Articulable devices for in vivo tissue evaluation
In one embodiment, a device for in vivo tissue evaluation includes an elongated manipulator including an elongated proximal tube and an articulable distal portion, and a sensor provided at a distal end of the articulable distal portion, the sensor including a sensor head configured to be pressed against tissue and measure a reaction force of the tissue.
1. A device for in vivo tissue evaluation, the device comprising:
an elongated manipulator including an elongated proximal tube and an articulable distal portion, the articulable distal portion including multiple articulable links that are pivotally connected together, the elongated manipulator further including tendons that pass through the articulable links configured to pivot the links, wherein a pair of tendons is attached to each articulable link with an attachment element that is press-fit into a cavity of the articulable link, wherein the attachment elements are I-beam elements each having a central shaft and opposed end flanges and wherein the tendons wrap around the central shafts; and
a sensor provided at a distal end of the articulable distal portion, the sensor including a sensor head configured to be pressed against tissue and measure a reaction force of the tissue.
2. The device of claim 1 , wherein the elongated manipulator is cylindrical and has an outer diameter no greater than 3 mm.
3. The device of claim 1 , wherein the multiple articulable links comprise a first articulable intermediate link pivotally connected to the elongated proximal tube, a second articulable intermediate link pivotally connected to the first articulable intermediate link, and an articulable end link pivotally connected to the second articulable intermediate link.
4. The device of claim 1 , wherein adjacent articulable links are configured to pivot in different orthogonal planes.
5. The device of claim 1 , wherein the sensor further includes a flexible sensor beam having one or more sensor elements attached thereto, wherein the sensor head flexes the sensor beam when the sensor head is pressed against tissue.
6. The device of claim 5 , wherein the sensor head includes a proximally facing protrusion that contacts a central portion of the flexible sensor beam.
7. The device of claim 5 , wherein the one or more sensor elements comprise one or more strain gauges.
8. The device of claim 5 , wherein the sensor further includes a sensor body having opposed ledges that each support an end of the flexible sensor beam and a beam clamp that securely clamps the ends of the flexible sensor beam against the ledges.