coupled to the inner conduit and spaced apart from each other along the longitudinal axis and a plurality of second control elements each coupled to the outer conduit and spaced apart from each other along the longitudinal axis.
7. The minimally invasive medical instrument of claim 6 , wherein the proximal steerable portion is configured to be inflexible when each of the plurality of first control elements is in the first state.
8. The minimally invasive medical instrument of claim 7 , wherein the distal portion comprises a distal steerable portion extending between the distal termination element and the distal end of the elongate flexible body.
9. The minimally invasive medical instrument of claim 8 , wherein the distal steerable portion is configured to be flexible when each of the plurality of first control elements is in the first state.
10. The minimally invasive medical instrument of claim 1 wherein at least one of the inner conduit or the outer conduit comprises a plurality of coils and wherein at least one of the first control element or the second control element is configured to axially constrain the at least one of the inner conduit or the outer conduit in the first state by one of axially compressing the at least one of the inner conduit or the outer conduit until the plurality of coils of the at least one of the inner conduit or the outer conduit physically contact each other or radially compressing the at least one of the inner conduit or the outer conduit.
11. A minimally invasive medical instrument comprising:
an elongate flexible body including a proximal portion, an intermediate portion coupled to the proximate portion at a proximal transition, and a distal end coupled to the intermediate portion at a distal transition;
an outer conduit extending through the elongate flexible body and coupled to the proximal transition;
an inner conduit extending through the elongate flexible body within the outer conduit and coupled to the distal transition, wherein each of the outer conduit and the inner conduit is axially compressible;
a first control element coupled to the outer conduit; and
a second control element coupled to the inner conduit, wherein each of the first control element and the second control element is adjustable between a first state and a second state, wherein the outer conduit is axially constrained proximate the first control element in the first state of the first control element, wherein the outer conduit is not axially constrained proximate the first control element in the second state of the first control element, wherein the inner conduit is axially constrained proximate the second control element in the first state of the second control element, wherein the inner conduit is not axially constrained proximate the second control element in the second state of the second control element, and wherein an axial stiffness of at least a first portion of the elongate flexible body when at least one of the inner conduit or the outer conduit is axially constrained is greater than the axial stiffness of the at least the first portion of the elongate flexible body when the at least one of the inner conduit or the outer conduit is not axially constrained.
12. The minimally invasive medical instrument of claim 11 , wherein the inner conduit includes a coil pipe, and wherein at least a portion of the coil pipe is in contact with an adjoining portion of the coil pipe when the inner conduit is axially constrained.
13. The minimally invasive medical instrument of claim 11 further comprising a tendon extending through the elongate flexible body within the inner conduit.
14. The minimally invasive medical instrument of claim 13 , wherein the first control element is configured to apply a compression such that an actuation of the tendon produces a first bend radius when the inner conduit is axially constrained and a second bend radius that is different from the first bend radius when the inner conduit is not axially constrained.
15. The minimally invasive medical instrument of claim 11 , wherein the first control element is a first plurality of first control elements, and wherein the second control element is a second plurality of second control elements,
wherein each of the second plurality of second control elements is adjustable to apply a compression to the outer conduit to change the outer conduit between axially constrained and not axially constrained, and
wherein the second plurality of second control elements is adjustable independent of the first plurality of first control elements.
16. The minimally invasive medical instrument of claim 11 , wherein the intermediate portion is configured such that a flexibility of the intermediate portion depends on an axial stiffness of the inner conduit.
17. The minimally invasive medical instrument of claim 11 , wherein the proximal portion is configured such that a flexibility of the proximal portion depends on an axial stiffness of the outer conduit.
18. The minimally invasive medical instrument of claim 1 , further comprising at least one grip element coupled to the nested conduit, wherein at least one of the first control element or the second control element is configured to inhibit translational motion of the at least one grip element in the first state by applying a radial compression to the at least one grip element and permit translational motion of the at least one grip element in the second state.
19. The minimally invasive medical instrument of claim 18 , wherein at least one of the first control element or the second control element comprises at least one screw that is adjustable by a controller in operative communication with the at least one of the first control element or the second control element to selectively inhibit or permit translational motion of the at least one grip element.
20. The minimally invasive medical instrument of claim 1 , wherein the tendon comprises a first tendon, and the minimally invasive medical instrument further comprising:
a second tendon;
a second nested conduit, wherein the second nested conduit includes:
a second outer conduit; and
a second inner conduit disposed inside the second outer conduit and having a second inner lumen such that the second tendon extends through the second inner conduit;
a third control element coupled to the second outer conduit; and
a fourth control element coupled to the second inner conduit, wherein each of the third control element and the fourth control element is adjustable between the first state and the second state,
wherein the first control element and the third control element are independently adjustable between their respective first and second states.