Steerable medical devices, systems, and methods of use

Abstract

Steerable medical devices and methods of use. In some embodiments, the steerable medical devices can be steered bi-directionally. In some embodiments the steerable medical devices include a first flexible tubular member and a second flexible tubular member secured together at a location distal to a steerable portion of the steerable medical device.

What is claimed is: 
     
         1 . A steerable medical device, comprising:
 an inner flexible tubular member with an inner spine;   an outer flexible tubular member axially fixed to the inner flexible tubular member at a fixation location distal to a steerable portion, the outer tubular member having an outer spine that is offset from the inner spine, and a linear reinforcing member extending within the outer spine; and   an external controller operatively interfacing with the inner and outer flexible tubular members to put one of the inner and outer tubular members in tension and the other in compression, to steer the steerable portion.   
     
     
         2 . The steerable medical device of  claim 1  wherein the inner tubular member further comprises an inner linear reinforcing member extending within the inner spine. 
     
     
         3 . The steerable medical device of  claim 2  wherein the linear reinforcing member and the inner linear reinforcing member are 180 degrees away around the steerable medical device. 
     
     
         4 . The steerable medical device of  claim 1  wherein linear reinforcing member is 180 degrees away from the inner spine around the steerable medical device. 
     
     
         5 . The steerable medical device of  claim 1  wherein the outer spine comprises a linear segment of first material extending less than 180 degrees around the outer tubular member. 
     
     
         6 . The steerable medical device of  claim 5  wherein the first material has a durometer greater than a second segment of material extending more than 180 degrees around the outer tubular member. 
     
     
         7 . The steerable medical device of  claim 1  wherein the outer tubular member further comprises a braided reinforcing member in the steerable portion. 
     
     
         8 . The steerable medical device of  claim 7  wherein the linear reinforcing member is woven into the braided reinforcing member. 
     
     
         9 . The steerable medical device of  claim 1  wherein a distal end of the linear reinforcing member is further distally than a distal end of the steerable portion. 
     
     
         10 . The steerable medical device of  claim 9  wherein a distal end of the linear reinforcing member extends substantially to a distal end of the outer tubular member. 
     
     
         11 . The steerable medical device of  claim 1  wherein a distal end of the linear reinforcing member extends to a location where the inner tubular member and outer tubular member are axially secured together.