WO2025172840A1 - Expandable frame assembly for cable-driven mechanism steering - Google Patents

Abstract

An expandable frame assembly for cable-driven mechanism steering that includes a plurality of steering cables, a catheter, a self-expanding frame, and a guiding sheath. The plurality of steering cables each extends from a control unit at a proximal end to an end-effector at a distal end. The self-expandable frame is proximate the distal end of the plurality of steering cables and includes: a self-expandable support having a tubular base through which the catheter extends and a framework portion that surrounds the catheter; and a plurality of curved branch tubes equivalent to the number of steering cables, each one of the plurality of curved branch tubes attached to the tubular base of the self-expandable support, wherein each one of the plurality of curved branch tubes serves as an anchor and includes an internal passage for one of the plurality of steering cables to extend through.

Description

EXPANDABLE FRAME ASSEMBLY FOR CABLE-DRIVEN MECHANISM STEERING

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is being filed on February 11, 2025, as a PCT International application and claims the benefit of and priority to US Provisional Patent Application No. 63/552,559, filed on February 12, 2024, which is fully incorporated herein by reference.

TECHNICAL FIELD

[0002] This disclosure relates to an expandable frame assembly for a cable-driven mechanism, such as a cable-driven parallel mechanism with system miniaturization capabilities and improved robustness and reliability.

[0003] Some embodiments relate to minimally invasive interventions, such as those aiding in accurate and stable positions of catheters, guidewires, and elongated flexible devices. Some embodiments relate to various minimally invasive medical procedures, requiring precise device manipulation in narrow and complex pathways. Additionally, some embodiments relate to medical robotics, especially for applications in minimally invasive interventions where accurate and reliable motion control is desired. In such medical applications, the region of interest is only accessible through long and tortuous anatomical structures.

[0004] Further embodiments relate to non-medical applications. Such other industrial applications may include cases where precise movements in confined areas, such as intricate pipeline inspections or complex machinery maintenance, are required including aerospace, underwater applications, as well as safety and rescue applications.

BACKGROUND

[0005] Cable-driven parallel mechanisms (CDPM), also referred to sometimes as such as a cable-driven parallel manipulators, or cable-driven mechanisms have demonstrated multiple advantages over conventional rigid link mechanisms, including high force/torque to weight ratios, fast dynamics, large workspace and range of motion and lower cost. Conventionally, in CDPMs, the cables are anchored to a rigid frame structure. The cables connect to an end effector from one end and are routed to actuators on the other end. The frame acts as a rigid frame of reference that allows for reliable positioning and tracking of the end effector relative to this frame. [0006] However, as the frame size determines the size of the workspace, utilization of the CDPM is hindered in various applications where the frame cannot be delivered to the location of interest. Recently, flexible frames have been introduced that allow for the contraction of the frame to navigate through tortuous paths, followed by frame expansion and deployment at the target area. Once expanded, the frame holds a relatively rigid structure to allow for reliable manipulation of the end effector. However, the development of expandable CDPMs is in its infancy and faces various challenges. Prior attempts in this integration have not fully addressed the key issues of size requirements for various procedures (e.g., small dimensions needed for cardiovascular procedures), friction between the frame and steering cables, method of anchoring the cables, robustness after expansion, and durability under repeated use.

[0007] Accordingly, in view of the foregoing, a mechanism is needed that overcomes the limitations of the past that allows for size miniaturization, cable routing and anchoring, and robust and reliable performance to achieve a miniaturized expandable cable-driven parallel mechanism.

SUMMARY

[0008] The present disclosure provides advancements in cable-driven parallel mechanisms. Some embodiments of his disclosure provide a design having a miniaturized expandable cable-driven mechanism. The system introduces an expandable frame integrated with channels for routing and supporting cables for a miniaturized cable-driven mechanism applicable for applications such as minimally invasive interventions.

[0009] An embodiment relates to an expandable frame assembly for cable-driven mechanism steering. The expandable frame assembly includes a plurality of steering cables, a catheter, a self-expanding frame, and a guiding sheath. The plurality of steering cables each extends from a control unit at a proximal end to an end-effector at a distal end. The catheter extends from the control unit to the end-effector. The self-expandable frame is proximate to the distal end of the plurality of steering cables and includes a selfexpandable support having a tubular base through which the catheter extends and a framework portion that surrounds the catheter, and a plurality of curved branch tubes equivalent to the number of steering cables. Each one of the plurality of curved branch tubes is attached to the tubular base of the self-expandable support and each one of the plurality of curved branch tubes serves as an anchor and includes an internal passage for one of the plurality of steering cables to extend through. Further, the guiding sheath selectively advances over the self-expandable frame to contract the self-expandable frame and selectively retracts back from the self-expandable frame to expand the selfexpandable frame.

