Axial support structure for a flexible elongate device

Abstract

An axial support structure for a flexible elongate device includes a plurality of rigid links coupled by pin joints. Each of the plurality of rigid links comprises a shaft, a pair of male joint connectors extending axially from a first end of the shaft, and a pair of female joint connectors extending axially from a second end of the shaft opposite the first end. The female joint connectors are complementary to the male joint connectors and are rotated by 90 degrees relative to the male joint connectors. Each of the plurality of rigid links is rotated by 90 degrees with respect to neighboring links among the plurality of rigid links, thereby aligning each pair of male joint connectors with a neighboring pair of female joint connectors to form the pin joints.

1 - 20 . (canceled) 
     
     
         21 . A flexible elongate device comprising:
 an axial support structure, comprising:
 a plurality of rigid links coupled by joints, wherein:
 each of the plurality of rigid links comprises:
 a shaft; 
 a pair of first connectors extending axially from a first end of the shaft; and 
 a pair of second connectors at a second end of the shaft opposite the first end, the pair of first connectors being complementary to the pair of second connectors and being radially spaced relative to the pair of second connectors by 90 degrees; 
 
 
 wherein each of the plurality of rigid links is rotated by 90 degrees with respect to neighboring links among the plurality of rigid links, thereby aligning each pair of first connectors with a neighboring pair of second connectors to form the joints; and 
 wherein each of the plurality of rigid links forms at least a portion of a plurality of lumens extending through the axial support structure. 
   
     
     
         22 . The flexible elongate device of  claim 21 , wherein the plurality of lumens includes a primary lumen configured to receive an instrument extendable through the flexible elongate device. 
     
     
         23 . The flexible elongate device of  claim 22 , wherein the plurality of lumens further includes at least one secondary lumen and at least one pull wire lumen. 
     
     
         24 . The flexible elongate device of  claim 23 , wherein the at least one secondary lumen is configured to receive at least one of an optical fiber or an electrical wire. 
     
     
         25 . The flexible elongate device of  claim 22 , wherein the plurality of lumens further includes a plurality of pull wire lumens disposed radially outward from the primary lumen. 
     
     
         26 . The flexible elongate device of  claim 21 , wherein the plurality of rigid links are substantially identical to each other. 
     
     
         27 . The flexible elongate device of  claim 21 , wherein the plurality of rigid links are composed of stainless steel. 
     
     
         28 . The flexible elongate device of  claim 21 , wherein the plurality of rigid links are composed of plastic or thermoplastic material. 
     
     
         29 . The flexible elongate device of  claim 21 , wherein the plurality of rigid links do not include nitinol. 
     
     
         30 . The flexible elongate device of  claim 21 , wherein each of the plurality of rigid links has an outer wall thickness of 1 mm or less. 
     
     
         31 . The flexible elongate device of  claim 21 , wherein the shaft has a rectangular cross-section. 
     
     
         32 . The flexible elongate device of  claim 21 , wherein the shaft has an ellipsoidal cross-section. 
     
     
         33 . The flexible elongate device of  claim 21 , wherein the shaft has a circular cross-section. 
     
     
         34 . The flexible elongate device of  claim 21 , wherein the shaft has a width, a height, a length, and a thickness, and wherein the pair of convex connectors are separated by the height and the pair of concave connectors are separated by the width. 
     
     
         35 . The flexible elongate device of  claim 21 , further comprising a pliable tube surrounding the axial support structure. 
     
     
         36 . The flexible elongate device of  claim 21 , wherein the pair of first connectors comprises pins and the pair of second connectors comprises pin receivers. 
     
     
         37 . The flexible elongate device of  claim 21 , wherein each of the plurality of rigid links comprises one or more harnesses extending from an outer wall, and wherein at least one lumen of the plurality of lumens extends through at least one harness of the one or more harnesses. 
     
     
         38 . An axial support structure for a flexible elongate device comprising:
 a plurality of rigid links coupled by joints, wherein:
 each of the plurality of rigid links comprises:
 a shaft; 
 a pair of first connectors at a first end of the shaft; and 
 a pair of second connectors extending axially from a second end of the shaft opposite the first end, the pair of first connectors being complementary to the pair of second connectors and being radially spaced relative to the pair of second connectors by 90 degrees; 
 
   wherein each of the plurality of rigid links is rotated by 90 degrees with respect to neighboring links among the plurality of rigid links, thereby aligning each pair of first connectors with a neighboring pair of second connectors to form the joints; and   wherein each of the plurality of rigid links forms at least a portion of a plurality of lumens extending through the axial support structure.   
     
     
         39 . The axial support structure of  claim 38 , wherein the plurality of lumens includes a primary lumen configured to receive an instrument extendable through the flexible elongate device. 
     
     
         40 . The axial support structure of  claim 39 , wherein the plurality of lumens further includes at least one secondary lumen and at least one pull wire lumen.