The present invention relates generally to serpentine devices employed for various purposes in various applications or industries, and more particularly to a mechanical serpentine device configured for improved efficiency, dynamic control and performance along its length. The present invention also relates generally to serpentine robots and guidewires, as variations of serpentine devices, wherein at least some of the concepts employed in constructing and operating a serpentine robot may apply to the same for guidewires.
Serpentine devices, such as serpentine robots or guidewires, are designed to exhibit snake-like movements with multiple degrees of freedom. They possess multiple joints that provide them with the ability to achieve multiple degrees of freedom in their movement, thus allowing them to navigate complex paths. These complex paths may be navigated about a surface or surfaces, about random structures (e.g., a pile of debris), across terrain, or in three-dimensional space.
Serpentine devices may be used for any number of purposes, such as in exploration, surveillance, reconnaissance, entertainment, medical/surgical, and other areas. Because of their high aspect ratio construction, they are able to negotiate inside tight spaces and to probe or inspect these from within, or venture where it may be otherwise dangerous for a human.
Serpentine robots or snakebots are a form of automated serpentine devices, wherein a plurality of actuators are configured to control the movements of the various components of the robot to achieve automated locomotion. Serpentine robots provide the ability to negotiate difficult terrain or structures for various purposes, such as to gather information or to conduct surveillance. Prior art serpentine robots are bulky, heavy, and consist of many components that require complex algorithms to control.
With respect to guidewires, these are a form of manually operated serpentine devices. Guidewires, as high aspect ratio-structures, have long been used in medical, industrial, and other fields for insertion into a lumen or conduit or other similar ducted structure for one or more purposes. For example, in the medical field an endoscope is a medical instrument for visualizing the interior of a patient's body. Endoscopes can be used for a variety of diagnostic and interventional procedures, including, colonoscopy, bronchoscopy, thoracoscopy, laparoscopy, and video endoscopy. The first step in a typical endoscopic procedure is placement of a guidewire into the appropriate system of the patient. When operatively disposed, the guidewire allows a variety of specialized tools, such as catheters, to be repeatedly positioned within the patient's system with ease, safety, and efficiency. One particular example is cardiac catheterization, which is a procedure accomplished by passing small tubes or catheters into the heart from arteries and veins in the groin or arm.
The use of guidewires in applications other than those for medical purposes include any applications in which it is desirable to inspect, repair, position an object such as tools within, or otherwise facilitate travel into and through a tube, pipe, or other similar conduit for one or more purposes. However, since guidewires are used most frequently in the medical field, these applications will be the focus of the discussion herein.
Catheters are used to perform various diagnostic and therapeutic procedures at selected sites within the body. However, intraluminal deployment of a catheter can often be difficult. The distance between the catheter entrance point and the target site is often considerable. In addition, the body has a highly branched vessel network that must be traveled to reach the target site. Moreover, the size of the lumen of the vessels leading to the target site are typically quite small. Therefore, the path which the catheter must follow are often narrow and tortuous. To assist in catheterization, navigation of a guidewire through the anatomy is often employed prior to insertion of the catheter. The deployment of a guidewire may be further assisted by radiographic imaging, which is conventionally done by introducing contrast media into the body lumen being traversed and viewing the guidewire in the body lumen using X-ray fluoroscopy or other comparable methods.
Catheter guidewires have been used for many years to “lead” or “guide” catheters to target locations in animal and human anatomy. This is typically done via a body lumen, for example such as traversing Luminal spaces defined by the vasculature to the target location. The typical conventional guidewire is from about 135 centimeters to 195 centimeters in length, and is made from two primary components—a stainless steel core wire, and a platinum alloy coil spring. The core wire is tapered on the distal end to increase its flexibility. The coil spring is typically soldered to the core wire at a point where the inside diameter of the coil spring matches the outside diameter of the core wire. Platinum is usually selected for the coil spring because it provides radiopacity for better fluoroscopic or other radiologic imaging during navigation of the guidewire in the body, and it is biocompatible. The coil spring also provides softness for the tip of the guidewire to reduce the likelihood of unwanted puncture of a luminal wall or the damaging of this and/or other anatomy.