[0010] An embodiment relates to an expandable frame assembly for cable-driven mechanism steering. The expandable frame assembly includes a self-expandable frame controlled by a plurality of steering cables that are remotely actuated. The selfexpandable frame includes a self-expandable support having a base through which a lumen extends and a framework portion that surrounds the lumen and includes a plurality of groove slots. The self-expandable frame also includes a plurality of curved branch tubes equivalent to the number of steering cables, each one of the plurality of curved branch tubes attached to the base of the self-expandable support, wherein each one of the plurality of curved branch tubes extends through one of the plurality of groove slots and includes an internal passage for one of the plurality of steering cables to pass through. The expandable frame assembly further includes a guiding sheath that selectively advances over the self-expandable frame to contract the self-expandable frame and that selectively retracts back from the self-expandable frame to expand the self-expandable frame.

[0011] In an embodiment, the self-expandable frame includes a tubular base and a series of connected leaflets which can expand once unconstrained. Multiple flexible branch tubes are connected to the tubular base from the proximal end. These tubes provide a routing channel for the cables of the mechanism. The flexible branch tubes are supported by the expandable frame along their length, ultimately distally providing anchor points for the cable that then exit the tubes and are connected to the end effector. The expandable frame includes grooved slots that further facilitate the sliding of the branch tubes relative to the frame during expansion and contraction of the selfexpandable frame assembly. This permits smooth deployments, reusability, and repositioning of the end-effector. Furthermore, the branch tubes are designed with smooth trajectories to minimize friction, ensuring smooth movement of the steering cables inside them. Once the expandable frame is expanded to the desired size, the tips of the branch tubes provide leverage and anchoring points for the cables. The actuation of these cables ultimately leads to the manipulation of the end-effector to which they are connected.

[0012] In an embodiment, the expandable frame and the branch tubes are made of shape memory materials and can be shape-set to self-expand once the outer constraint (e.g., a guiding sheath) is retracted. In an embodiment, the expandable frame can be laser cut from a nickel titanium alloy (Nitinol) tube, and shape-set similar to the methodology used for cutting and shape-setting self-deploying stents. The branch tubes can be adhered, welded, or mechanically secured to the base of the laser cut structure.

[0013] In an alternative embodiment, the expandable frame could be expanded and/or opened by inflating a balloon within it. In another embodiment, a mechanical approach could be used including a screw mechanism, levers, and/or other mechanical means to expand the expandable frame. Alternatively, the expandable frame can be expanded using tendon-based actuation or by pulling wires or cables attached to the exterior of the expandable frame. In another embodiment, a magnetic field is used to cause expansion, either by attracting magnetic parts of the frame or by inducing a shape change in magnetically responsive materials.

[0014] One embodiment of the frame and cable routing mechanism also includes a delivery sheath to contract the frame, and an internal tube connected from its distal end to the end effector of the cable driven mechanism and running along the length of the device to allow for passing of various tools or devices to workspace through this inner tube.

[0015] In an embodiment, a control unit is used to facilitate actuation of the steering cables. The control unit creates precise displacements of the the cables which pass through the branch tubes and are connected to the end-effector, enabling accurate steering. The control unit may be passive and manually operated by the user. Alternatively, the cables can be manipulated using active actuators such as motors to allow for simultaneous manipulation of the cables and ultimately control of the end effector.

[0016] In these embodiments, the two distinct components of the self-expanding frame, including the self-expandable support and the branch tubes that are supported by this frame, permit routing the cables and maintaining their accurate position after repeated contraction and expansion. Embodiments permit miniaturization of the frame structure as the frame can be made of super elastic material such as nickel titanium alloy. As the tubes are only mechanically fixed to the base of the frame, the tubes can travel relative to the frame while the frame is expanded and contracted repeatedly. The ability of the self-expandable frame to expand and contract as desired, makes it versatile for various procedures, providing direct control over the end-effector for high-precision navigation in challenging areas. This versatility has significant implications across a range of applications, as illustrated in the examples provided below.

