Steerable endoscope and improved method of insertion
First Claim
1. An apparatus for insertion into a body cavity, comprising:
- an elongate body having a proximal portion and a selectively steerable distal portion, the elongate body comprising a plurality of segments, wherein the selectively steerable distal portion is adapted to assume a selected curve along an arbitrary path, and wherein the proximal portion is adapted to linearly assume the selected curve along the elongate body in an infinitely variable motion by propagating a measured length of at least one side of the distal portion to at least one side of the proximal portion.
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Accused Products
Abstract
A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient'"'"'s body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.
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Citations
23 Claims
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1. An apparatus for insertion into a body cavity, comprising:
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an elongate body having a proximal portion and a selectively steerable distal portion, the elongate body comprising a plurality of segments, wherein the selectively steerable distal portion is adapted to assume a selected curve along an arbitrary path, and wherein the proximal portion is adapted to linearly assume the selected curve along the elongate body in an infinitely variable motion by propagating a measured length of at least one side of the distal portion to at least one side of the proximal portion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification