Flexible Surgical Devices

Abstract

A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

1 .- 20 . (canceled) 
     
     
         21 . A surgical device comprising:
 a tube including a proximal segment and a distal segment;   a plurality of force transmission elements coupled to the tube and actuatable to alter the distal segment of the tube between a flexible state and a stiffened state;   a plurality of routing members, each routing member coupled to a wall of the tube, the routing members configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress; and   a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.   
     
     
         22 . The surgical device of  claim 21  wherein the decoupling structure includes a sheath through which one of the plurality of routing member extends. 
     
     
         23 . The surgical device of  claim 22  wherein the sheath is substantially incompressible. 
     
     
         24 . The surgical device of  claim 22  wherein the sheath is less compressible than the tube. 
     
     
         25 . The surgical device of  claim 22  wherein a distal end of the sheath is secured to the distal segment. 
     
     
         26 . The surgical device of  claim 22  wherein the sheath extends along and is spaced apart from the proximal segment. 
     
     
         27 . The surgical device of  claim 22  wherein the sheath comprises a coil tube. 
     
     
         28 . The surgical device of  claim 22  wherein the sheath comprises a laser cut hypotube. 
     
     
         29 . The surgical device of  claim 21  wherein the plurality of routing members are coupled to the wall of the tube distally of the decoupling structure. 
     
     
         30 . The surgical device of  claim 21  wherein the tube includes a plurality of slits generally transverse to a longitudinal axis of the tube. 
     
     
         31 . The surgical device of  claim 21  wherein in the stiffened state of the tube, a force exerted on the force transmission elements causes the tube to straighten and compress along a longitudinal axis of the tube. 
     
     
         32 . A surgical device comprising:
 a tube including a proximal segment and a distal segment;   a plurality of force transmission elements coupled to the tube and actuatable to alter the distal segment of the tube between a flexible state and a stiffened state, wherein in the stiffened state a force exerted on the force transmission elements causes the tube to straighten and compress along a longitudinal axis of the tube;   a plurality of routing members, each routing member coupled to a wall of the tube, the routing members configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to ties and compress; and   a decoupling structure that decouples a force applied to one of the proximal or distal segments from the other of the proximal or distal segment.   
     
     
         33 . The surgical device of  claim 32  wherein the decoupling structure includes a sheath through which one or the plurality of routing member extends. 
     
     
         34 . The surgical device of  claim 33  wherein the sheath is substantially incompressible. 
     
     
         35 . The surgical device of  claim 33  wherein the sheath is less compressible than the tube. 
     
     
         36 . The surgical device of  claim 33  wherein a distal end of the sheath is secured to the distal segment. 
     
     
         37 . The surgical device of  claim 33  wherein the sheath extends along and is spaced apart from the proximal segment. 
     
     
         38 . The surgical device of  claim 32  wherein the plurality of routing members are coupled to the wall of the tube distally of the decoupling structure. 
     
     
         39 . The surgical device of  claim 32  wherein the tube includes a plurality of slits generally transverse to a longitudinal axis of the tube. 
     
     
         40 . The surgical device of  claim 32  wherein the decoupling structure decouples a beading force applied to the one of the proximal or distal segments from the other of the proximal or distal segment.