[0017] One example application is in minimally invasive cardiovascular and peripheral vascular procedures, where precise steering of catheters and guidewires greatly aids in accurately crossing complex arterial occlusions during angioplasty procedures. This improves procedure success rate and efficiency in peripheral artery disease revascularization and reduces procedural risks and potential complications.

[0018] Embodiments also have potential uses in other minimally invasive medical procedures. For example, embodiments can be used to position sensors and imaging probes to obtain images within a target area to better aid diagnosis and procedure guidance. In the gastrointestinal tract and endoscopy, the ability to navigate intricate pathways allows for detailed inspections and targeted treatments, such as in colonoscopies or polyp removals. The precision and adaptability provided also make embodiments of the present disclosure invaluable in oncology for localized drug delivery or radiofrequency ablation procedures, where targeting accuracy is essential. Furthermore, in urology, embodiments of the present disclosure can be instrumental in performing intricate procedures like kidney stone removal or precise biopsies, benefiting from its ability to maneuver in small, complex areas. In structural cardiac procedures, such as transseptal puncture, lead placement, valve replacement or repair, the anchoring and precise positioning and steering provided can aid in improving procedure efficiency and reliability. This wide-ranging applicability underscores the versatility of embodiments of the present disclosure and the potential to revolutionize various aspects of minimally invasive medical care.

[0019] Additionally, embodiments find applications in industrial and exploratory fields. The precision and flexibility provided make a valuable tool for intricate tasks in industrial robotics, such as detailed pipeline inspections and maintenance of complex machinery. In aerospace, embodiments can be utilized for critical operations like spacecraft maintenance and satellite repairs. Embodiments can be used in underwater exploration, improving navigation and research capabilities of remotely operated vehicles.

[0020] In general, the disclosed frame and cable routing assembly represents a significant advancement in the field of cable driven parallel mechanisms. The combination of an expandable frame with cable routing provides a device that can be miniaturized and can function robustly and reliably. [0021] The above summary is not intended to describe each illustrated embodiment or every implementation of the subject matter hereof. The figures and the detailed description that follow more particularly exemplify various embodiments.

BRIEF DESCRIPTION OF DRAWINGS

[0022] Subject matter hereof may be more completely understood in consideration of the following detailed description of various embodiments in connection with the accompanying figures, in which:

[0023] FIG. 1A is an isometric view of an expandable frame assembly for a cable driven mechanism to steer an end-effector, according to an embodiment.

[0024] FIG. IB is an isometric view of a steerable catheter system that is cable- driven, including a user control unit, according to an embodiment.

[0025] FIG. 2A is an isometric view of a self-expandable frame including a selfexpandable support and branch tubes for cable routing, according to an embodiment.

[0026] FIG. 2B is an orthographic front view showing the self-expandable frame from FIG. 2A, according to an embodiment.

[0027] FIG. 2C is an orthographic side view of the self-expandable frame from FIG. 2A, according to an embodiment.

[0028] FIG. 2D is an orthographic side view of the self-expandable frame from FIG. 2C rotated forty-five degrees, according to an embodiment.

[0029] FIG. 2E is an isometric view of a self-expandable support, according to an embodiment.

[0030] FIG. 2F is an isometric view of a tube (e.g., Nitinol) from which the profile of the self-expandable support of FIG. 2E can be laser-cut and shape-set, according to an embodiment.

[0031] FIG. 2G is an isometric view of an individual branch tube for cable routing and, containing steering cables, according to an embodiment.

[0032] FIG. 3 is an isometric view of an expandable frame assembly for a cable driven mechanism, according to an embodiment.

[0033] FIG. 4 is an isometric view of an expandable frame assembly for a cable driven mechanism, according to an embodiment.

[0034] FIG. 5 is an isometric view of an expandable frame assembly for a cable driven mechanism, according to an embodiment.

[0035] While various embodiments are amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the claimed subject matter to particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the subject matter as defined by the claims.

DETAILED DESCRIPTION OF DRAWINGS

[0036] Disclosed herein are apparatus, systems, and designs to achieve an expandable frame with capabilities of routing and supporting cables to achieve an expandable and contractable cable-driven parallel mechanism.

[0037] Throughout this disclosure and claims, references to "cables" should be understood to broadly refer to any type of strings, wires, or similar manipulable components made of metal, fabrics, polymers, or crystals, for example. At times the term “cable-driven parallel mechanism” and “cable driven mechanism” will be used interchangeably.

