Abstract: A flexible composite tube for medical applications is described. The tube has the ability to transmit a torque and to resist compression, tension, and kinking. The tube is also very flexible in bending, and has a small wall thickness. Different layers are used to obtain the desired properties. Torsional stiffness is obtained by embedding a braid in an elastomeric material. Resistance to kinks and to compression and tension is obtained by placing coils radially inward or outward of the braid. Smooth plastic layers are used to seal the assembly, and facilitate sliding in a body cavity.

Abstract: A flexible composite tube for medical applications is described. The tube has the ability to transmit a torque and to resist compression, tension, and kinking. The tube is also very flexible in bending, and has a small wall thickness. Different layers are used to obtain the desired properties. Torsional stiffness is obtained by embedding a braid in an elastomeric material. Resistance to kinks and to compression and tension is obtained by placing coils radially inward or outward of the braid. Smooth plastic layers are used to seal the assembly, and facilitate sliding in a body cavity.

Abstract: A catheter introducer system for endoscopy is disclosed which includes a steering section and a propulsion section located near the end of the catheter that is introduced in a body cavity. The propulsion section is designed to pull the rest of the catheter inside the body cavity, so there is no need to push the catheter along. The catheter can thus be made very flexible in bending, and a larger diameter catheter can be used without discomfort to the patient.

Abstract: A catheter introducer system for endoscopy includes a steering section and a propulsion section located near the end of the flexible, tubular catheter that is introduced in a body cavity. The propulsion section is designed to pull the rest of the catheter inside the body cavity, so there is no need to push the catheter along from outside the body. Propulsion may be accomplished by relatively movable gripping pads that selectively apply suction to the tissue. The steering section is designed to point the end of the catheter that is introduced into the body cavity in the desired direction. The catheter can thus be made very flexible in bending, and a larger diameter catheter can be used without discomfort to the patient.

Abstract: A self propelling catheter introducer system for exploring a body cavity is disclosed which includes a flexible tubular catheter, a propulsion section and a steering section located near the end of the catheter that is introduced in a body cavity. The propulsion section includes a flexible everting tube designed to push the catheter from inside the body cavity. The catheter can thus be made very flexible in bending, and a larger diameter catheter can be used without discomfort to the patient.

Abstract: An actuator is used in a surgical simulation system that simulates the catheterization of cardiac or peripheral vasculature. The simulation system provides haptic feedback to a user of a catheter or similar elongated object coupled to the system. The actuator includes sensors that generate sense signals indicative of axial translation and rotation of the object by the user. The sense signals are provided to a workstation executing a simulation program. In response to the sense signals, the workstation calculates axial forces and torques to be applied to the object as haptic feedback to the user, and generates drive signals representing the calculated axial forces and torques. Mechanisms within the actuator respond to the drive signals by applying corresponding axial force and torque to a rigid tube that is mechanically coupled to the object. One embodiment of the actuator includes a carriage assembly for holding the rigid tube between a pair of opposed pinch wheels.

Abstract: A master/slave system is used for performing a surgical procedure such as theterization of cardiac or peripheral vasculature. Movements of catheters or similar tools within a patient are remotely controlled by a surgeon, and the surgeon receives haptic or tactile feedback caused by the movement of the tools within the patient. The system employs a master actuator with cylindrical controls and a slave actuator that engages the tools. The master actuator and slave actuator are electrically coupled to electrical interface circuitry by drive signals and sense signals. A fluid system is coupled to the slave actuator by fluid-carrying tubes for the delivery of contrast and other solutions to be injected into the vasculature for improved imaging and also to pressurize the balloon on a balloon catheter.