Tendon-driven endoscope and methods of use

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 When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body.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 steerable distal portion and a plurality of automatically controlled segments proximal to the steerable distal portion that are articulatable relative to one another;   a plurality of tensioning members each attached proximally to an actuator and distally to one of the plurality of automatically controlled segments;   a steering controller that allows a user to selectively steer the steerable distal portion; and   a motion controller that controls the actuator to bend the plurality of automatically controlled segments to follow a path defined by the steerable distal portion.