Abstract: Flexible frameworks are described including a plurality of at least one structural component having a waveform axially stacked and configured to form at least one internal conduit.

Abstract: A hyper redundant robot comprising: a first disk; a second disk positioned adjacent to the first disk, the first disk and the second disk having a longitudinal axis; a first joint arrangement positioned between the first disk and the second disk, the first disk and/or the second disk being in sliding contact with the first joint arrangement to enable the first disk and the second disk to rotate relative to one another; and a second joint arrangement positioned between the first disk and the second disk, the second joint arrangement being less stiff than the first joint arrangement.

Abstract: A conductor guide system for guiding one or more conductors is disclosed. The conductor guide system can include a first base section and a second base section. A joint can be used to assemble the first base section and the second base section in series. The conductor guide system can further include a roller assembly for holding one or more conductors. The roller assembly, when mounted on one of the first base section or the second base section, holds the one or more conductors off of the one of the first base section or the second base section to which the roller assembly is mounted.

Abstract: A hyper redundant robot comprising: a first disk; a second disk positioned adjacent to the first disk, the first disk and the second disk having a longitudinal axis; a first joint arrangement positioned between the first disk and the second disk, the first disk and/or the second disk being in sliding contact with the first joint arrangement to enable the first disk and the second disk to rotate relative to one another; and a second joint arrangement positioned between the first disk and the second disk, the second joint arrangement being less stiff than the first joint arrangement.

Abstract: A cable routing arrangement for routing cables in an orderly fashion on a height-adjustable furniture item is disclosed that includes a rigid first routing element, a rigid second routing element, and a deformable connecting element. The first routing element has a first bearing arrangement that is configured to be pivotally connected to a top part of the furniture item. The second routing element has a second bearing arrangement that is configured to be pivotally connected to a base part of the furniture item. The first routing element and the second routing element can be interconnected via the connecting element in such a way that they are movable.

Abstract: The present invention relates to a multidirectional turning endoscope, which includes an insertion portion (2), an endoscope handle (4) and a bending driving portion (3); wherein: the bending driving portion includes a left-right driving rod, an up-down driving rod, a rotation shaft, a left turning wheel (17), a right turning wheel (18) and a spring (19); the rotation shaft includes a left half shaft (15) and a right half shaft (16); the external surface of the left half shaft and the external surface of the right half shaft respectively have a left outer conical face and a right outer conical face, a left conical cylinder and a right conical cylinder (20) are respectively sleeved to the left outer conical face and a right outer conical face; a spring (19) is located at an axial direction of the left half shaft and the right half shaft.

Abstract: A multilumen catheter shaft body includes a proximal end segment with a first durometer and a first longitudinal length dimension. A proximal intermediate segment is fixedly joined to a distal end of the proximal end segment and includes a second durometer and a second longitudinal length dimension. A distal intermediate segment is fixedly joined to a distal end of the proximal intermediate segment and includes a third durometer and a third longitudinal length dimension. A distal terminal end segment is fixedly joined to a distal end of the distal intermediate segment and includes a fourth durometer and a fourth longitudinal length dimension. The first durometer is greater than at least the second and third durometers. The fourth durometer is greater than at least the second and third durometers. A plurality of parallel longitudinal lumens extends through the body, providing a structure useful in a cholangioscope or other endoscopic applications.

Abstract: A microcatheter for delivering embolic agent to a vascular site is provided. The microcatheter has a biocompatible or biocompatible and biodegradable tip which can be detachable engaged to the microcatheter body by a thermoplastic sleeve. Once the embolic agent is delivered to the desired vascular site, the tip of the microcatheter is often entrapped within the mass of the liquid embolic fluid. Using the microcatheter, the clinician can retract the microcatheter at a predetermined retraction force thereby disengaging the tip from the microcatheter body allowing for easier removal of the microcatheter.

Abstract: The illumination system includes an arthroscope, endoscope or other surgical tool and an attachable cannula including a transparent or semi-transparent material capable of carrying light from the proximal end to the distal end of the cannula, illuminating the surgical field through components that do not occupy space that may otherwise be used for the optics of an arthroscope. The arthroscopic illumination system further includes one or more illumination sources at the proximal end of the cannula. The illumination source may be optically coupled with the cannula at the hub or other location. The cannula includes a sterilizable polymer which functions as a waveguide, which is a material medium that confines and guides light. When in use, the light source connected to the hub provides light which may be guided to the distal end of the cannula or any other location. Thus, the sheath provides structure-guided illumination of the surgical site.

