Base station, charging station, and/or server for robotic catheter systems and other uses, and improved articulated devices and systems
Articulation devices, systems, methods for articulation, and methods for fabricating articulation structures will often include simple balloon arrays, with inflation of the balloons interacting with elongate skeletal support structures so as to locally alter articulation of the skeleton. The skeleton may comprise a simple helical coil or interlocking helical channels, and the array can be used to locally deflect or elongate an axis of the coil under control of a processor. Liquid inflation fluid may be directed so as to pressurize the balloons from an inflation fluid canister, and may vaporize within a plenum or the channels or balloons of the articulation system, with the inflation system preferably including valves controlled by the processor. The articulation structures can be employed in minimally invasive medical catheter systems, and also for industrial robotics, for supporting imaging systems, for entertainment and consumer products, and the like.
1. An articulated system comprising:
an elongate helical frame having a proximal end and a distal end with an axis therebetween, the helical frame including a first axial region having a first plurality of loops and a second axial region having a second plurality of loops; and
a plurality of actuators coupled to the helical frame so as to alter associated separations between adjacent loops;
the first loops having a first helical wind orientation such that when the actuators increase the separations between the first loops, the frame along the first region twists about the axis in a first twist orientation;
the second loops having a second helical wind orientation opposite the first wind orientation such that when the actuators increase the separations between the second loops, the frame along the second region twists about the axis in a second twist orientation opposite the first twist orientation;
wherein a first plurality of the actuators are coupled with the first plurality of loops so as to alter the associated separations and a length of the first region, wherein a second plurality of the actuators are coupled with the second plurality of loops so as to alter the associated separations and a length of the second region.
2. The articulated system of claim 1 , wherein:
A) the first actuators are coupled together to be actuated as a first subset of the actuators,
the second actuators are coupled together to be actuated as a second subset of the actuators,
the first actuators and the first region of the frame are included in a first axial segment of the articulated system,
the second actuators and the second region of the frame are included in a second axial segment of the articulated system, and
the first and second segments are independently articulatable by actuating the first and second subsets so as to provide a desired combined twist in response to a twist command at a total length of the first and second regions; or
B) the first actuators are coupled together with the second actuators to be actuated as a first subset of the actuators,
the first actuators and the first region of the frame and the second actuators and the second region of the frame are included in a first axial segment of the articulated system, and
the first segment is articulatable by actuating the first and second subsets together so that the twist of the first region counteracts the twist of the second region during changes in length.
3. The articulated system of claim 1 , wherein a first articulated segment is offset from the first and second regions, the first articulated segment being laterally articulatable, independently of the first and second regions, in a first lateral orientation and in a second lateral orientation, and wherein the second lateral orientation is transverse to the first lateral orientation, and further comprising a second axial segment offset from the first segment and the first and second regions, the second segment articulatable in third and fourth transverse lateral orientations, the system having 6 degrees of freedom including twisting about the axis.
4. An articulated system comprising:
an elongate helical frame having a proximal end and a distal end with an axis therebetween, the helical frame including a first axial region having a first plurality of loops and a second axial region having a second plurality of loops; and
a plurality of actuators coupled to the helical frame so as to alter associated separations between adjacent loops;
the first loops having a first helical wind orientation such that when the actuators increase the separations between the first loops, the frame along the first region twists about the axis in a first twist orientation;
the second loops having a second helical wind orientation opposite the first wind orientation such that when the actuators increase the separations between the second loops, the frame along the second region twists about the axis in a second twist orientation opposite the first twist orientation;
wherein the actuators comprise balloons, and wherein the helical frame and actuators are included in a flexible catheter body configured to be introduced into a patient body.