Claims
- 1. An endoscope comprising:
a first segment having a proximal end and a distal end thereof wherein the first segment is symmetric about an axis; and a second segment comprising a flexible and interconnected linkage system, pivotably coupled to the first segment and when subject to an applied force, configurable along an arc extending from the axis and having a variable radius of curvature.
- 2. The endoscope as set forth in claim 1 wherein the linkage system comprises:
a first set of interconnected pivotable vertebrae extending from the distal end of the first segment; wherein each of the pivotable vertebrae comprises a body having:
a front face beveled at a first and second angle; a rear face beveled at a third and fourth angle; a first pivot member projecting from the front face; and a second pivot member projecting from the rear face; wherein the first pivot member of one vertebrae is pivotably coupled about a rotational axis to the second pivot member of a second vertebrae.
- 3. The endoscope as set forth in claim 2 further comprising a set of guide wires for applying a force to the endoscope.
- 4. The endoscope as set forth in claim 3 further comprising means for guiding the set of guide wires along the endoscope.
- 5. The endoscope as set forth in claim 4 wherein means for guiding the set of guide wires comprises means for guiding the set of guide wires within the body.
- 6. The endoscope as set forth in claim 1 wherein the arc subtends an angle of from zeros degrees to greater than 180 degrees.
- 7. The endoscope as set forth in claim 3 wherein the set of guide wires are attached to a vertebrae at variable distances from an axis of the body.
- 8. The endoscope as set forth in claim 7 wherein variable moments are developed in the body when the set of guide wires is subject to a force.
- 9. The endoscope as set forth in claim 2 wherein the front and rear face are beveled at about seven degrees.
- 10. The endoscope as set forth in claim 2 wherein the body is generally cylindrical.
- 11. A flexible endoscope comprising:
a pivotably interconnected set of links configurable along an arc having a variable radius of curvature; a set of guide wires connected to the set of links for applying force to the set of links; wherein a first vertebrae is subject to a first torque and a second vertebrae is subject to a second torque different than the first torque.
- 12. The endoscope as set forth in claim 11 wherein each of the pivotable links comprises a body having:
a front face beveled at a first and second angle; a rear face beveled at a third and fourth angle; a first pivot member projecting from the front face; and a second pivot member projecting from the rear face; wherein the first pivot member of one vertebrae is pivotably coupled about a rotational axis to the second pivot member of a second vertebrae.
- 13. The endoscope as set forth in claim 12 further comprising a set of guide wires for applying a force to the endoscope.
- 14. The endoscope as set forth in claim 12 further comprising means for guiding the set of guide wires along the endoscope.
- 15. The endoscope as set forth in claim 13 wherein means for guiding the set of guide wires comprises means for guiding the set of guide wires within the body.
- 16. The endoscope as set forth in claim 11 wherein the arc subtends an angle of from zeros degrees to greater than 180 degrees.
- 17. The endoscope as set forth in claim 12 wherein the set of guide wires is attached to a vertebrae at variable distances from an axis of the body.
- 18. The endoscope as set forth in claim 17 wherein variable moments are developed in the body when the set of guide wires is subject to a force.
- 19. The endoscope as set forth in claim 12 wherein the front and rear face are beveled at about seven degrees.
- 20. The endoscope as set forth in claim 12 wherein the body is generally cylindrical.
- 22. The endoscope as set forth in claim 11 wherein the radius of curvature is calculated according to the following equation:
- 23. The endoscope as set forth in claim 1 wherein the radius of curvature is calculated according to the following equation:
- 24. The endoscope as set forth in claim 1 wherein the radius of curvature increases along the arc.
- 25. The endoscope as set forth in claim 1 wherein the radius of curvature decreases along the arc.
- 26. The endoscope as set forth in claim 1 wherein the variable radius of curvature comprises two or more radii of curvature.
- 27. The endoscope as set forth in claim 1 wherein the variable radius of curvature comprises a first radius of curvature when the second segment is configured in a first direction and a second radius of curvature when the second segment is configured in a second direction.
- 28. The endoscope as set forth in claim 11 wherein the radius of curvature increases along the arc.
- 29. The endoscope as set forth in claim 11 wherein the radius of curvature decreases along the arc.
- 30. The endoscope as set forth in claim 11 wherein the variable radius of curvature comprises two or more radii of curvature.
- 31. The endoscope as set forth in claim 11 wherein the variable radius of curvature comprises a first radius of curvature when the second segment is configured in a first direction and a second radius of curvature when the second segment is configured in a second direction.
