Biological navigation device

Abstract

Biological navigation devices and methods are disclosed. The devices can be used as or to support colonoscopies or endoscopes. The devices can have one or more releasable, and/or everting, and/or pressurized tubes. The devices can be removably attached to elongated elements, such as colonoscopes or other endoscopes.

We claim: 
     
         1 . A device for navigation through biological anatomy comprising:
 an everting tube comprising a tube wall with a plurality of folds configured to be pressurizably unfolded; and   a tube channel in the everting tube, wherein the tube channel is configured to receive an elongated element such that the elongated element can be pressurizably advanced when the plurality of folds are pressurizably unfolded.   
     
     
         2 . The device of  claim 1 , wherein the tube is configured to contain a fluid pressure of about 6 psi to about 200 psi. 
     
     
         3 . The device of  claim 1 , wherein the tube wall comprises a sheet integrated with reinforcement fibers. 
     
     
         4 . The device of  claim 3 , wherein at least some of the reinforcement fibers comprise a unidirectional fiber array. 
     
     
         5 . The device of  claim 3 , wherein the reinforcement fibers are arranged in the tube such that the tube has a radial stiffness that results in equal to or lower than a 0.05% change in diameter per psi of fluid pressure in the tube. 
     
     
         6 . The device of  claim 3 , wherein the reinforcement fibers are arranged in the sheet such that the tube has a strength that allows a distal propulsive force of about 4N to about 27N to be delivered. 
     
     
         7 . The device of  claim 1 , wherein the sheet has a coefficient of friction that is equal to or greater than 0.1 and equal to or less than 0.6. 
     
     
         8 . The device of  claim 1 , wherein a first length of tube entering at least one fold the plurality of folds and wherein a second length of tube exiting the at least one fold are substantially parallel with the long axis of the tube. 
     
     
         9 . The device of  claim 1 , wherein the everting tube includes an inner section and an outer section, and wherein the plurality of folds is included in the inner section. 
     
     
         10 . The device of  claim 1 , wherein the plurality of folds comprises a first set of folds and a second set of folds, and wherein the first set of folds are separated from the second set of folds by a non-folded section of the tube wall. 
     
     
         11 . A device for navigation through biological anatomy comprising:
 a pressurazably everting tube including a tube wall with inner section and an outer section, said tube wall including a plurality of folds; and   a channel within the tube, wherein the channel is configured to receive an elongated element such that the elongated element can be advanced distally when the plurality of folds are unfolded;   wherein each of the plurality of folds extends at a fold angle with respect to a longitudinal axis of the tube.   
     
     
         12 . The device of  claim 11 , wherein the plurality of folds are included in the inner section of the tube wall. 
     
     
         13 . The device of  claim 11 , wherein the fold angle is acute. 
     
     
         14 . The device of  claim 11 , wherein the plurality of folds overlap one another. 
     
     
         15 . A device for navigation through biological anatomy comprising:
 a pressurazably everting tube including a tube wall with inner section and an outer section, said tube wall including a plurality of folds;   a channel within the tube, wherein the channel is configured to receive an elongated element such that the elongated element can be advanced distally when the plurality of folds are unfolded; and   at least one fold mount for providing a frictional engagement between at least one of the plurality of folds and the elongated element for sequentially releasing the plurality of folds.   
     
     
         16 . The device of  claim 15 , wherein the at least one fold mount comprises first and second fold mounts adapted to frictionally engage first and second folds, respectively. 
     
     
         17 . The device of  claim 16 , wherein the first fold mount is adapted to provide a first level of friction between the first fold and the elongated element and the second fold mount is adapted to provide a second level of friction between the second fold and the elongated element, and wherein the first level of friction is less than the second level of friction. 
     
     
         18 . The device of  claim 16 , wherein the first fold mount has a smaller surface area than the second fold mount. 
     
     
         19 . The device of  claim 16 , wherein the first fold mount has a lower coefficient of friction than the second fold mount. 
     
     
         20 . The device of  claim 16 , wherein the plurality of folds includes a first and a second fold series separated by a non-folded portion of the tube wall, and wherein the first fold mount is associated with the first fold series and the second fold mount is associated with the second fold series.