The guidewire is equipped with a distal and proximate end. The proximal end, which remains outside the body, is manipulated to urge the guidewire along the vessel path and to control the tip of the guidewire positioned at the distal end. The tip is designed to be bent to a desired angle so as to deviate laterally a relatively short distance. By rotation of the proximal end of the guidewire, the tip can be made to deviate in a selected direction from a neutral or central axis of the guidewire about which it rotates. The catheter is advanced over the guidewire or the guidewire is inserted into a catheter so that the guidewire and the catheter cooperate to reach the target location. The guidewire can be advanced so that its distal end protrudes out the distal end of the catheter, and also pulled back in a proximal direction so as to be retracted into the catheter. The catheter enables introduction of contrast media at the location of the distal tip to enable the visualization of a Luminal space being traversed by the catheter and guidewire. The guidewire or catheter/guidewire combination are introduced into a luminal space such as a blood vessel and advanced therethrough until the guidewire tip reaches a desired luminal branch. The user then twists the proximal end of the guidewire so as to rotate and point the curved distal tip into the desired branch so that the device may be advanced further into the anatomy via the luminal branch. The catheter is advanced over the guidewire to follow, or track, the wire. This procedure is repeated as needed to guide the wire and overlying catheter to the desired target location. The catheter accordingly provides a means to introduce contrast media, and also provides additional support for the wire. Once the catheter has been advanced to the desired location, the guidewire may be withdrawn, depending upon the therapy to be performed. Oftentimes, such as in the case of balloon angioplasty, the guidewire is left in place during the procedure and can be used to exchange catheters.
As is known, a guidewire having a relatively low resistance to flexure yet relatively high torsional strength is most desirable. Stated differently, it is often desired that certain portions or all of a guidewire have lateral flexibility characteristics as well as pushability and torquability (torsional or rotational stiffness) characteristics. As the guidewire is advanced into the anatomy, internal frictional resistance resulting from the typically numerous turns and attendant surface contacts, decreases the ability to turn the guidewire and to advance the guidewire further within the luminal space. This, in turn, may lead to a more difficult and prolonged procedure, or, more seriously, failure to access the desired anatomy at the target location and thus a failed procedure.
A guidewire with high flexibility helps overcome the problems created by this internal resistance. However, if the guidewire does not also have good torque characteristics (torsional stiffness), the user will not be able to twist the proximal end in order to rotate the distal tip of the guidewire to guide its advance as required. Indeed, depending upon its use, a guidewire may be required to have adequate torsional strength over its length to permit steering of the distal tip portion into the correct vessel branches by axially rotating the proximal end. The guidewire, and especially the distal end portion, may be required to be sufficiently flexible so that it can conform to the acute curvature of the vessel network. Additionally, a guidewire with compression strength may be needed, wherein the compression strength is suitable for pushing the guidewire into the vessel network without collapsing.
In light of the problems and deficiencies inherent in the prior art, the present invention seeks to overcome these by providing a serpentine device, wherein in one exemplary embodiment the serpentine device comprises a mechanical serpentine robot and/or, in another exemplary embodiment, the serpentine device comprises a segmented guidewire, each having improved operating characteristics.
In accordance with the invention as embodied and broadly described herein, the present invention features a serpentine device having a proximal end and a steerable distal end, wherein the serpentine device comprises a series of discs arrayed in succession and on center along a common, neutral axis, said discs comprising a first and second surface; and at least one flexible interconnect extending between and connecting each disc to any succeeding disc according to a pre-determined connection configuration to provide torsional and bending support for each of the discs under an applied load, wherein the flexible interconnects are configured to bias each of the connected discs to a pre-determined, static position, as well as to allow each of the interconnected discs to dynamically move through a pre-determined range of motions.
The flexible interconnects are designed to extend between and connect a disc to a succeeding disc in an indirect manner, meaning that the interconnects are independent structures, or are independent of one another, along the length of the serpentine device. The serpentine device may be formed to achieve a continuum of flexibility along an entire length of the serpentine device, or one or more stiff sections may be included in the serpentine device.
The serpentine device may further comprise a bendable member that extends coaxially about the neutral axis and that is operably coupled to the array of discs. The bendable member facilitates the axial alignment and positioning of each of the attached discs relative to one another when the serpentine device is subject to various axial compression and tension forces. Utilizing the bendable member in this configuration, the serpentine device is capable of being selectively fed and retracted into a ducted structure or other recess, crawl space, etc. The bendable member may be a unitary structure or a segmented structure.