[0038] Further, throughout this disclosure, “proximal” references will generally refer to locations at the end of the system, assembly, or device closest the operator steering or controls, and “distal” references will generally refer to the opposite end of the system, assembly, or device closest the end-effector or interventional device being manipulated. [0039] FIG. 1A illustrates an isometric view of an expandable frame assembly 100. This expandable frame assembly 100 includes a self-expandable frame 101, a plurality of steering cables 113, a guiding sheath 121, and a catheter 122.

[0040] Although only partially depicted in FIG. 1A, the expandable frame assembly 100 be understood to include a control unit and end effector 115 in certain embodiments. While only partially depicted, the plurality of steering cables 113 should be understood as each extending from a control unit 130 at a proximal end 105 to an end-effector 115 at a distal end 107. Further, a lumen or catheter 122 can be understood to extend from the control unit 130 to the end effector 115 as well.

[0041] As seen in FIG. 1A, self-expandable frame 101 is shown proximately located near the distal end 107 of the plurality of steering cables 113 as well as the distal end of the lumen or catheter 122. The self-expandable frame 101 includes a self-expandable support 110 and a plurality of curved branch tubes 112. The self-expandable support 110 has a tubular base 134 through which the catheter 122 extends and a framework portion 136 that surrounds the catheter 122.

[0042] A plurality of curved branch tubes 112 can be seen as well. There are generally an equivalent number of curved branch tubes 112 as the number of steering cables 113. Each one of the plurality of curved branch tubes 112 is attached to the tubular base 134 of the self-expandable support 110. As will be discussed below, each one of the plurality of curved branch tubes 112 serves as an anchor and includes an internal passage 138 for one of the plurality of steering cables 113 to extend through.

[0043] Also seen in FIG. 1A, is a guiding sheath 121. Guiding sheath 121 can be manipulated to selectively advance over the self-expandable frame 101 to contract the self-expandable frame 101. Likewise, the guiding sheath 121 can be manipulated to selectively retract back from the self-expandable frame 101 to expand the selfexpandable frame 101.

[0044] Accordingly, as set forth in the below discussion, embodiments of the expandable frame assembly 100 may also include various iterations of a self-expandable support 110, branch tubes 112 for cable routing and support, a plurality of steering cables 113, a catheter 122, and a hypo-tube 114. Self-expandable support can include various opening and features, such as various sizes and shapes of groove slots 111 through which curved branch tubes 112 can extend. The hypo-tube 114 can be seen connecting the steering cables 113 to the end-effector 115. In the embodiment of FIG. 1A, the endeffector 115 can be understood to be the tip of the catheter 122. Guiding sheath 121 can be advanced on top of the expandable frame assembly 100 to collapse it or guiding sheath can be retracted to remove the constraint and permit its expansion.

[0045] The steering cables 113, originating from a control unit 130 (not completely shown in FIG. 1A), pass through the branch tubes 112 and attach to the end-effector 115 via the hypo-tube 114. In one embodiment, the hypo-tube 114 could be any element that joins the steering cables 113 to the end-effector 115. In this embodiment, four steering cables 113 and four branch tubes 112 for guiding the steering cables 113 are present. Actuation of these steering cables 113 from the control unit 130 (not shown in this figure) results in the corresponding movement of the end-effector 115. In this embodiment, the end-effector 115 is the tip of the catheter 122 which holds further interventional devices 123.

[0046] FIG. IB provides an isometric view of a steerable catheter system 10 according to an embodiment. This steerable catheter system 10 includes a proximally- located control unit 130, a guiding sheath 121 which envelopes the steering cables 113, an internal catheter 122, interventional devices 123, branch tubes 112, self-expanding support 110, and any other remaining components of an expandable frame assembly 100. The control unit 130 is equipped with a steering input 131 to actuate the steering cables 113, which run through the system and result in the movement of the tip of internal catheter 122. The internal catheter 122 can carry an interventional device 123 in some embodiments. Certain embodiments of expandable frame assembly 100 can be understood to include many or all elements of the steerable catheter system 10 shown. This includes the control unit 130 with steering input 131, guiding sheath 121 and others. Such components should be broadly interpreted to be applicable as part of or in addition to any of the expandable frame assemblies (100, 300, 400, 500, etc) disclosed throughout the figures.

[0047] FIG. 2A represents an isometric view of a self-expandable frame 201. This self-expandable frame 201 includes a self-expandable support 210 featuring strategically placed groove slots 211 and branch tubes 212. Groove slots or apertures of other shapes and sizes are possible and contemplated as well. The self-expandable frame 201 includes four arms that form leaflets in-between them upon expansion. The branch tubes 212 are connected at the base of the self-expandable support 210 and are configured to slide within the groove slots 211 incorporated into the arms of the self-expandable support 210. In one embodiment, a connection section 221 between each branch tube 212 and self-expandable support 210 serves as a connection location for spot welds or other type of affixing and/or coupling.