Abstract: A lighting device includes a semi-rigid arm having a tubular shape and an arm cavity, and proximal and distal ends, which can be brought into various positions, a lighting head which is attached to the distal end of the arm and supported by the arm, a support body with a receptacle cavity which accommodates the proximal end of the arm to support the arm, and an inner support sleeve which is disposed at the proximal end of the arm at least partially in the arm cavity.

Abstract: A bend restriction element (1) is modular for forming a tube segment (12) all around a conduit through locked interlocking circumferential interconnection of multiple similar such elements (1). The tube segment (12) is modular for forming an articulated tube (100) around the conduit through locked interlocking longitudinal interconnection of multiple similar such tube segments (12). The locking of the circumferential interconnection of the elements (1) is ensured both by the manner of interlocking of a tube segment concerned (12) with a tube segment (16) situated on one side thereof, and by the manner of interlocking of the tube segment concerned (12) with a tube segment (14) situated on the other side thereof.

Abstract: A method and system are disclosed for opening a workspace inside a lumen of a living creature are disclosed. Anchors may be affixed to opposite ends of the workspace. An extender may be distance anchors apart while they are affixed to the walls of the workspace. Distancing the anchors may unfold and/or stretch the lumen in the region of the workspace.

Abstract: A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.

Abstract: Pipe joints and more particularly cylindrical push-on type pipe joint fittings with earthquake resistant functions.

Abstract: The invention could be a prefabricated modular greenhouse comprising a plurality of sections, each section constructed from a framework further creating an open space that is enclosed by a cover attached to the framework; a first group of sections from the plurality of sections forming a plurality of foldable panels, two or more foldable panels being connected together in a manner to allow the one foldable panel to fold upon the second foldable panel for a compact state; a second group of sections from the plurality of sections are connected together to form at least one non-foldable panel; and the connected non-foldable panels and the at least one foldable panel being removably connected to form an assembled modular greenhouse that allows additional non-foldable panels non-foldable panels or both to be added to assembled modular greenhouse to subsequently change one or more architectural details of the assembled modular greenhouse.

Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Abstract: One example of a ball and socket joint for a device enclosure includes a ball member configured to facilitate connection to an electronic equipment. The ball member includes a first portion, and a second portion configured to mate with the first portion to form a passage to pass one or more cables for connection to the electronic equipment. The ball and socket joint also comprises a socket comprising a hollow portion configured to receive the ball member.

Abstract: A steerable guide catheter includes a tip ring at a distal end and one or more pullwires configured to engage with the tip ring when put in tension, the pullwire(s) thereby subjecting the steerable guide catheter to a curving or turning force. The tip ring includes a saddle and one or more pullwire channels allowing the pullwire to be looped over the saddle such that when the pullwire is placed under tension, it abuts against the saddle of the tip ring. Some embodiments include additional catheters axially aligned within or outside of the steerable guide catheter, and include a keying feature aligning the rotation of the multiple catheters. The keys of the keying feature can be formed of a polyamide with a glass microsphere filler, and can be thermally welded to the catheter.

Abstract: A microphone boom structure includes a first and second end boom segments, and intermediate boom segments sequentially disposed between the first end boom segment and the second end boom segment. An end of the first end boom segment is hinged with an end of the adjacent intermediate boom segment, an end of the second end boom segment is hinged with an end of the adjacent intermediate boom segment, and the ends of two adjacent intermediate boom segments are hinged. An adjusting structure is provided between the first end boom segment and the adjacent intermediate boom segment, between the second end boom segment and the adjacent intermediate boom segment, and between the two adjacent intermediate boom segments. The adjusting structure includes an axial hole formed in a boom segment, an adjusting bar inserted into the axial hole, and an elastic compression member disposed between the axial hole and the adjusting bar.

Abstract: Medical devices performing diagnostic and/or treatment procedures, such as retrieving autogenous materials and/or foreign materials from a patient are disclosed. The medical device may comprise a handle, a shaft coupled to the handle, and a retrieval device movably disposed within a working channel of the shaft. The handle may include a steering mechanism for deflecting a deflect a distal end of the shaft and a control mechanism for translating the retrieval device within the working channel. The retrieval device may be integrated into the medical device.