The serpentine device further comprises one or more transfer elements configured to perform one or more transfer functions, namely the transfer of energy, work, fluid, electricity, light energy, sound energy, matter, etc. from one location to another location, and particularly from a source to one or more of the discs of the serpentine device. The transfer elements may be supported by the discs themselves, or on one or more surfaces of the interconnects connecting the discs, or both. In addition, the transfer elements may also be segmented to provide each disc or group of discs the ability to operate independent or semi-independent of any other disc or group of discs.
The present invention will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. Understanding that these drawings merely depict exemplary embodiments of the present invention they are, therefore, not to be considered limiting of its scope. It will be readily appreciated that the components of the present invention, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Nonetheless, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings in which:
The following detailed description of exemplary embodiments of the invention makes reference to the accompanying drawings, which form a part hereof and in which are shown, by way of illustration, exemplary embodiments in which the invention may be practiced. While these exemplary embodiments are described in sufficient detail to enable those skilled in the art practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. Thus, the following more detailed description of the embodiments of the present invention, as represented in
The following detailed description and exemplary embodiments of the invention will be best understood by reference to the accompanying drawings, wherein the elements and features of the invention are designated by numerals throughout.
The present invention describes a segmented serpentine device comprised of an array of discs or disc elements connected by one or more interconnects, either stiff or preferably flexible, as well as various means for carrying and supporting one or more transfer elements. Also described is a method of operating the serpentine device of the present invention. The present invention serpentine device provides excellent torsional and bending properties due to the placement and configuration of the discs and their interrelationship with the array of disc elements, as well as an improved ability to transfer work, electricity, fluids, etc. to a specific disc, segment, or the entire length of the serpentine device as a result of the array of discs and their connected configuration.
Preliminarily, the term “serpentine device,” as used herein, shall be understood to mean any type of device exhibiting snake-like movements, whether under manual or automated control. For example, a serpentine device may comprise a serpentine robot having on-board power/actuation means configured to enable locomotion. In another example, the serpentine device may comprise a guidewire, wherein the guidewire is manually manipulated to negotiate a lumen.
The term “torquability,” as used herein, as well as similar terminology, shall be understood to function as the relative term used to describe the propensity of one or more segments of the serpentine device to rotate in response to an applied rotational force to the intended segments. The torquability is directly related to the torsional stiffness of the serpentine device as determined by the specific component characteristics present within the serpentine device, such as the spacing of the discs, the connection configuration of the interconnects, the material makeup of the interconnects, the number of interconnects between the discs, the properties of any bendable member present, and any other relevant serpentine device component characteristics.
The phrase “segmented serpentine device movement,” or “segmented movement,” as used herein, as well as similar phraseology, shall be understood to mean the specific dynamic properties exhibited by a particular segment of the serpentine device as determined by the specific component characteristics of that segment. A serpentine device may comprise multiple segments along its length, with each segment capable of exhibiting different dynamic characteristics, such as torsional stiffness or torquability, flexibility or bending, etc. A segment may comprise one disc or a plurality of discs.
The phrase “transfer element,” as used herein, as well as similar phraseology, shall be understood to mean any structural element configured or designed or capable of performing a designated transfer function, namely the transfer of energy, work, fluid, electricity, light energy, sound energy, matter, etc. from one location to another location. For example, in one aspect transfer elements may comprise rigid or flexible tendons configured to perform a mechanical function, such as to selectively transfer a bending force to any segment along the length of the serpentine device for steering, bending, and/or torquing the serpentine device. In another aspect, transfer elements may comprise electrical conductive lines, such as wires, plasma tubes, etc. configured to transfer electrical current or voltage to one or more discs along the length of the serpentine device, as received from a power source, for the purpose of powering various systems or devices, such as cameras, flashlights, tools, computer circuits, computer processors, etc. In still another aspect, transfer elements may comprise tubular structures configured to transfer fluids to one or more discs along the length of the serpentine device as received from a fluid source, wherein the supplied fluid may be used for one or more purposes, such as to effectuate local hydraulic or pneumatic actuation of a device or system supported by the disc, to supply the necessary fluid to a suitable tool requiring a fluid, to effectuate cooling of a system or device, or any other use as recognized by one skilled in the art. A fluid transfer element may also be a negative pressure transfer element configured to transfer fluid away from a local site. In still another aspect, a transfer element may further transmit light or energy used to provide illumination at a local site, or to provide laser energy or laser light for the carrying out of various tasks, such as ablation. A transfer element may comprise any structure or any type of structure extending along the length of the serpentine device, either in segments or as a single, continuous or uninterrupted length, and that is attached or inserted through one or more discs, preferably in an offset or radial manner from the neutral axis.