[0048] FIG. 2B displays a front view of the self-expandable frame 201, detailing the structural relationships and orientations of the self-expandable support 210 and branch tubes 212. In the embodiment shown, the self-expandable support 210 includes four arms with four groove slots 211. The self-expandable support 210 can be understood to include both a tubular base 234 through which a catheter or lumen can extend as well as a framework portion 236 that surrounds the catheter.

[0049] FIGS. 2C and 2D similarly show side views of the self-expandable frame 201 of FIG. 2B. From these side views, the structural relationships and orientations of the self-expandable support 210 and branch tubes 212 can be more fully understood. The portrayed side views of the two side views are rotated 45° with respect to each other.

[0050] FIG. 2E depicts an isometric view of the self-expandable support 210 of a self-expandable frame 201 which, according to an embodiment, is formed from tube 230, like the one shown in FIG. 2F. Formation from such a tube 230 is done using shapesetting and heat-treatment methods. In the embodiment of FIG. 2F, groove slots 211 are cut through the support structure in its tube format. Tube 230 is shown before shape- seting, showcasing the cut groove slots 211, alongside the resulting self-expandable frame assembly 210 of FIG. 2E.

[0051] FIG. 2G shows an isometric view of a single branch tube 212 with a connection section 221 and a steering cable 240 threaded through it. The steering cable 240 is connected at its proximal end 205 to a control unit 130 and at the distal end 207 to the end-effector 115.

[0052] FIG. 3 illustrates an isometric view of an expandable frame assembly 300 according to another embodiment. The self-expandable frame 301 features selfexpandable support 310 with groove slots designed to accommodate the sliding movement of the branch tubes 312.

[0053] FIG. 4 shows an isometric view of an expandable frame assembly 400, according to another embodiment. In it, the self-expandable frame 301 includes a selfexpandable support 410 with grooved tips 411, which facilitates the sliding of the branch tubes 412.

[0054] FIG. 5 presents an isometric view of an expandable frame assembly 500, according to another embodiment. This configuration uses a self-expandable frame 501 that incorporates a self-expandable support 510 with grooved tips 511, specifically designed to allow for the efficient routing and passage of steering cables 513 from branch tubes 512.

[0055] The below examples represent possible configurations of a self-expandable frame that achieve at least some of the advantages and features described above.

[0056] In accordance with a first example, an expandable frame assembly for cable-driven mechanism steering includes a plurality of steering cables, a catheter, a selfexpanding frame, and a guiding sheath. The plurality of steering cables each extends from a control unit at a proximal end to an end-effector at a distal end. The catheter extends from the control unit to the end-effector. The self-expandable frame is proximate the distal end of the plurality of steering cables and includes a self-expandable support having a tubular base through which the catheter extends and a framework portion that surrounds the catheter, and a plurality of curved branch tubes equivalent to the number of steering cables. Each one of the plurality of curved branch tubes is atached to the tubular base of the self-expandable support and each one of the plurality of curved branch tubes serves as an anchor and includes an internal passage for one of the plurality of steering cables to extend through. Further, the guiding sheath selectively advances over the self-expandable frame to contract the self-expandable frame and selectively retracts back from the self-expandable frame to expand the self-expandable frame.

[0057] In accordance with a second example, the first example may be modified by the self-expandable frame including elastic material that conforms to anatomy when deployed.

[0058] In accordance with a third example, the first through second examples may be modified by the self-expandable support and the plurality of curved branch tubes are made of one or more of: shape memory metals and nickel titanium alloy.

[0059] In accordance with a fourth example, the first through third examples may be modified by the end-effector being a minimally invasive interventional device.

[0060] In accordance with a fifth example, the first through fourth examples may be modified by the self-expandable frame having a variable expansion size and conforms to different surrounding environments.

[0061] In accordance with a sixth example, the first through fifth examples may be modified by the self-expandable support comprising multiple joined leaflets.

[0062] In accordance with a seventh example, the first through sixth examples may be modified by the self-expandable support including groove slots to facilitate consistent contact and sliding interaction with the plurality of curved branch tubes.

[0063] In accordance with an eighth example, the first through seventh examples may be modified by the self-expandable support being formed from a tube.

