Steerable tube

Abstract

A steerable tube (100), comprising a hollow elongate tubular member (1) having a proximal end (2), distal end (3), a wall surface disposed between said proximal (2) and distal end (4), a bend-resistive zone (6) flanked by a proximal bendable zone (4) that forms a controller and a distal bendable zone (5) that forms an effector that moves responsive to movements of the controller, whereby the wall of the tubular member (1) in the bend-resistive zone (6) comprises a structure that is a plurality of longitudinal slits (7), forming a plurality of longitudinal strips (8, 8′), the wall of the tubular member (1) in the proximal bendable zone (4) and the distal bendable zone (5) comprises a structure that is a plurality of longitudinal wires (9, 9′, 10, 10′), at least one strip (8) is in connection with a wire (9) in the proximal bendable zone (4) and a wire (10) in the distal bendable zone (5), such that translation by said wire (9) in the controller is transmitted via the strip (8) to said wire (10) in the effector, a proximal annular region (11) of the tubular member (1), proximal to the proximal bendable zone (4) to which the proximal wires (9) are anchored, a distal annular region (12) of the tubular member (1) distal to the distal bendable zone (5) to which the distal wires (10) are anchored.

1 . (canceled) 
     
     
         2 . A steerable tube, comprising a steering mechanism formed as a hollow elongate tubular member, one end being a controller the other end being an effector comprising a distal bendable part wherein:
 the tubular member comprises a plurality of longitudinal members connecting the controller to the effector;   movements of the controller are transmitted via the hollow elongate tubular member to the effector which moves responsive to movements of the controller;   the controller comprises a plurality of actuators controlling movement of the longitudinal members; and   the steering mechanism is configured for omnidirectional control and movement of the effector and for axial rotation of the effector in the bent position.   
     
     
         3 . The steerable tube according to  claim 2 , wherein the longitudinal members are formed by cutting the tubular member or by cutting a flat sheet that is subsequently bent to form the tubular member. 
     
     
         4 . The steerable tube according to  claim 2 , wherein the longitudinal members are formed individually. 
     
     
         5 . The steerable tube according to  claim 2 , wherein the longitudinal members are disposed in alignment with or inclined to a longitudinal axis of the hollow elongate tubular member. 
     
     
         6 . The steerable tube according to  claim 2 , wherein the longitudinal members are provided as spiral strips. 
     
     
         7 . The steerable tube according to  claim 2 , wherein a diameter of part of the tubular member progressively increases towards a proximal end of the steerable tube to increase leverage of the controller. 
     
     
         8 . The steerable tube according to  claim 2 , wherein the plurality of actuators is dismountable from the longitudinal members. 
     
     
         9 . A multi jointed steerable tube having a proximal end and a distal end, comprising at least two steering mechanisms,
 a first steering mechanism formed as a first hollow elongate tubular member, one end being a first controller the other end being a first effector comprising a first distal bendable part wherein:
 the first tubular member comprises a plurality of first longitudinal members connecting the first controller to the first effector; 
 movements of the first controller are transmitted via the first hollow elongate tubular member to the first effector which moves responsive to movements of the first controller; 
 the first controller comprises a plurality of first actuators controlling movement of the first longitudinal members; and 
 the first steering mechanism is configured for omnidirectional control and movement of the effector and for axial rotation of the first effector in the bent position; and 
   a second steering mechanism formed as a second hollow elongate tubular member, one end being a second controller the other end being a second effector comprising a second distal bendable part wherein:
 the second tubular member comprises a plurality of second longitudinal members connecting the second controller to the second effector; 
 movements of the second controller are transmitted via the second hollow elongate tubular member to the second effector which moves responsive to movements of the second controller; 
 the second controller comprises a plurality of second actuators controlling movement of the second longitudinal members; and 
 the second steering mechanism is configured for omnidirectional control and movement of the effector and for axial rotation of the second effector in the bent position; 
   
       wherein:
 the two tubular members are mutually co-axially arranged; and
 the second controller is provided distal of the first controller and the second effector provided proximal of the first effector; or 
 the second controller is provided proximal of the first controller and the second effector provided proximal of the first effector and distal of the first controller. 
 
 
     
     
         10 . The multi jointed steerable tube according to  claim 9 , wherein the first longitudinal members are formed by cutting the first tubular member or by cutting a flat sheet that is subsequently bent to form the first tubular member, and second longitudinal members are formed by cutting the second tubular member or by cutting a flat sheet that is subsequently bent to form the second tubular member. 
     
     
         11 . The multi jointed steerable tube according to  claim 9 , wherein the first longitudinal members are formed individually, and the second longitudinal members are formed individually. 
     
     
         12 . The multi jointed steerable tube according to  claim 9 , wherein the first and/or second longitudinal members are disposed in alignment with or inclined to a longitudinal axis of the hollow elongate tubular member. 
     
     
         13 . The multi jointed steerable tube according to  claim 9 , wherein the first and/or second longitudinal members are provided as spiral strips. 
     
     
         14 . The multi jointed steerable tube according to  claim 9 , wherein a diameter of part of the first tubular member progressively increases towards the proximal end to increase leverage of the first controller. 
     
     
         15 . The multi jointed steerable tube according to  claim 9 , wherein a diameter of part of the second tubular member progressively increases towards the proximal end to increase leverage of the second controller. 
     
     
         16 . The steerable tube according to  claim 9 , wherein the plurality of first actuators is dismountable from the first longitudinal members and the plurality of second actuators is dismountable from the second longitudinal members.