Abstract: A debris disposal chute includes a plurality of tubes having rectangular cross sections of a decreasing size attached together. Flaccid members are connected between hangers pivotably mounted to a casing and the first tube and between the flaccid members of the upper tube and the next lower tube. The casing is pivotably mounted to a receptacle about an axis perpendicular to the hanger axis and the center line of the chute. A header is removably connected to the receptacle by attachment bars and includes a surface inclined towards the open entry. Weight basins are removably connected to the header by leverage connectors on opposite sides of the open entry and the attachment bars.

Abstract: A robotic system is described for determining whether a flexible instrument has buckled. The robotic system comprises a medical instrument comprising an elongate body, and further comprises a first sensor placed in a first portion of the elongate body, and a controller. A command is directed to the elongate body. The first sensor generates sensor data providing information regarding a first measured status of the portion of the elongate body. The controller receives sensor data generated from the first sensor, and compare the first measured status with a first expected status expected to be caused by the command; and responsive to the first measured status deviating from the first expected status one of more or less than a first associated threshold, determine that the elongate body has buckled.

Abstract: A surgical instrument and its method of use are disclosed. In one embodiment, the surgical instrument may include a handle and an elongated shaft assembly extending distally from the handle. The elongated shaft assembly may include an articulable portion with an articulation direction. The elongated shaft assembly may also include a tubular member with a flexible portion with a preferential bending direction and a direction of bending resistance. The tubular member may permit articulation of the elongated shaft assembly when the preferential bending direction is aligned with the articulation direction.

Abstract: A delivery device for a prosthetic heart valve includes a shaft, a sheath, and a pull wire. The shaft has a proximal end, a distal end, and a longitudinal axis. The sheath is attached to the shaft and is rotatable about an axis transverse to the longitudinal axis of the shaft. The pull wire is mechanically coupled to the sheath such that movement of the pull wire rotates the sheath relative to the shaft. The sheath may be in a first position relative to the shaft when a distal end of the pull wire is in a first position and may be in a second position when the distal end of the pull wire is in a second position. Deflection of the sheath relative to the shaft enables a prosthetic valve to be axially aligned with the native valve annulus for deployment.

Abstract: Apparatus and method for imaging a patient in an MRI system. This includes a frame, and at least one assembly that includes an earpiece positioner connected to a reference position on the frame, a first lockable joint on the positioner; and an earpiece connected to a patient-proximal end of the positioner by a second joint, wherein the first earpiece is movably positioned to a selected pitch angle, a selected yaw angle, and a selected one of a plurality of distances relative to the reference position on the frame. The first lockable joint is configured to be tightened to yieldably hold the first earpiece at the selected pitch and yaw angles, and at the selected one of the plurality of distances, relative to the reference position. Optionally a second substantially similar earpiece and assembly are provided. The earpiece(s) optionally include audio transducer(s) and/or RF coil(s).

Abstract: A cable lock including a lock body having a locking mechanism with a locked state and an unlocked state. A ceramic body cable includes a plurality of nested ceramic bodies and a cord, wherein each one of the plurality of ceramic bodies includes a center portion having an aperture. Each aperture of the plurality of nested ceramic bodies forms a channel through which the cord is positioned. Each of the ceramic bodies also includes a projection and a space such that the projection of one of the ceramic bodies overlaps the space of an adjacent ceramic body. A mesh sleeve is positioned on an exterior of the ceramic body cable and a shrunken heat shrinkable tube is positioned over the mesh sleeve. The combined ceramic body cable, mesh sleeve, and shrunken heat shrinkable tube are coupled to the lock body.

Abstract: According to an aspect of the present disclosure, an endoscopic surgical device is provided. The surgical device includes a handle assembly including a drive mechanism actuatable by a trigger; and an endoscopic assembly including a proximal end portion extending from the handle assembly; a distal end portion pivotably connected to the proximal end portion of the endoscopic assembly; and a rotatable inner actuation shaft extending from the handle assembly and into the distal end portion of the endoscopic assembly, the inner actuation shaft including a flexible portion extending across the pivot connection. The surgical device includes an end effector selectively connectable to the distal end portion of the endoscopic assembly and to a distal portion of the rotatable inner actuation shaft. The end effector includes a splined inner tube rotatably supported in an outer tube; and a plurality of surgical anchors loaded in the inner tube of the end effector.