Referring now to
The particular intended application will dictate the allowable material composition of the discs 14. For instance, if the serpentine device is intended for use within a fluid flow channel or pipe made of metal or plastic, the discs 14 may be made of any suitable material, such as steel, copper, titanium, plastics, or others. Environmental considerations will be taken into account in determining the proper material makeup of the serpentine device.
In another exemplary embodiment the structure may be configured as a guidewire for use in interventional medicine, such as for various endoscopic or coronary procedures. In such case, it is important that the discs be made of a biocompatible material, such as stainless steel or a NiTi alloy. In addition, the discs can comprise monolithic micromachined discs or structural members or actuators.
In addition, it is specifically noted that the discs 14 may comprise any shape or geometric configuration. For instance, the discs 14 may be circular, square, honeycomb, etc. The discs may further comprise planar or non-planar surfaces, or any combination of these. Generally, the discs 14 will be circular and planar.
The serpentine device 10 further comprises a distal end 30 and a proximal end 34.
The distal end 30 is defined as the leading portion or end of the serpentine device 10. In one aspect, the distal end 30 may be caused to negotiate passively through a duct. In another aspect, the distal end 30 may be selectively steerable. In the selectively steerable embodiment, the distal end 30 is selectively bent, thus allowing the distal end to be 30 steered. The steering of the distal end 30 may be achieved by way of a steering control device commonly known in the art, such as a joystick, or any other known steering control means.
The proximal end 34 is defined herein as the trailing end opposite that of the distal end 30. In the case of a serpentine device, the proximal end functions in a similar manner as other segments of the device. In the case of a guidewire, the proximal end 34 is typically that end of the guidewire that is manipulated or operably coupled to various devices designed to control the dynamic characteristics of the guidewire to cause the guidewire to traverse or negotiate through the ducted structure, such as an artery.
The serpentine device may further comprise a tip 38 disposed or located about its distal end 30. The tip 38 comprises any geometric configuration and material commonly known and used in the art. In the case of a guidewire, it is recommended that the tip 38 comprise a blunt body to reduce the risk that the tip will puncture or tear a vessel or other anatomical wall. The tip 38 is securely coupled to the distal end 30 of the guidewire 10 using any known means in the art. For example, the tip 38 may be cemented, thermally fused, crimped, fastened with clamps, screwed, or otherwise attached to the distal end 30 of the guidewire 10.
The discs 14 are spaced apart along the neutral axis 4 by a distance which creates a gap between adjacent or successive discs 14 (see gap having a distance x in
In several exemplary embodiments, interconnects 54 are spring elements of one or more types and that are arranged in one or more connection configurations between discs 14. The interconnects may be constructed of any suitably flexible material. For example, the interconnects may be formed of rubber, plastic, etc. In other embodiments, the interconnects may be formed of a more rigid material, such as stainless steel or brass. In still other embodiments, the interconnects may be formed of a shape memory material as is commonly known in the art. In still other embodiments, the interconnects may be formed of piezoelectric material to effectuate one or more designated piezoelectric functions, such as creating a localized piezoelectric effect for one or more purposes, such as actuation.
For each disc along the length of the serpentine device 10, there is at least one interconnect 54 extending between it and any succeeding disc(s), whether forward or aft or both of the disc. In the embodiment shown in
As stated, in various exemplary embodiments interconnects 54 are independent and indirectly connected spring elements that function to connect each of the discs 14 to any succeeding disc(s) allowing them, and the serpentine device, to exhibit specific torsional and bending or flexibility properties. In general, interconnects 54 comprise a stiffness constant or stiffness ratio resulting from their material composition that determines the resistance each specific interconnect will demonstrate in response to an applied rotational or torque force, as well as its ability to flex. Contributing to the overall torsional stiffness and flexibility of the serpentine device 10 is the number of interconnects 54 used to interconnect the discs 14, their relative size and geometry, the position and orientation in which they are attached to the discs 14, as well as the connection configuration of each of the interconnects 54. Also contributing to the overall torsional stiffness and flexibility of the guidewire 10 is the spacing or gap distance between discs 14. The serpentine device 10 in
In those embodiments where interconnects 54 are or function as spring elements, discs 14 are allowed to move in multiple, but limited, degrees of freedom along the -x-, -y-, and -z- axes. In addition, because of the indirect connection relationship between the interconnects 54, selective movement of each disc, or selective movement of any number of discs (i.e., a segment), within three-dimensional space may be specifically controlled using a suitable controller operating via a corresponding computer program as is known in the art. Movement of the discs or a segment of discs is achieved without buckling or kinking of the serpentine device as a result of the biased nature existing between each disc as imposed by the interconnects. Therefore, if negotiating a turn in a ducted network, the interconnects 54 function to allow the discs 14 to flex or bend and rotate as needed, while continuously maintaining a proper position with respect to one another.