[0064] In accordance with a ninth example, the first through eighth examples may be modified by each of the plurality of curved branch tubes being connected at its base to the self-expandable support and is configured to extend over the self-expandable support. [0065] In accordance with a tenth example, the first through ninth examples may be modified by the plurality of steering cables are actuated either manually or via robotic actuation at the control unit.

[0066] In accordance with an eleventh example, an expandable frame assembly for cable-driven mechanism steering includes a self-expandable frame controlled by a plurality of steering cables that are remotely actuated. The self-expandable frame includes a self-expandable support having a base through which a lumen extends and a framework portion that surrounds the lumen and includes a plurality of groove slots. The self-expandable frame also includes a plurality of curved branch tubes equivalent to the number of steering cables, each one of the plurality of curved branch tubes attached to the base of the self-expandable support, wherein each one of the plurality of curved branch tubes extends through one of the plurality of groove slots and includes an internal passage for one of the plurality of steering cables to pass through. The expandable frame assembly further includes a guiding sheath that selectively advances over the selfexpandable frame to contract the self-expandable frame and that selectively retracts back from the self-expandable frame to expand the self-expandable frame.

In accordance with a twelfth example, the eleventh example may be modified by the selfexpandable frame including elastic material that conforms to anatomy when deployed. [0067] In accordance with a thirteenth example, the eleventh through twelfth examples may be modified by the self-expandable support and the plurality of curved branch tubes being made of one or more of: shape memory metals and nickel titanium alloy.

[0068] In accordance with a fourteenth example, the eleventh through thirteenth examples may be modified by the end-effector being a minimally invasive interventional device.

[0069] In accordance with a fifteenth example, the eleventh through fourteenth examples may be modified by the self-expandable frame having a variable expansion size and conforms to different surrounding environments.

[0070] In accordance with a sixteenth example, the eleventh through fifteenth examples may be modified by the self-expandable support comprising multiple joined leaflets.

[0071] In accordance with a seventeenth example, the eleventh through sixteenth examples may be modified by the self-expandable support being formed from a tube. [0072] In accordance with an eighteenth example, the eleventh through seventeenth examples may be modified by each of the plurality of curved branch tubes being connected at its base to the self-expandable support and is configured to extend over the self-expandable support.

[0073] In accordance with a nineteenth example, the eleventh through eighteenth examples may be modified by the plurality of steering cables actuated either manually or via robotic actuation at the control unit.

[0074] In accordance with a twentieth example, the eleventh through nineteenth examples may be modified by the expandable frame assembly miniaturized to accommodate smaller channels and narrow passages. [0075] In accordance with a twenty-first example, the eleventh through twentieth examples may be modified by the expandable frame assembly miniaturized for BTK (below-the-knee) endovascular interventions.

[0076] In accordance with a twenty-second example, the eleventh through twenty- first examples may be modified by a self-expandable frame surrounds an internal catheter, expands and anchors to surrounding environment, and structurally supports the plurality of steering cables.

[0077] In accordance with a twenty-third example, the eleventh through twenty- second examples may be modified by the self-expandable support formed by laser cutting, waterjet abrasion, photoetching, or EDM.

[0078] In accordance with a twenty-fourth example, the eleventh through twenty- third examples may be modified by the plurality of curved branch tubes attached to the self-expandable support and facilitate cable routing.

[0079] In accordance with a twenty-fifth example, the eleventh through twentyfourth examples may be modified by each of the plurality of curved branch tubes connected at its base to the self-expandable support using weld spots, adhesive bonding, soldering, mechanical fastening, brazing, or shrink fitting.

[0080] In accordance with a twenty-sixth example, the eleventh through twenty-fifth examples may be modified by the plurality of steering cables routed through the plurality of curved branch tubes and connected to the end-effector tip.

[0081] In accordance with a twenty-seventh example, the eleventh through twentysixth examples may be modified by the plurality of steering cables connected to the endeffector tip using crimping, soldering, brazing, adhesive bonding, mechanical fastening, laser welding, and/or swaging.

[0082] In accordance with a twenty-eighth example, the eleventh through twentyseventh examples may be modified by the actuation of steering cables facilitating directional control of the end-effector.

[0083] In accordance with a twenty-ninth example, the eleventh through twentyeighth examples may be modified by the self-expandable frame maintains rigidity during steering of the end-effector.

[0084] In accordance with a thirtieth example, the eleventh through twenty-ninth examples may be modified by the end-effector being a catheter tip.

