Hydraulically driven surgical apparatus

Abstract

A hydraulically driven surgical apparatus may be a tube enclosing a first channel filled with a first fluid. Changing a fluid pressure in the first channel may trigger a deformation of the tube. The deformation of the tube may perform an action associated with a surgical procedure. Related methods for steering a hydraulically driven surgical apparatus are also provided.

1 . An apparatus, comprising:
 a tube enclosing a first channel filled with a first fluid, wherein a first change in a fluid pressure in the first channel triggers a first deformation of the tube, and wherein the first deformation of the tube performs an action associated with a surgical procedure.   
     
     
         2 . The apparatus of  claim 1 , wherein the first channel comprises a channel traversing laterally through at least a portion of an interior of the tube, and wherein at least a portion of the tube bends in response to the change in the fluid pressure. 
     
     
         3 . The apparatus of  claim 1 , wherein the first channel forms a helix, and wherein at least a portion of the tube twists in response to the change in the fluid pressure. 
     
     
         4 . The apparatus of  claim 1 , wherein the tube further encloses a second channel. 
     
     
         5 . The apparatus of  claim 4 , wherein the second channel is filled with a second fluid, and wherein a second change in a pressure of the second fluid in the second channel triggers the first deformation and/or a second deformation of the tube. 
     
     
         6 . The apparatus of  claim 5 , wherein the second deformation occurs in a different portion of the tube, has a different orientation, and/or has a different degree as the first deformation. 
     
     
         7 . The apparatus of  claim 4 , wherein the second channel provides a passageway for a substance, a device, and/or a tool. 
     
     
         8 . The apparatus of  claim 5 , wherein the first channel has a different shape and/or dimension as the second channel. 
     
     
         9 . The apparatus of  claim 5 , wherein the first channel traverses a different portion of the tube as the second channel. 
     
     
         10 . The apparatus of  claim 1 , wherein the first fluid includes a contrast agent for increasing a visibility of the tube to enable medical imaging. 
     
     
         11 . The apparatus of  claim 1 , wherein the action comprises aligning the tube with a treatment location of the surgical procedure. 
     
     
         12 . The apparatus of  claim 1 , wherein the action comprises advancing and/or retracting the tube. 
     
     
         13 . The apparatus of  claim 1 , wherein the tube is coupled with a tool, and wherein the first deformation of the tube moves the tool to perform the action. 
     
     
         14 . The apparatus of  claim 13 , wherein the tool comprises a gripper, a drill, a cauterizer, and/or a cutter. 
     
     
         15 . The apparatus of  claim 1 , wherein the apparatus is coupled with a controller configured to at least:
 receive, from a user, one or more inputs; and   change, based at least on the one or more inputs, the fluid pressure in the first channel.   
     
     
         16 . The apparatus of  claim 15 , wherein the controller comprises at least one fluid chamber coupled with the first channel, and wherein the controller changes the fluid pressure in the first channel by at least adjusting a compression against the at least one fluid chamber. 
     
     
         17 . The apparatus of  claim 15 , wherein the one or more inputs includes a mechanical input, a digital input, and/or a haptic input. 
     
     
         18 . The apparatus of  claim 1 , wherein the tube is formed from a soft and/or deformable material. 
     
     
         19 . The apparatus of any of  claim 18 , wherein the soft and/or deformable material includes a contrast agent for enhancing a visibility of the tube to enable medical imaging. 
     
     
         20 . A method, comprising:
 changing a fluid pressure in a channel filled with a fluid, wherein the channel is enclosed by a tube comprising an apparatus, wherein the change in the fluid pressure triggers a deformation of the tube, and wherein the deformation of the tube performs an action associated with a surgical procedure.   
     
     
         21 - 26 . (canceled)