Abstract: An accessory mount having a clamp has an upper arm pivotably connected to a lower arm. The upper arm has a framework of a plurality of legs and cross members joined together and configured to flex with respect to each other when placed under a load. A tab extends at an angle from one end of the framework. A hinge plate is positioned between the framework and the tab. The lower arm has an elongate web and a tab extending at an angle from one end of the elongate web. A hinge plate may be positioned between the elongate web and the tab and may be attached to the first hinge plate at a pivot connection. A bias member is attached to and positioned between the upper arm and the lower arm to bias the upper arm and the lower arm together about the pivot connection between the hinge plates. Each of the upper and lower arms is formed as unitary, monocoque construction.

Abstract: A non-metallic clip connection system includes a non-metallic clip having a substantially rectangular base portion, a first longitudinal flared wing portion, and a second longitudinal flared wing portion, wherein a plurality of edges of the clip along a path of insertion are beveled or radiused. The non-metallic clip connection system also includes a first non-metallic member having a first portion of a non-metallic clip receiver and a second non-metallic member having a second portion of the non-metallic clip receiver. The first non-metallic member is secured to the second non-metallic member by inserting the non-metallic clip in the non-metallic clip receiver. A non-metallic vertebrae bend restrictor and a non-metallic vertebrae end piece may use a non-metallic clip connection system.

Abstract: A catheter assembly includes an inner liner made of flexible material and an outer layer having a steering mechanism. The steering mechanism includes at least one flat wire and a corresponding lumen through which the flat wire may travel. The steering mechanism may also include at least one pull ring to which the flat wires are attached. A layer of heat shrink material may encompass the outer layer. A braided wire assembly may also be provided in the outer layer, and may be formed by braiding a plurality of flat wires into a wire mesh. The overall cross-section of the catheter assembly is preferably substantially circular. A catheter shaft may include a plurality of segments of differing hardness characteristics. The outer layer typically comprises a melt processing polymer such that the catheter assembly may be laminated using heat.

Abstract: A hose cover having a tubular quilted sleeve having a first end, a second end and a slit along the length of the tubular quilted sleeve. A first tubular knitted sleeve coupled to the first end of the tubular quilted sleeve. A second tubular knitted sleeve coupled to the second end of the tubular quilted sleeve. A zipper coupled to edges of the tubular quilted sleeve defining the slit, the zipper moveable from a first open position to a second closed position for closing the slit. Also, disclosed is a method of installing the hose cover on a hose and a kit containing the hose cover.

Abstract: The invention relates to a bend limiting structure for preventing a flexible optical circuit from being bent too sharply. More particularly, the invention involves adding a bend limiting layer or layers to the flexible optical circuit and/or any housing or other structure within which it is enclosed or to which it is attached. The bend-limiting layer may comprise a plurality of blocks arranged in a line or plane and joined by a flexible film that is thinner than the blocks, with the blocks positioned close enough to each other so that, if that plane of blocks is bent a predetermined amount, the edges of the blocks will interfere with each other and prevent the plane from being bent any further. The blocks may be resilient also to provide a less abrupt bend-limiting stop.

Abstract: Some embodiments of a medical infusion pump system include a pump device having a flexible pushrod that can adjust from a curved configuration to a generally straight configuration. The flexible pushrod is part of a drive system of the pump device so that the flexible pushrod can be controllably and incrementally advanced toward a medicine reservoir to incrementally dispense the medicine therein. In particular embodiments, the flexible pushrod may comprise an anti-rotation mechanism, an anti-torsion mechanism, or a combination thereof.

Abstract: A roof vent assembly and roof flashing for facilitating a seal between an inclined roof surface having a longitudinal contoured profile and a upstanding vent member extending through said roof surface are disclosed. The roof flashing includes a base plate having respective aprons extending from opposing sides of the base plate, wherein the aprons have a contoured profile conforming to the longitudinal contoured profile of the inclined roof surface and an aperture centrally disposed in the base plate. The aperture is configured to encompass a periphery of the upstanding vent member when the base plate is mounted on the inclined roof surface and the contoured profiles of the aprons are superimposed on the longitudinal contoured profile of the inclined roof surface.