Because the interconnects 54 are indirectly connected to one another through the discs 14, thus allowing each of the discs 14 to be semi-independent from one another, the serpentine device 10 may comprise multiple segments, each having different torsional stiffness and flexure or bending properties. This may be advantageous in situations where a large torsional stiffness is needed at the proximal end to negotiate a more flexible tip, or where precision control of a certain segment of the serpentine device along a certain span of a ducted structure or network is needed. Unlike conventional serpentine devices where the segments are all strictly interconnected and dependent upon each other, the unique interconnects described herein, and their connection configuration, allow the serpentine device of the present invention to comprise independently or semi-independently operable sections, thus allowing the serpentine device to truly be segmented. Indeed, the serpentine device of the present invention is segmented not only in structure, but in operating characteristics or properties as well.
In addition, the indirect connection of the interconnects 54 through the discs 14 functions to provide a continuum of flexibility along an entire or partial length of the serpentine device 10, while simultaneously facilitating the torquability of serpentine device 10.
Interconnects 54 are attached to discs 14 using any attachment or fastening means known in the art. In addition, in some embodiments, interconnects 54 may be removably connected to discs 14, or rather discs 14 may be removably interconnected, thus allowing a selective number of the discs 14 to be removed and a length of the serpentine device 10 selectively altered.
Interconnects 54 may attach or couple to the surfaces of adjacent discs 14, or they may attach to the sidewalls of adjacent discs 14, or they may wrap around the sidewall and attach to a distal surface of adjacent discs. Interconnects 54 and discs 14 may comprise any known material composition suitable for the intended application of the serpentine device formed by the interconnects and the discs. In one aspect, interconnects 54 and discs 14 may be made of a biocompatible material suitable for insertion into a patient's body. In other aspects, interconnects 54 and discs 14 may be made of any metal, plastic, or combination of these. In another aspect, interconnects 54 may be formed of a shape memory alloy as one exemplary means of achieving bending and/or rotation actuation of the discs 14, and therefore locomotion. The term Shape Memory Alloys (SMA) is applied to that group of metallic materials that demonstrate the ability to return to some previously defined shape or size when subjected to the appropriate thermal procedure. Generally, these materials can be plastically deformed at some relatively low temperature, and upon exposure to some higher temperature will return to their shape prior to the deformation.
In some embodiments, the serpentine device 10 may also be selectively adjustable. The indirectly connected nature of the interconnects 54 allows the serpentine device to comprise any length or any number of segments, as well as to allow segments of different properties to be interchanged. Depending upon the means used for connecting or attaching the interconnects 54 to the discs 14, the serpentine device length may be selectively lengthened and/or segments added simply by attaching additional interconnects and discs to an existing series. The serpentine device length may also be selectively shortened and/or segments removed by detaching one or more discs and their corresponding interconnects. Thus, a serpentine device may be quickly assembled to comprise the necessary operational characteristics or properties needed for a particular application.
It is contemplated herein that interconnects 54 may comprise several different types, as well as several different connection configurations for connecting each of the discs together in series along the neutral axis to form a serpentine device.
FIGS. 3-A-3-C illustrate partial perspective views of various alternative exemplary embodiments of a segment of serpentine device, wherein interconnects 54 are comprised of band elements 84 having a linear shape configuration, meaning that each surface of the interconnects is formed of linear line segments intersecting each other on an angle to form an area. In one aspect, the band elements are comprised of a material exhibiting sufficient bending and torsional properties. Preferably, the band elements are formed of a suitable material exhibiting constant strain properties throughout when subjected to a bending or torsional load.