[0085] In accordance with a thirty-first example, the eleventh through thirtieth examples may be modified by the lumen could be a flexible tube or catheter. [0086] In accordance with a thirty-second example, the eleventh through thirty-first examples may be modified by the end effector includes a forward-looking imaging transducer for diagnostic purposes.

[0087] In accordance with a thirty-third example, the eleventh through thirty-second examples may be modified by the self-expandable frame facilitating steering and control of a laser for cardiac ablation procedures.

[0088] In accordance with a thirty-fourth example, the eleventh through thirty-third examples may be modified by the self-expandable frame being configured to steer and control a needle for cardiac interventions.

[0089] In accordance with a thirty-fifth example, the eleventh through thirty-fourth examples may be modified by the self-expandable frame being adapted for steering and controlling an endoscopic module for gastrointestinal procedures.

[0090] In accordance with a thirty-sixth example, the eleventh through thirty-fifth examples may be modified by the self-expandable frame being used for search and rescue efforts.

[0091] In accordance with a thirty-seventh example, the eleventh through thirty-sixth examples may be modified by the self-expandable frame being used for inspection tasks in narrow passages or piping systems.

[0092] In accordance with a thirty-eighth example, the eleventh through thirtyseventh examples may be modified by the self-expandable frame being made of shape memory materials and is self-expandable or expanded by an external source including a magnetic field, an electric field, and/or a heat source.

[0093] In accordance with a thirty-ninth example, the eleventh through thirty-eighth examples may be modified by the self-expandable frame being expanded by inflating a balloon.

[0094] In accordance with a fortieth example, the eleventh through thirty-ninth examples may be modified by each of the plurality of curved branch tubes being connected at its base to the self-expandable support and extends over the framework portion of the self-expandable support.

[0095] In accordance with a forty-first example, the eleventh through fortieth examples may be modified by the self-expandable frame being expanded using mechanical devices including a screw mechanism, levers, and/or other mechanical means. [0096] In accordance with a forty-second example, the eleventh through forty-first examples may be modified by the self-expandable frame being expanded using tendonbased actuation or by pulling wires or cables attached to the expandable frame.

[0097] In accordance with a forty-third example, the eleventh through forty-second examples may be modified by the self-expandable frame expanded using hydraulic or pneumatic pressure.

[0098] In accordance with a forty-fourth example, the eleventh through forty-third examples may be modified by the self-expandable frame expanded by using an electromechanical actuation such as motors or electromechanical system.

[0099] In accordance with a forty-fifth example, the eleventh through forty-fourth examples may be modified by the self-expandable frame expanded using a magnetic field either by attracting magnetic parts or by inducing a shape change in magnetically responsive materials.

[0100] Various embodiments of systems, devices, and methods have been described herein. These embodiments are given only by way of example and are not intended to limit the scope of the claimed subject matter. It should be appreciated, moreover, that the various features of the embodiments that have been described may be combined in various ways to produce numerous additional embodiments. Moreover, while various materials, dimensions, shapes, configurations, and locations, etc. have been described for use with disclosed embodiments, others besides those disclosed may be utilized without exceeding the scope of the claimed subject matter.

[0101] Persons of ordinary skill in the relevant arts will recognize that the subject matter hereof may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the subject matter hereof may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the various embodiments can comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art. Moreover, elements described with respect to one embodiment can be implemented in other embodiments even when not described in such embodiments unless otherwise noted.

[0102] Although a dependent claim may refer in the claims to a specific combination with one or more other claims, other embodiments can also include a combination of the dependent claim with the subject matter of each other dependent claim or a combination of one or more features with other dependent or independent claims. Such combinations are proposed herein unless it is stated that a specific combination is not intended.

[0103] Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein.

Claims

1. An expandable frame assembly for cable-driven mechanism steering, comprising: a plurality of steering cables, each extending from a control unit at a proximal end to an end-effector at a distal end; a catheter extending from the control unit to the end-effector; a self-expandable frame proximate the distal end of the plurality of steering cables, including: a self-expandable support having a tubular base through which the catheter extends and a framework portion that surrounds the catheter; a plurality of curved branch tubes equivalent to the number of steering cables, each one of the plurality of curved branch tubes attached to the tubular base of the self-expandable support, wherein each one of the plurality of curved branch tubes serves as an anchor and includes an internal passage for one of the plurality of steering cables to extend through; and a guiding sheath that selectively advances over the self-expandable frame to contract the self-expandable frame and that selectively retracts back from the self-expandable frame to expand the self-expandable frame.

