Tendon-driven endoscope and methods of insertion

Abstract

A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.

1 . An apparatus for insertion into a body cavity comprising: 
 an elongated body comprising a plurality of articulatable segments and a steerable distal portion;    a plurality of tensioning members attached to at least a majority of said segments;    each of said segments being configurable to assume a selected shape along an arbitrary path by actuation of the tensioning members attached thereto, wherein each of said segments is articulatable by at least one of said tensioning members;    said tensioning members extending from said segments to the priximal end of said elongated body and being coupled to an external control unit; and    wherein said segments adjacent to one another are adapted to assume a selected shape of the adjacent segment by actuation of said tensioning members when the elongated body is advanced distally or proximally.    
     
     
         2 - 48 . (canceled)