Intradural endoscope

Abstract

A method for treating a patient includes inserting an endoscope into an intradural space of the patient via an interspace of a vertebral column of the patient; steering the endoscope along the intradural space to a location; and performing a medical procedure at the location using a working lumen of the endoscope.

What is claimed is: 
     
         1 . A steerable endoscope system for treatment of a patient, comprising:
 an endoscope, comprising:
 a tube having a guide portion, an optical lumen, a working lumen, and 
   a maximum outer diameter less than or equal to 3.5 mm; and
 a head having a port for access to the working lumen; 
   a steering actuator operable to move the guide portion between a straight position and a curved position;   a steering system in communication with the steering actuator and operable to steer the guide portion; and   a video interface for receiving an object image from the optical lumen.   
     
     
         2 . The system of  claim 1 , wherein the steering actuator is connected to the guide portion. 
     
     
         3 . The system of  claim 2 , wherein the steering actuator comprises a steering wire. 
     
     
         4 . The system of  claim 2 , wherein the steering actuator comprises an electroactive polymer actuator. 
     
     
         5 . The system of  claim 4 , wherein:
 the tube further has a steering lumen, and   the system further comprises a cable extending along the steering lumen and in communication with the steering system and the actuator.   
     
     
         6 . The system of  claim 1 , wherein the steering system comprises:
 a robot operable to articulate the tube;   a controller operable by the surgeon to control the robot and the steering actuator.   
     
     
         7 . The system of  claim 1 , wherein:
 the guide portion has a tracking device in communication with the steering system, and   the steering system is operable to display a position of the guide portion.   
     
     
         8 . The system of  claim 1 , wherein:
 the guide portion has one or more biosensors in communication with the steering system, and   the steering system is operable to display data from the biosensors.   
     
     
         9 . The system of  claim 1 , wherein:
 the guide portion has a strain gage in communication with the steering system, and   the steering system is operable to display an orientation of the guide portion.   
     
     
         10 . The system of  claim 1 , wherein:
 the tube further has a guide lumen, and   the system further comprises a guidewire extending through the guide lumen and releasably coupled to the guide portion.