Introduction devices for highly articulated robotic probes and methods of production and use of such probes

Abstract

In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest.

1 . An introduction assembly, comprising:
 an articulated probe including:
 at least one channel for receiving an elongated member; 
 an inner core; and 
 an outer sleeve about at least a portion of the inner core, the inner core having a plurality of inner links, the outer sleeve having a plurality of outer links, wherein the plurality of outer links includes at least one distal link; 
   a feeding mechanism having at least one actuator for controlling the articulated probe; and   an introduction device having a proximal end fixed in a positional relationship to the feeding mechanism, wherein the introduction device comprises a support member configured to receive and provide a supporting force to the articulated probe, wherein the support member is curved along a longitudinal axis, and wherein the at least one distal link includes at least one probe side port that extends radially from the at least one distal link and is constructed and arranged to prevent the at least one distal link from entering the support member of the introduction device.   
     
     
         2 . The introduction assembly of  claim 1 , wherein the support member further comprises:
 an entrance positioned at a proximal end of the support member configured to guide the articulated probe into proximity with the support member; and   an exit positioned at a distal end of the support member configured to guide the articulated probe from the support member into a region of interest.   
     
     
         3 . The introduction assembly of  claim 1 , further comprising a first tool shaft guide. 
     
     
         4 . The introduction assembly of  claim 3 , wherein the introduction device comprises a first side channel tool port constructed and arranged to receive the first tool shaft guide. 
     
     
         5 . The introduction assembly of  claim 3 , further comprising a collar attaching the first tool shaft guide to the introduction device. 
     
     
         6 . The introduction assembly of  claim 3 , wherein the first tool shaft guide is rotatably attached to the introduction device. 
     
     
         7 . The introduction assembly of  claim 6 , wherein the first tool shaft guide is rotatably attached to the introduction device with one degree of freedom. 
     
     
         8 . The introduction assembly of  claim 6 , wherein the first tool shaft guide is rotatably attached to the introduction device with multiple degrees of freedom. 
     
     
         9 . The introduction assembly of  claim 3 , further comprising a second tool shaft guide. 
     
     
         10 . The introduction assembly of  claim 9 , wherein the introduction device further comprises a second side channel tool port constructed and arranged to receive the second tool shaft guide. 
     
     
         11 . The introduction assembly of  claim 1 , wherein the introduction device further comprises at least one channel extending at least partially along the support member. 
     
     
         12 . The introduction assembly of  claim 11 , wherein the at least one channel of the introduction device comprises two or more channels. 
     
     
         13 . The introduction assembly of  claim 12 , wherein the two or more channels of the introduction device are positioned equidistantly apart on the introduction device. 
     
     
         14 . The introduction assembly of  claim 11 , wherein the at least one channel of the introduction device is constructed and arranged to slidingly receive a shaft of at least one tool. 
     
     
         15 . The introduction assembly of  claim 11 , wherein the at least one channel of the introduction device comprises a curvilinear channel 
     
     
         16 . The introduction assembly of  claim 1 , wherein the introduction device comprises at least one side channel on an outer surface of the support member, configured to guide a tool into the at least one probe side port. 
     
     
         17 . The introduction assembly of  claim 16 , wherein the at least one side channel comprises a closed ring configured to slidingly receive the tool. 
     
     
         18 . The introduction assembly of  claim 16 , wherein the at least one side channel comprises a ring and a slot in the ring, wherein the slot is configured to receive the tool. 
     
     
         19 . The introduction assembly of  claim 18 , wherein the slot is further configured to release the tool. 
     
     
         20 . The introduction assembly of  claim 1 , wherein the articulated probe comprises a plurality of proximal links and a plurality of distal links. 
     
     
         21 . The introduction assembly of  claim 20 , wherein the plurality of proximal links and plurality of distal links are at least one of the inner links or outer links. 
     
     
         22 . The introduction assembly of  claim 20 , wherein at least one of the plurality of proximal links comprises a first width, and at least one of the plurality of distal links comprises a second width, wherein the first width is less than the second width. 
     
     
         23 . The introduction assembly of  claim 20 , wherein the plurality of distal links is constructed and arranged to remain external to the introduction device. 
     
     
         24 . The introduction assembly of  claim 20 , wherein the introduction device comprises a distal end, and wherein one or more of the plurality of proximal links are constructed and arranged to pass through the introduction device distal end. 
     
     
         25 . The introduction assembly of  claim 20 , wherein at least one of the plurality of distal links includes multiple probe side ports. 
     
     
         26 . The introduction assembly of  claim 25  wherein a width of the at least one of the plurality of distal links that includes the multiple probe side ports is greater than a width of an inner lumen of the introduction device. 
     
     
         27 . The introduction assembly of  claim 1  wherein the at least one distal link has a width that is greater than a width of a lumen of the support member through which the articulated probe extends. 
     
     
         28 . An introduction device for an articulated probe comprising:
 a support member providing a rigid unitary structure from an input end to an output end and configured to provide a supporting force to the articulating probe;   an entrance positioned at a proximal end of the support member configured to guide the articulated probe into proximity with the support member; and   an exit positioned at a distal end of the support member configured to guide the articulated probe from the support member into a surrounding environment, and wherein the introduction device includes a lumen between the entrance and the exit that is curved and smooth,   wherein the articulated probe includes at least one distal outer link having a width that prevents the at least one distal outer link from retracting into the lumen of the introduction device.