Embodiments of the present invention relate to a bendable appendage, such as a steerable catheter, that needs to be able to be manipulated into bending in multiple directions from a single point. However, prior to embodiments of the disclosed invention, other mechanical systems did not allow complex bends to be controlled from a single point. To wit, robot systems required engaging a catheter at multiple points, such as four spools of wire, to control a bend in multiple directions. Embodiments of the disclosed invention, solve this problem and allow a surgeon, dentist, plumber, or driller to control the angle of bend of an instrument in any direction from a single point, such as one finger.
A mechanical maneuvering system can be configured to move an appendage in a first polar direction and a second polar direction. The mechanical maneuvering system can include a housing base configured to accommodate a first bracket and a second bracket. The first bracket can be configured to maneuver in a first direction and the second bracket can be configured to maneuver in a second direction. A housing top can be connected to the housing base and configured to accommodate a third bracket and a fourth bracket. The third bracket can be configured to maneuver in a third direction. The fourth bracket can be configured to maneuver in a fourth direction.
A first slide anchor can be connected to the first bracket and further attached to a first wire attached to the appendage. Moving the first slide anchor in the first direction can manipulate the appendage clockwise in the first polar direction.
A second slide anchor can be connected to the second bracket and further connected to a second wire attached to the appendage. Moving the second slide anchor in the second direction manipulates the appendage counterclockwise in the first polar direction.
A third slide anchor connected to the third bracket and further attached to a third wire attached to the appendage. Moving the third slide anchor in the third direction moves the appendage clockwise in the second polar direction.
A fourth slide anchor connected to the fourth bracket and further attached to a fourth wire attached to the appendage. Moving the fourth slide anchor in the fourth direction manipulates the appendage counterclockwise in the second polar direction.
In some embodiments, a first housing base outer slide bracket and a second housing base outer slide bracket can be mechanically coupled to the housing base. The first housing base outer slide bracket and the second housing base outer slide bracket can permit free movement of the first bracket and the second bracket between their distal points.
In some embodiments, a first housing base inner bracket can be mechanically coupled to the housing base. The first housing base inner bracket can be configured to allow movement of the first bracket until a point where the movement is stopped. A first housing base inner bracket allows a first slide anchor to move freely in a linear direction until a point where the movement is stopped. A second housing base inner bracket can be mechanically coupled to the housing base. The second housing inner base bracket can be configured to allow the second bracket to move until a point where the movement is stopped. A second housing base inner bracket allows a second slide anchor to move freely in a linear direction until a point where the movement is stopped.
In some embodiments, a first housing top outer slide bracket and a second housing top outer slide bracket can be mechanically coupled to the housing top. The first housing top outer slide bracket and the second housing top outer slide bracket can permit free movement of the first bracket and the second bracket between their distal points.
In some embodiments, a first housing top inner bracket can be mechanically coupled to the housing top. The first housing top inner bracket can be configured to allow movement of the first bracket until a point where the movement is stopped. A first housing top inner bracket allows a third slide anchor to move freely in a linear direction until a point where the movement is stopped. A second housing top inner bracket can be mechanically coupled to the housing top. A second housing top inner bracket can be configured to allow the second bracket to move until a point where the movement is stopped. A second housing top inner bracket allows a fourth slide anchor to move freely in a linear direction until a point where the movement is stopped.
The detailed description of some embodiments of the invention is made below with reference to the accompanying figures, wherein like numerals represent corresponding parts of the figures.
By way of example, and referring to
Turning to
Turning to
Housing top 20 is mechanically coupled to first housing top outer slide bracket 22 and second housing top outer slide bracket 24. First housing top outer slide bracket 22 and second housing top outer slide bracket 24 permit free movement of third bracket 70 and fourth bracket 80 between their distal points.
Housing top 20 is further mechanically coupled to first housing top inner bracket 26. First housing top inner bracket 26 is configured to allow movement of third bracket 70 until a point where movement is stopped. Housing top 20 is further mechanically coupled to second housing top inner bracket 28. Second housing top inner bracket 28 is configured to allow movement of fourth bracket 80 until a point where movement is stopped.
Turning to
Housing base 30 is further mechanically coupled to first housing base inner bracket 36. First housing base inner bracket 36 is configured to allow movement of first bracket 40 until a point where movement is stopped. Housing base 30 is further mechanically coupled to second housing base inner bracket 38. Second housing base inner bracket 38 is configured to allow movement of second bracket 60 until a point where movement is stopped.
First bracket 40, second bracket 60, third bracket 70 and fourth bracket 80 are all constructed substantially the same way as shown in
Turning to
As shown in
Each wire should be made of fairly rigid material such that minor manipulations in force cause expansion or contraction to result in some plastic deformation. This causes the appendage 110 to be turned and manipulated requiring only increased pressure on four wires.
Persons of ordinary skill in the art may appreciate that numerous design configurations may be possible to enjoy the functional benefits of the inventive systems. Thus, given the wide variety of configurations and arrangements of embodiments of the present invention the scope of the invention is reflected by the breadth of the claims below rather than narrowed by the embodiments described above.
This application claims priority to provisional patent application U.S. Ser. No. 61/833,113 filed on Jun. 10, 2013, the entire contents of which is herein incorporated by reference.
Number | Date | Country | |
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61833113 | Jun 2013 | US |