Abstract: A Knuckle Jointed Lance (KJL), comprising a segmented lance including a plurality of connected KJL segments in a concatenated string thereof. The first end of one KJL segment is rotatably connected to the second end of a neighboring KJL segment via a pinned connection. Responsive to user assignment of a predetermined length to each KJL segment in the concatenated string according to the KJL segment's corresponding pre-ordained position in the concatenated string, the lance is disposed to spool onto a reel in “nested” fashion, such that as the lance makes spooling revolutions onto the reel, (a) KJL segments stack in circumferential registered layers around the reel and (b) pinned connections trace substantially radial vectors from a center of the reel. Other embodiments provide additional features to facilitate nesting and to generally strengthen the KJL.

Abstract: Apparatus and method for imaging a patient in an MRI system. This includes a frame, and at least one assembly that includes a patient-interface positioner connected to a reference position on the frame, a first lockable joint on the positioner; and a patient interface connected to a patient-proximal end of the positioner by a second joint, wherein the first patient-interface is moveably positioned to a selected pitch angle, a selected yaw angle, and a selected one of a plurality of distances relative to the reference position on the frame. The first lockable joint is configured to be tightened to yieldably hold the first patient-interface at the selected pitch and yaw angles, and at the selected one of the plurality of distances, relative to the reference position. Optionally a second substantially similar patient-interface and assembly are provided. The earpiece(s) optionally include audio transducer(s) and/or RF coil(s).

Abstract: A bending restrictor assembly has a pipeline section, a first overlying pipe section having a wall overlying a portion of the pipeline section at one end thereof, a second overlying pipe section having a wall overlying another portion of the pipeline section at an opposite end thereof, and a plurality of cylindrical members overlying the pipeline section between the first and second overlying pipe sections. The first and second overlying pipe sections extend outwardly beyond the respective ends of the pipeline section. The bending restrictor assembly achieves a permanent bend and restricts ovality of a subsea pipe.

Abstract: An energy guiding chain has a plurality of articulately interconnected chain links comprising two outermost links and a plurality of inner links, and a bendable cover strip covering at least one of two sides of the articulately interconnected chain links, wherein the cover strip is held by at least some of the inner chain links, and guided displaceably with respect to at least the inner chain links in a chain longitudinal direction, and wherein the cover strip projects in a chain transverse direction at least on one side over the chain links. A processing machine for the machining of workpieces and a method of using an energy guiding chain are also described.

Abstract: This invention is directed to a flexible device having a longitudinal axis, a first elongate member configured to move the flexible device in a first direction relative to the longitudinal axis, and a second elongate member configured to move the flexible device in a second direction relative to the longitudinal axis that is different to the first direction. The flexible device can also have an articulation section including a plurality of articulation links, wherein at least one of the plurality of articulation links can include a body configured to receive the first elongate member and the second elongate member.

Abstract: An electrical wire routing apparatus with high reliability of a motion returning to the original state after being trampled on. The electrical wire routing apparatus includes an electrical wire guide into which an electrical wire routed between a vehicle body and a movable body such as a slide door is insertable and that interlocks with a motion of the slide door, a stretchable elastic member that is installed between the electrical wire guide and the vehicle body, between the electrical wire guide and the slide door, or partway through the electrical wire guide, and a bracket for guiding a displacement motion of the electrical wire guide when the elastic member stretches or shrinks.

Abstract: A flexible high pressure fluid cleaning lance drive apparatus includes a guide rail having a longitudinal axis adapted to be positioned within a boiler water box and aligned in a fixed position with respect to a central axis of the water box. A tractor drive module is mounted on the guide rail, a helix clad high pressure fluid hose drive module is mounted on the guide rail operable to propel a flexible lance helix clad hose through the drive module along an axis parallel to the guide rail longitudinal axis, and a right angle guide rotator module is mounted on the guide rail and connected to the tractor module for positioning a rotatable high pressure nozzle carried by the helix clad hose within a guide tube attached to the rotator module.

