Actuated steerable probe and systems and methods of using same

Patent metadata

Field	Value
Publication number	US-9655679-B2
Application number	US-201313875204-A
Country	US
Kind code	B2
Filing date	May 1, 2013
Priority date	May 1, 2012
Publication date	May 23, 2017
Grant date	May 23, 2017

Abstract

A steerable probe having high-power-density actuators positioned at joints along the length of the probe. The actuators are moveable about and between a straight position and a curved position in response to selective actuation.

First claim

What is claimed is:

1. A steerable probe having a central axis, a first end, and an opposed second end, the probe having a length corresponding to the distance between the first end and the second end, the probe comprising:
a plurality of substantially straight segments disposed along the length of said probe in a spaced apart relationship each with respect to another, each substantially straight segment of the plurality thereof defining a respective central bore extending substantially through the entire length of said each substantially straight segment along the central axis of the probe, wherein said respective central bores of the plurality of substantially straight spaced apart segments cooperate each with another to define an inner channel extending substantially through the entire length of the probe, said plurality of substantially straight segments comprising a first end segment at the first end of said probe and a second end segment at the second end of said probe, at least one of said first and second ends of said probe defining at least one opening in communication with the inner channel to receive at least one of a therapeutic and diagnostic tools; and
at least one joint assembly coupled between adjacent ones of said plurality of substantially straight segments, said at least one joint assembly comprising:
at least one actuator member formed from a Shape Memory Alloy (SMA) pre-configured in a memory reference arcuated shape having a substantially single bent portion and a pair of substantially straight end portions, each one of said pair of end portions extending at a respective end of said substantially single bent portion in connection therewith and in an angled relationship one with respect to another, wherein said each substantially straight end portion of said at least one actuator member is secured to and extends along a length of a respective one of said adjacent substantially straight segments of said plurality thereof,
wherein said adjacent segments of said plurality thereof are operatively coupled each to another via said at least one actuator member with said substantially single bent portion of said at least one actuator member positioned between said adjacent substantially straight segments, thereby defining a respective at least one joint of the probe,
wherein said at least one actuator member is configured for selective actuation, and
wherein, in response to said selective actuation applied to said at least one actuator member, said substantially single bent portion undergoes a bending transformation changing a curvature thereof, thus changing an angular relationship between said substantially straight ending portions of said at least one actuator member, thereby adjusting an angular relationship between said adjacent substantially straight segments, and thereby controlling a shape of the probe.

2. The steerable probe of claim 1 , wherein the inner channel of the probe comprises a transparent imaging side window, said inner channel being configured to receive at least one of a diagnostic tool and a therapeutic tool.

3. The steerable probe of claim 1 , wherein said at least one joint assembly comprises a sheath disposed in proximity to said adjacent substantially straight segments and configured to receive said substantially single bent portion of said at least one actuator member of said at least one joint assembly, wherein the sheath is secured to and positioned between said adjacent substantially straight segments of the plurality thereof.

4. The steerable probe of claim 3 , wherein said sheath of said at least one joint assembly comprises a non-conductive material.

5. The steerable probe of claim 4 , wherein the sheath is made of a material selected from a group comprising an enamel and heat shrink tubing.

6. The steerable probe of claim 3 , wherein each of the plurality of spaced substantially straight segments has respective walls, wherein said each segment of the plurality thereof defines at least one crimp disposed opposedly to a corresponding crimp defined by a segment adjacent to said each segment, wherein at least one pair of opposed crimps is positioned at said at least one joint assembly, and wherein each pair of opposed crimps is configured to receive corresponding end portions of said at least one actuator member of the at least one joint assembly.

7. The steerable probe of claim 1 , further comprising an outer sheath extending along substantially the entire length of the probe.

8. The steerable probe of claim 1 , wherein each of the plurality of spaced substantially straight segments has respective walls, wherein said each substantially straight segment defines at least one slot that is opposed to a corresponding slot defined at a substantially straight segment adjacent to said each substantially straight segment, wherein at least one pair of opposed slots is positioned at said at least one joint assembly, and wherein said at least one pair of opposed slots is configured to receive corresponding ending portions of said at least one actuator member of the at least one joint assembly.

9. The steerable probe of claim 8 , wherein said at least one actuator member of said at least one joint assembly includes at least two said actuator members disposed in a predetermined relationship one with respect to another, wherein the at least one pair of opposed slots at said at least one joint assembly comprises at least two pairs of said opposed slots, each slot accommodating one of the end portions of a respective one of said at least two actuator members, and wherein said selective actuation is applied independently to a respective at least one of said at least two actuator members depending on a required direction of a relative displacement of said adjacent segments.

10. The steerable probe of claim 8 , wherein the at least one actuator member of said at least one joint assembly comprises at least one pair of antagonistically disposed and actuated actuator members, and wherein the at least one pair of opposed slots at said at least one joint assembly comprises at least two pairs of opposed slots, each slot accommodating one of the end portions of said at least one pair of antagonistic actuator members.

11. The steerable probe of claim 8 , wherein the at least one actuator member of said at least one joint assembly comprises a plurality of actuator members disposed in a predetermined relationship each with respect to another, and wherein the substantially single bent portion of each actuator member of said plurality thereof bends in a respective bending direction corresponding to said predetermined disposition of said each actuator member.

12. The steerable probe of claim 1 , wherein said at least one joint assembly comprises a pair of spaced rings respectively secured to adjacent substantially straight segments of the plurality thereof at opposing sides of the respective at least one joint of the probe, wherein the at least one actuator member of the at least one joint assembly is positioned between the adjacent substantially straight segments and the pair of spaced rings, wherein each actuator member is secured to said adjacent substantially straight segments.

13. The steerable probe of claim 12 , further comprising a non-conductive material layer positioned between the adjacent substantially straight segments and the at least one actuator member.

14. The steerable probe of claim 1 , wherein each joint assembly comprises at least one temperature sensor, each temperature sensor being operatively coupled to a respective actuator member.

15. The steerable probe of claim 1 , wherein said at least one act

Assignees

• Univ Of Maryland Office Of Tech Commercialization
• Univ Maryland

Inventors

• Desai Jaydev P
• Ayvali Elif

Classifications

• A61B2017/00867

  shape memory effect · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B90/39

  Markers, e.g. radio-opaque or breast lesions markers · CPC title

• A61B17/3421

  Cannulas · CPC title

• A61B2017/003

  Steerable · CPC title