Specifically,
FIGS. 4-A and 4-B illustrate other exemplary embodiments of a serpentine device utilizing interconnects 54 in the form of band elements 88. The band elements 88 illustrated in FIGS. 4-A and 4-B are similar to those band elements 84 shown in FIGS. 3-A-3-C, only band elements 88 comprise a nonlinear or curved shape. Specifically, band elements 88 are shown comprising a semi-circular shape. In
One recognized advantage of utilizing an interconnect in the form of a band element arranged in an inverted twisting or non-inverted configuration is its ability to support one or more various structural elements, such as a segmented transfer element as defined herein, along its surfaces. By doing so, transmission of various items, such as electricity, fluids, mechanical work, etc. between discs and from the proximal end of the serpentine device to one or more interim discs, or to the distal end of the serpentine device, is done in a segmented manner that provides many advantages over prior related serpentine devices. Thus, each disc arrayed along the neutral axis is capable of being utilized as an intelligent performance center.
In another exemplary embodiment, the interconnects, such as those illustrated in
In another example, the band element interconnects themselves may comprise a material makeup capable of conducting electricity, or carrying one or more transfer elements thereon.
By manipulating the size, shape, spacing, and orientation of the discs, the torsional stiffness of the serpentine device relative to its flexibility or bending stiffness may be selectively altered. In addition, by manipulating the size, shape, number, and composition of the interconnects connecting the series of discs, the torsional stiffness of the serpentine device relative to its flexibility or bending stiffness may also be selectively altered. Therefore, a serpentine device having a high degree of flexibility and a low degree of torsional stiffness will likely comprise a relatively lower number of discs that function to make up the serpentine device than that for a serpentine device having a low flexibility and/or a high degree of torsional stiffness. Likewise, a serpentine device with a high degree of flexibility and a low degree of torsional stiffness will likely comprise interconnect elements having relatively lower spring constants and greater flexibility than the interconnects for a serpentine device having a low degree of flexibility and a high degree of torsional stiffness.
Also as shown in
The bendable member is made to extend between the discs. The bendable member may be comprised of a coiled compression spring extending up the center of the array of discs (like a spinal cord) or it may be comprised of a ball joint configuration. In addition, as will be explained in further detail below, the bendable member may comprise a non-circular cross section configured to provide advanced or improved movement or displacement of the serpentine device, and particularly to better accommodate the discs during actuation of the serpentine device, namely the bending and rotation of the discs. In some exemplary embodiments, the bendable member may be segmented, along with any transfer elements and interconnects utilized by the serpentine device, to allow various disc segments to be selectively and removably coupled together. In this embodiment, the serpentine device may be selectively lengthened and shortened.
Formed in each of discs 14 are one or more radially positioned or situated apertures 120, which may be any type of orifice, aperture, crevice, fissure, cavity, etc., formed in, around, or through the surfaces 18 and 22 of discs 14. Radial apertures 120 are characterized by their offset position or location and their divergence from the central or neutral axis 4. Radial apertures 120 function to receive one or more transfer elements 126 configured to perform a specific function, either locally at a particular disc, at a segment of discs, or along the entire length of the serpentine device. The types of transfer elements operable with radial apertures 120 and discs 14 are numerous, as discussed above. For example, a transfer element may comprise rigid or flexible tendons configured to perform a mechanical function, such as to selectively transfer a bending force to any segment along the length of the serpentine device for steering, bending, and/or torquing the serpentine device. In another aspect, transfer elements may comprise electrical conductive lines, such as wires or plasma tubes, configured to transfer electrical current or voltage to one or more discs along the length of the serpentine device for one or more purposes. In still another aspect, transfer elements may comprise tubular structures configured to transfer fluids to one or more discs and a local site along the length of the serpentine device as received from a fluid source, wherein the supplied fluid may be used for one or more purposes, such as to effectuate local hydraulic or pneumatic actuation of a device or system supported by the disc, to supply the necessary fluid to a suitable tool requiring a fluid, to effectuate cooling of a system or device, or any other use as recognized by one skilled in the art. A fluid transfer element may also be a negative pressure transfer element configured to transfer fluid away from a local site.