Abstract: The present invention relates to an articulated arm (100) comprising at least three articulations mounted in series in order to allow movements on at least two rotation axes by articulation, characterized in that each articulation (1) comprises a first (2) and second (3) support and at least three linear actuators (10), each linear actuator (10) having a first and second end articulated respectively on the first (2) and second (3) supports by means of a swivel connection (41, 42, 43, 44) and in that it comprises a deformable fluidtight sheath (200) enveloping at least a plurality of articulations and having a volume enabling it, in any circumstance, to follow the movements imparted by the articulated arm.

Abstract: A system and method for performing a medical procedure includes a first multi-linked mechanism comprising a plurality of first links, and a lumen therethrough; a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism, and where the first and second multi-linked mechanisms are configured to transition from a limp state to a rigid state; a set of proximal cables comprising at least a first proximal cable and a second proximal cable; a set of distal cables comprising at least a first distal cable and a second distal cable; a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first

Abstract: A mechanical adjustable device described herein is adapted to enable changing the spatial shape of the device from a first shape to a second shape, while retaining the device in its second shape. Preferably, the device includes: a) a spring; b) a plurality of longitudinally extended ribs or wires that are capable of being bent, wherein these plurality of ribs or wires are circumferentially disposed along an enclosure confined by the spring, adjacent to the inner side of the spring; and c) a flexible sleeve or tube disposed longitudinally along the enclosure confined by the spring.

Abstract: Apparatus and method for imaging a patient in an MRI system. This includes a frame, and at least one assembly that includes an earpiece positioner connected to a reference position on the frame, a first lockable joint on the positioner; and an earpiece connected to a patient-proximal end of the positioner by a second joint, wherein the first earpiece is moveably positioned to a selected pitch angle, a selected yaw angle, and a selected one of a plurality of distances relative to the reference position on the frame. The first lockable joint is configured to be tightened to yieldably hold the first earpiece at the selected pitch and yaw angles, and at the selected one of the plurality of distances, relative to the reference position. Optionally a second substantially similar earpiece and assembly are provided. The earpiece(s) optionally include audio transducer(s) and/or RF coil(s).

Abstract: A trimmer assembly for removing portions of sidewalls of cans is provided. The trimmer assembly includes a chute configured to receive the removed portions of sidewalls of cans. The chute includes an angled extending wall configured to prevent removed portions of sidewalls of cans from travelling past the chute without entering the chute without interfering with motion of the cans.

Abstract: An articulating mechanism comprises a first link, a second link, an intermediate portion, a first hinge between the first link and the intermediate portion, and a second hinge between the second link and the intermediate portion. The first link, the second link, the intermediate portion, the first hinge, and the second hinge are integrally formed. The articulating mechanism also comprises a plurality of cables for rotating the first and second links about the first and second hinges. The cables extend through channels in the first link and the second link without extending through the intermediate portion. The first and second hinges are oriented parallel to each other to permit the first and second links to rotate in the same plane about the first and second hinges, respectively. The first and second links are rotatable about the first and second hinges in two directions under control of the cables.

Abstract: A bi-directional steerable catheter that, for a given tip deflection angle, generates a first articulation radius in a first lateral direction and a second articulation radius in a second lateral direction, the second articulation radius being different than the first articulation radius. The catheter includes two pull wire portions that can be individually and selectively put under tension to cause deflection of the tip in a corresponding lateral direction. Actuation of a first of the pull wire portions causes a shift in the neutral axis of the catheter over a portion of the steering section, resulting in articulation over a shorter length of the steering section and thus a smaller bend radius. Actuation of a second of the pull wire portions does not result in a neutral axis shift, so that articulation is over substantially the entire length of the steering section, resulting in a larger bend radius.

Abstract: The present invention discloses a steering device for use in a body lumen of a patient. The steering device comprises a flexible tube; a plurality of spaced-apart elements positioned along at least a portion of the tube; wherein the plurality of spaced-apart elements and the tube form a single integrated unit; and at least two steering wires having at least a portion passing through the spaced-apart elements and at least a portion passing within the tube. According to another broad aspect of the present invention, there is provided a steering device for use in a body lumen of a patient, comprising: a flexible tube; at least two steering wires having at least a portion passing within the flexible tube; at least two spring-like sleeves; each spring-like sleeve at least partially enclosing a steering wire respectively; wherein the spring-like sleeve has a variable pitch along its length; such that the flexible tube comprises at least two portions having different bending properties.