- 32. An endoscope comprising:
a first segment having a proximal end and a distal end thereof wherein the first segment is symmetric about an axis; and a second segment comprising a flexible and interconnected linkage system, pivotably coupled to the first segment and configurable along an arc having a variable angle of articulation.
- 33. The endoscope as set forth in claim 32 wherein the arc subtends a first angle of articulation when configured in a first direction and a second angle of articulation when configured in a second direction.
- 34. The endoscope as set forth in claim 33 wherein the first angle of articulation is about 180 degrees.
- 35. The endoscope as set forth in claim 33 wherein the second angle of articulation is greater than 180 degrees.
- 36. The endoscope as set forth in claim 32 wherein the linkage system comprises:
a first set of interconnected pivotable vertebrae extending from the distal end of the first segment; wherein each of the pivotable vertebrae comprises a body having:
a front face beveled at a first and second angle; a rear face beveled at a third and fourth angle; a first pivot member projecting from the front face; and a second pivot member projecting from the rear face; wherein the first pivot member of one vertebrae is pivotably coupled about a rotational axis to the second pivot member of a second vertebrae.
- 37. The endoscope as set forth in claim 32 wherein the arc comprises a variable radius of curvature.
- 38. The endoscope as set forth in claim 37 wherein the radius of curvature changes as the angle of articulation changes.
- 39. An endoscope comprising:
a first segment having a proximal end and a distal end thereof wherein the first segment is symmetric about an axis; and a second segment comprising a set of variable length pivotably interconnected links, pivotably coupled to the first segment.
- 40. The endoscope as set forth in claim 39 wherein the set of variable length links comprises:
a first group of links pivotably coupled to the second segment and having a first length; and a second group of links pivotably coupled to the first group and having a second length different from the first length.
- 41. The endoscope as set forth in claim 40 wherein the first and second group of links comprises:
a set of pivotably interconnected vertebrae extending from the distal end of the first segment; wherein each of the pivotably interconnected vertebrae comprises a body having:
a front face beveled at a first and second angle; a rear face beveled at a third and fourth angle; a first pivot member projecting from the front face; and a second pivot member projecting from the rear face; wherein the first pivot member of one vertebrae is pivotably coupled about a rotational axis to the second pivot member of a second vertebrae.
- 42. The endoscope as set forth in claim 1 wherein the arc lies in a plane.
- 43. The endoscope as set forth in claim 42 wherein the arc is a spiral.
- 44. The endoscope as set forth in claim 1 wherein the arc lies on a geometrical body.
- 45. The endoscope as set forth in claim 44 wherein the geometrical body is a cone.
- 46. The endoscope as set forth in claim 43 wherein the spiral has an increasing radius of curvature.
- 47. The endoscope as set forth in claim 43 wherein the spiral has a decreasing radius of curvature.
- 48. The endoscope as set forth in claim 37 wherein the radius of curvature increases along the arc.
- 49. The endoscope as set forth in claim 37 wherein the radius of curvature decreases along the arc.
- 50. The endoscope as set forth in claim 3 wherein the set of guide wires is circumferentially positioned at varying rotational angles about an axis of the body.
- 51. The endoscope as set forth in claim 13 wherein the set of guide wires is circumferentially positioned at varying rotational angles about an axis of the body.
- 52. The endoscope as set forth in claim 36 further comprising a set of guide wires for applying a force to the endoscope.
- 53. The endoscope as set forth in claim 52 wherein the set of guide wires is circumferentially positioned at varying rotational angles about an axis of the body.
- 54. The endoscope as set forth in claim 52 wherein the set of guide wires is attached to a vertebrae at variable distances from an axis of the body.
- 55. The endoscope as set forth in claim 41 further comprising a set of guide wires for applying a force to the endoscope.
- 56. The endoscope as set forth in claim 55 wherein the set of guide wires is circumferentially positioned at varying rotational angles about an axis of the body.
- 57. The endoscope as set forth in claim 55 wherein the set of guide wires is attached to a vertebrae at variable distances from an axis of the body.
PRIOR APPLICATION
[0001] Applicant claims priority benefits under 35 U.S.C. §119(e) of U.S. Provisional Patent Application Serial No. 60/384,775 filed May 30, 2002 which is incorporated herein by reference thereto as if set forth at length.
Provisional Applications (1)
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Number |
Date |
Country |
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60384775 |
May 2002 |
US |