Steerable instrument comprising a detachable part
A steering device for connecting to an elongated instrument comprises a locking plate with a coupling to which a steering plate of the instrument can secure such that the steering plate and the locking plate move together; and a steering unit for moving the locking plate. The elongated instrument comprises a plurality of elongated elements extending along an instrument shaft and secured to a steering plate at a proximal end of the instrument shaft, with the steering plate being movably connected around a support member secured to the shaft.
1 . A steering device for connecting to an elongated instrument; the steering device comprising:
a locking plate with a coupling to which a steering plate of the elongated instrument can secure such that the steering plate and the locking plate move together; and
a steering unit for moving the locking plate,
wherein the locking plate comprises a first plate and a second plate, the second plate being arranged at a proximal side of the first plate, the first plate having one or more openings for receiving one or more protrusions from the steering plate; and the second plate having securing slots which can receive the one or more protrusions once extending from the one or more openings and secure the one or more protrusions each by means of a bayonet fitting.
2 . The steering device of claim 1 , wherein the second plate rotates from an open position to allow movement of the one or more protrusions into or out of the one or more openings, to a locked position where the steering plate is secured to the locking plate and the one or more protrusions cannot move out of the one or more openings.
3 . The steering device of claim 1 , wherein the steering unit comprises an inner frame and an outer frame, the inner frame being connected to the outer frame at a first hinge axis about which the inner frame can rotate, and the outer frame being rotatable about a second hinge axis to enable movement of the steering plate in space.
4 . The steering device of claim 1 , wherein the locking plate connects to the steering unit such that the locking plate can rotate in relation to the steering unit.
5 . The steering device of claim 4 , wherein the locking plate connects to the steering unit with a circumferential ball bearing.
6 . The steering device of claim 1 , wherein the steering device comprises a robotics unit.
7 . The steering device of claim 1 , wherein the steering device comprises actuators to move the locking plate.
8 . An elongated instrument for connecting to a steering device, the instrument comprising:
an elongated shaft with a distal end and a proximal end;
a steering plate located at the proximal end of the shaft, the steering plate movably arranged around a central supporting member rigidly connected around the shaft, the steering plate comprising a coupling for coupling the steering plate to a steering device for controlling movement of the steering plate, the steering plate comprising one or more axially extending protrusions configured for being received by one or more openings in a first portion of a locking plate of the steering device, such that the one or more protrusions can be releasably secured in the one or more openings by securing slots in a second portion of the locking plate by rotating the first portion relative to the second portion or vice versa; and
a plurality of elongated elements extending along the shaft and secured to the steering plate at the proximal end.
9 . The elongated instrument of claim 8 , wherein the plurality of elongated elements are secured circumferentially around the steering plate.
10 . The elongated instrument of claim 8 , wherein the central supporting member comprises a ball-shaped element and the steering plate is connected to the ball-shaped element such that the steering plate can rotate around the ball shaped element.
11 . The elongated instrument of claim 8 , wherein the plurality of elongated elements extend through a plurality of openings in the steering plate and each elongated element comprises a catch at the proximal end to secure the elongated element to the steering plate.
12 . The elongated instrument of claim 8 , wherein the plurality of elongated elements comprises a plurality of flexible wires or cables.
13 . The elongated instrument of claim 8 , wherein the plurality of flexible wires or cables are tensioned between a position along the shaft and the steering plate.
14 . The elongated instrument of claim 8 , wherein the elongated instrument has a distal end, the plurality of elongated elements being configured for deflection of the distal end.
15 . The elongated instrument of claim 8 , wherein each of the one or more securing slots has a wider portion and a narrow portion.
16 . The elongated instrument of claim 15 , wherein the second portion of the locking plate is in an open position when the wider portion of the one or more securing slots is aligned with a corresponding one of the one or more openings of the first portion, and wherein the second portion is in a closed position when the narrow portion of the one or more securing slots is aligned with the corresponding one of the one or more openings of the first portion.
17 . A medical device comprising:
a steering device and an elongated instrument, the steering device and the elongated instrument configured to be connected with one another,
the steering device comprising:
a locking plate with a coupling to which a steering plate of the elongated instrument can secure such that the steering plate and the locking plate move together, and
a steering unit for moving the locking plate,
wherein the locking plate comprises a first plate and a second plate, the second plate being arranged at a proximal side of the first plate, the first plate having one or more openings for receiving one or more protrusions from the steering plate; and the second plate having securing slots which can receive the one or more protrusions once extending from the one or more openings and secure the one or more protrusions each by means of a bayonet fitting; and
the elongated instrument comprising:
an elongated shaft with a distal end and a proximal ends,
a steering plate located at the proximal end of the shaft, the steering plate movably arranged around a central supporting member rigidly connected around the shaft, the steering plate comprising a coupling for coupling the steering plate to the steering device for controlling movement of the steering plate, the steering plate comprising one or more axially extending protrusions configured for being received by the one or more openings in the locking plate of the steering device, such that the one or more protrusions can be releasably secured in the one or more openings by the securing slots in the locking plate, and
a plurality of elongated elements extending along the shaft and secured to the steering plate at the proximal end.