Finally,
Referring now to
Conductive lines 132 are electrically coupled to each disc 14-a and 14-b via electrical connectors 136 formed through discs 14. From these connectors 136, various utility, processing, and other devices or systems may be operably connected. In one exemplary embodiment, interconnects 54 may comprise a type of Kapton material, having various conductive lines formed therein as commonly known in the art. Independent segments of Kapton are configured to extend between the disc elements along the length of the serpentine device and are connected to the discs via an electroplate pad secured to the discs at a pre-determined location and configured in a pre-determined orientation. Thus, each Kapton interconnect, and therefore each disc 14, is electrically coupled to each immediately succeeding disc and each immediately preceding disc to create a serpentine device having segmented electrical capabilities along its length.
In another embodiment, interconnects 54 may comprise fluid transport tubes that function to carry fluid to the interconnected discs, as well as to any structures supported thereon designed to utilize the fluid transport tubes. In essence, it is contemplated herein that interconnects 54 may be modified to be the vehicle used to carry one or more types of transfer elements for the purpose of transferring electrical current, mechanical work, fluids, etc. to the various discs along all or only a portion of the length of the serpentine device 10, which transferred element is to be utilized at one or more disc sites.
The ability to segment the transfer elements extending between the disc elements making up the serpentine device allows each disc to function as an intelligent performance center independent of or in cooperation with any other disc, wherein each discs is able to perform the same or a different function than any other disc, depending upon the configuration of the discs and the transfer elements extending between the discs. As such, each of the discs may be multiplexed and/or networked together, as commonly understood.
Optionally formed in surface 18 of each of discs 14-a and 14-b are slots 124. Slots 124 function as another configuration for carrying transfer elements along the length of the serpentine device 10. As shown, the serpentine device 10 comprises four transfer elements extending between discs 14-a and 14-b and supported within slots 124. As mentioned, the transfer elements may comprise various types, and may be segmented or of a single, continuous or uninterrupted length. As shown, the types of transfer elements extending between discs 14-a and 14-b include an actuator tendon 128 carried in radial aperture 120 to control the bending of the serpentine device 10, an electrical conductive line 132 for transferring electrical current between discs 14, a fluid transport tube (shown generally as tubes 138), such as a fluid supply tube 140 and a fluid return tube 144 (negative pressure or vacuum tube). Each of the transfer elements in slots 124 are operably coupled to discs 14-a and 14-b via various connectors supported within slot 124. For example, tendon 128 is coupled via connector 160 as commonly known in the art. Fluid transport tubes 138 are coupled via fluid tube connectors 164. Electrical conductive lines 132 are connected via electrical connectors 168.
For each of the embodiments discussed above, the interconnects may function simply as transfer element carriers and may not comprise any load bearing capabilities. In these embodiments, the serpentine device will require a bendable member to link and interconnect each of the discs, as well as to provide bending and torsional strength to the serpentine device. Of course, the interconnects may function as both load bearing structures and as transfer element carriers, depending upon their particular material makeup and configuration. In the embodiments shown above, bendable member 110 comprises a coil configuration, wherein the coils comprise a circular cross-section. Other cross-sectional designs are also contemplated that may be utilized with the array of disc elements of the present invention.
With reference to
Each of the bladders 190 is fluidly coupled to the fluid supply 148 and the fluid return 152 via delivery lines 156 (functioning to provide both supply and return), respectively, shown as delivery lines 156-a, 156-b, 156-c, and 156-d. In order to selectively control the inflation or deflation of the bladders 190, valves 198-a -198-d are supported about the surface of the discs. The specific operation of the valves will be apparent to one skilled in the art to selectively actuate one or more bladders individually or simultaneously. Other types of control mechanisms are contemplated and will also be apparent to one skilled in the art. In the embodiment shown, each bladder 190 comprises its own valve 198.
To actuate the discs 14-a and 14-b, one or more of the bladders 190 is inflated or filled with fluid. As one or more bladders is caused to inflate, this causes counter opposing forces to be exerted on each of the discs 14-a and 14-b, respectively, which ultimately functions to cause the discs to displace and pivot about a longitudinal axis of said serpentine device, which in this case is the bendable member 110. Each of the discs 14-a and 14-b are securely coupled to the bendable member so that any forces acting thereon will cause them to rotate about the bendable member 110. As the desired actuation is completed, the bladder(s) are deflated or drained, thus relieving the counter opposing forces and returning the discs to a static state about the bendable member 110.