2. The expandable frame assembly of claim 1, wherein the self-expandable frame includes elastic material that conforms to anatomy when deployed.

3. The expandable frame assembly of claim 2, wherein the self-expandable support and the plurality of curved branch tubes are made of one or more of: shape memory metals and nickel titanium alloy.

4. The expandable frame assembly of claim 1, wherein the end-effector is a minimally invasive interventional device.

5. The expandable frame assembly of claim 1, wherein the self-expandable frame has a variable expansion size that conforms to different surrounding environments.

6. The expandable frame assembly of claim 1, wherein the self-expandable support comprises multiple joined leaflets.

7. The expandable frame assembly of claim 1, wherein each of the plurality of curved branch tubes is connected at its base to the self-expandable support and is configured to extend over the self-expandable support.

8. The expandable frame assembly of claim 1, wherein the self-expandable support includes groove slots that facilitate consistent contact and sliding interaction with the plurality of curved branch tubes.

9. The expandable frame assembly of claim 1, wherein the self-expandable support is formed from a tube.

10. An expandable frame assembly for cable-driven mechanism steering, comprising: a self-expandable frame controlled by a plurality of steering cables that are remotely actuated, including: a self-expandable support having a base through which a lumen extends and a framework portion that surrounds the lumen and includes a plurality of groove slots; a plurality of curved branch tubes equivalent to the number of steering cables, each one of the plurality of curved branch tubes attached to the base of the self-expandable support, wherein each one of the plurality of curved branch tubes extends through one of the plurality of groove slots and includes an internal passage for one of the plurality of steering cables to pass through; and a guiding sheath that selectively advances over the self-expandable frame to contract the self-expandable frame and that selectively retracts back from the self-expandable frame to expand the self-expandable frame.

11. The expandable frame assembly of claim 10, wherein the end-effector is a minimally invasive interventional device.

12. The expandable frame assembly of claim 10, wherein the self-expandable support comprises multiple joined leaflets.

13. The expandable frame assembly of claim 10, wherein the self-expandable support is formed from a tube.

14. The expandable frame assembly of claim 10, wherein each of the plurality of curved branch tubes is connected at its base to the self-expandable support and is configured to extend over the self-expandable support.

15. The expandable frame assembly of claim 10, wherein the expandable frame assembly is miniaturized to accommodate smaller channels and narrow passages.

16. The expandable frame assembly of claim 10, wherein a self-expandable frame is slidably coupled around an internal catheter, expands and anchor to the surrounding environment when deployed, and structurally supports the plurality of steering cables.

17. The expandable frame assembly of claim 10, wherein the plurality of curved branch tubes are attached to the self-expandable support and facilitate cable routing.

18. The expandable frame assembly of claim 10, wherein the plurality of steering cables are routed through the plurality of curved branch tubes and connected to the endeffector tip.

19. The expandable frame assembly of claim 10, wherein the self-expandable frame maintains rigidity during steering of the end-effector.

20. The expandable frame assembly of claim 10, wherein the end effector includes a forward-looking imaging transducer for diagnostic purposes.

21. The expandable frame assembly of claim 10, wherein the self-expandable frame is adapted for steering and control of one or more of: a laser for cardiac ablation procedures; a needle for cardiac interventions; an endoscopic module for gastrointestinal procedures search and rescue efforts; BTK (below-the-knee) endovascular interventions; and an inspection device for narrow passages or piping systems.

22. The expandable frame assembly of claim 10, wherein the self-expandable frame is made of shape memory materials and can be self-expandable or expanded by an external source including a magnetic field, an electric field, and/or a heat source.

23. The expandable frame assembly of claim 10, wherein each of the plurality of curved branch tubes is connected at its base to the self-expandable support and extends over the framework portion of the self-expandable support.

24. The expandable frame assembly of claim 10, wherein the self-expandable support includes groove slots that facilitate consistent contact and sliding interaction with the plurality of curved branch tubes.

25. The expandable frame assembly of claim 10, wherein the self-expandable frame is expanded using one of the following: mechanical devices including a screw mechanism, levers, and/or other mechanical means; tendon-based actuation or by pulling wires or cables attached to the expandable frame; hydraulic or pneumatic pressure; an electromechanical actuation such as motors or electromechanical system; and a magnetic field either by attracting magnetic parts or by inducing a shape change in magnetically responsive materials.