Non-Metallic, Multi-Strand Control Cable for Steerable Instruments

Abstract

Embodiments of the invention provide methods for inserting a non-metallic multi-strand braid through a coil tube. Techniques for bonding one end of a lead line to one end of a multi-strand non-metallic braid are provided. There are also embodiments of steerable instruments described having a plurality of hinged segments; a multi-strand non-metallic braid connected distally to one segment of the plurality of segments and proximally to an actuator; and a steering controller adapted to control the actuator to move the hinged segment using the multi-strand non-metallic braid.

1 - 15 . (canceled) 
     
     
         16 . A system, comprising:
 an actuator;   a steerable instrument, comprising
 a plurality of hinged segments, each segment being articulable with respect to another segment, and 
 a multi-strand non-metallic braid having a distal end portion connected to one segment of the plurality of segments and a proximal end portion connected to the actuator, and 
   a coil tube disposed between the actuator and the one segment, wherein at least a portion of the multi-strand non-metallic braid extends through the coil tube;   a lead line for attachment to the multi-strand non-metallic braid and configured to thread the non-metallic braid through the coil tube; and   a steering controller adapted to control the actuator to move the hinged one segment using the multi-strand non-metallic braid.   
     
     
         17 . The system of  claim 16  further comprising;
 a connector assembly, wherein the proximal end portion of the multi-strand non-metallic braid is attached to the connector assembly and the connector assembly couples the multi-strand non-metallic braid to the actuator. 
 
     
     
         18 . The system of  claim 17 , wherein the connector assembly comprises
 a carriage assembly.   
     
     
         19 . (canceled) 
     
     
         20 . The system of  claim 18 , further comprising:
 a threaded element on the proximal end portion of the multi-strand non-metallic braid to attach the proximal end portion of the multi-strand non-metallic braid to the carriage assembly.   
     
     
         21 . The system of  claim 20 , further comprising:
 a knot formed in the multi-strand non-metallic braid positioned between the threaded element on the proximal end portion of the multi-strand non-metallic braid and the carriage assembly.   
     
     
         22 . The system of  claim 16 , further comprising: a knot formed in the multi-strand non-metallic braid. 
     
     
         23 . The system of  claim 22 , further comprising:
 an adhesive applied to the knot formed in the multi-strand non-metallic braid.   
     
     
         24 . The system of  claim 23 , wherein the adhesive applied to the knot comprises a pigment that provides a visual indication that of the adhesive. 
     
     
         25 . (canceled) 
     
     
         26 . The system of  claim 16 , wherein the ratio of a distance between the multi-strand non-metallic braid and an interior surface of the coil tube to an inner diameter of the coil tube is less than or equal to 15%. 
     
     
         27 . The system of  claim 16 , the distal end portion of the multi-strand non-metallic braid is connected to the one segment of the plurality of segments by terminating the multi-strand non-metallic braid at the desired segment. 
     
     
         28 . The system of  claim 16 , wherein one end portion of the lead line is bonded to one of the distal end portion and the proximal end portion of the multi-strand non-metallic braid to define a bonded region, and a diameter of the bonded region is the same as or less than a diameter of both the lead line and a diameter of the multi-strand non-metallic braid. 
     
     
         29 . The system of  claim 28 , wherein at least one of a diameter of the one end portion of the lead line and a diameter of the one end portion of the multi-strand non-metallic braid is smaller than the diameter of the lead line and the diameter of the multi-strand non-metallic braid, respectively. 
     
     
         30 . The system of  claim 28 , wherein the diameter of the bonded region is the same as or less than an inner diameter of the coil tube. 
     
     
         31 . The system of  claim 28 , wherein the one end portion of the lead line has a textured surface. 
     
     
         32 . The system of  claim 16 , wherein adjacent segments of the plurality of segments are connected via a hinge and are articulable with respect to one another about the hinge.