In essence, fluids are routed up and down the bendable member to supply and return fluid, as needed. Alternatively, fluids may be routed and communicated to the bladders via fluid transport tubes, such as a fluid supply tube 140 and a fluid return tube 144 as illustrated in
As will be recognized, the actuation of the bladders may be effectuated by hydraulic or pneumatic means.
In addition, other types of actuation systems or devices may be employed for selectively actuating the various discs for locomotion or other purposes. For example, and as stated herein, shape memory alloy material may be coupled between discs to perform the same actuation function as the described bladders. This is illustrated in
Referring now to FIGS. 10-A-10-C, shown are various exemplary embodiments of different ways to connect one or more transfer elements between the disc elements arrayed to form a serpentine device.
In each of the embodiments just discussed for FIGS. 10-A-10-C, the transfer elements 126 or interconnects 54 extending between the discs 14 may be arranged in a parallel relationship with one another, or they may arranged to cross between discs. In addition, in each of the embodiments, discs 14 may further comprise a central aperture coaxial with the neutral axis of the serpentine device, wherein the central aperture is configured to receive a bendable member therethrough to provide compression and tension support to the discs 14 along the length of the serpentine device, as needed. In addition, each of the embodiments of the discs 14 shown in FIGS. 10-A-10-C may be designed so that the transfer elements carried therein may function as the interconnect for the discs, or they may be coupled with one or more interconnects, as discussed above.
The present invention segmented serpentine device may be utilized in any number of applications. One area well suited for the segmented serpentine device discussed herein is the medical field, wherein the serpentine device will comprise a guidewire to be used in various medical applications, namely various interventional medicine applications. For example, introducing a catheter directly through the complex arterial channels via a small external incision is generally not possible, owing to the relative rigidity and lack of steerability of the catheter alone. To ensure that the catheter gets to the correct site, a guidewire must first be introduced. The unique torquability, deformability, recovery and low whipping effect of the present invention will allow the surgeon to get a highly controllable serpentine device in place, as well as to perform various functions along the way, if so desired, as a result of the segmented capabilities of the present invention serpentine device. For example, a segmented serpentine device in the form of a guidewire, according to the present invention, may be used in conjunction with a camera, wherein the serpentine device supports one or more utility devices, such as a light source providing visible light to a local area, or a fluid disperser capable of squirting water to move blood out of the way while performing an operation. Or, the segmented serpentine device itself can be more complex. For example, the serpentine device may provide a miniature imaging device directly on the discs themselves, wherein the discs are also capable of performing a utilitarian, computer processing, or any other function.
The foregoing detailed description describes the invention with reference to specific exemplary embodiments. However, it will be appreciated that various modifications and changes can be made without departing from the scope of the present invention as set forth in the appended claims. The detailed description and accompanying drawings are to be regarded as merely illustrative, rather than as restrictive, and all such modifications or changes, if any, are intended to fall within the scope of the present invention as described and set forth herein.
More specifically, while illustrative exemplary embodiments of the invention have been described herein, the present invention is not limited to these embodiments, but includes any and all embodiments having modifications, omissions, combinations (e.g., of aspects across various embodiments), adaptations and/or alterations as would be appreciated by those in the art based on the foregoing detailed description. The limitations in the claims are to be interpreted broadly based the language employed in the claims and not limited to examples described in the foregoing detailed description or during the prosecution of the application, which examples are to be construed as non-exclusive. For example, in the present disclosure, the term “preferably” is non-exclusive where it is intended to mean “preferably, but not limited to.” Any steps recited in any method or process claims may be executed in any order and are not limited to the order presented in the claims. Means-plus-function or step-plus-function limitations will only be employed where for a specific claim limitation all of the following conditions are present in that limitation: a) “means for” or “step for” is expressly recited; b) a corresponding function is expressly recited; and c) structure, material or acts that support that structure are not recited, except in the specification. Accordingly, the scope of the invention should be determined solely by the appended claims and their legal equivalents, rather than by the descriptions and examples given above.
This application claims priority to U.S. Provisional Patent Application No. 60/633,035, filed Dec. 2, 2005 in the U.S. Patent and Trademark Office, entitled, “Segmented Guidewire,” which application is incorporated by reference in its entirety herein.
Number | Date | Country | |
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60633035 | Dec 2004 | US |