CN101506538A - 扭矩轴和扭矩驱动 - Google Patents

扭矩轴和扭矩驱动 Download PDF

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CN101506538A
CN101506538A CNA200780031081XA CN200780031081A CN101506538A CN 101506538 A CN101506538 A CN 101506538A CN A200780031081X A CNA200780031081X A CN A200780031081XA CN 200780031081 A CN200780031081 A CN 200780031081A CN 101506538 A CN101506538 A CN 101506538A
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D·C·福尔斯特
B·贝基
B·沃尔什
S·赫内维尔德
A·罗斯
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AorTx Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A61F2/2427—Devices for manipulating or deploying heart valves during implantation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0043—Catheters; Hollow probes characterised by structural features
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/02—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements
    • F16C1/04—Articulated shafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2226/00—Joining parts; Fastening; Assembling or mounting parts
    • F16C2226/50—Positive connections
    • F16C2226/70—Positive connections with complementary interlocking parts
    • F16C2226/76—Positive connections with complementary interlocking parts with tongue and groove or key and slot
    • F16C2226/78—Positive connections with complementary interlocking parts with tongue and groove or key and slot of jigsaw-puzzle type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2316/00—Apparatus in health or amusement
    • F16C2316/10—Apparatus in health or amusement in medical appliances, e.g. in diagnosis, dentistry, instruments, prostheses, medical imaging appliances
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/70—Interfitted members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/70—Interfitted members
    • Y10T403/7045—Interdigitated ends

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  • Life Sciences & Earth Sciences (AREA)
  • Cardiology (AREA)
  • Veterinary Medicine (AREA)
  • General Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
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  • Transplantation (AREA)
  • Vascular Medicine (AREA)
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Abstract

一种扭矩轴和其它相关的系统与方法。扭矩轴既是柔性的又能够传递扭矩。扭矩轴适用于需要扭矩和推进性的流程中以驱动或部署装置。扭矩轴的灵活性和推进性使得它们能够沿着曲折的路径弯曲，并且轴的扭矩传输能力使得它们能够沿着轴传递扭矩。

Description

扭矩轴和扭矩驱动
发明背景
[001]典型的柔性轴易于受到扭矩的影响，就这方面来说，轴的一侧的旋转不与该轴的相反侧的旋转相互关联。比如，在使用轴以沿着曲折的路径把扭矩传递到远处装置的应用场合中，希望能够维持在轴的一侧上的旋转和在远处装置处的旋转之间的相互关联，使得能够确定无疑地追踪到在远处装置处的旋转量。在发生相互关联的扭矩传递之前，典型的轴易于受到压弯、扭折或需要在开始处过多初始旋转量的影响。因此，需要有一种柔性轴，该柔性轴能够在改进的确定性、适当性和/或有效性下传递扭矩。
发明简介
[002]在此所描述的是在扭矩的背景下用于传递扭矩和转化运动的系统和方法。描述了扭矩轴的示范性实施例和使用那些轴的系统与方法，以及其它的方面。
附图简要描述
[003]图1A-1C显示了根据一个实施例的带有T形互锁特征的扭矩轴。
[004]图2A-2B显示了根据另一个实施例的带有泪珠状互锁特征的扭矩轴。
[005]图3图解了扭矩轴的扭矩传输能力。
[006]图4显示了带有螺旋槽的扭矩轴，该螺旋槽在扭矩轴的长度上延伸。
[007]图5-6显示了根据另一个实施例的点链(spot-link)扭矩轴。
[008]图7显示了根据另一个实施例的带有活动铰链的扭矩轴。
[009]图8-9显示了根据另一个实施例的两个相反的扭矩轴。
[010]图10显示了根据另一个实施例的拉拉(pull-pull)扭矩驱动。
[011]图11显示了用于把施加到轴上的轴向力转化成轴的旋转运动的装置。
发明详细描述
[012]在此描述了扭矩轴。扭矩轴既是灵活性的又能够传递扭矩。扭矩轴适用于需要扭矩和推进性的流程中以在任何应用场合中驱动或部署装置，比如构成在患者体内使用的医疗应用场合。扭矩轴的灵活性和推进性使得它们能够沿着体内的通道弯曲，并且轴的扭矩传输能力使得它们能够在体内传输扭矩以在体内驱动或部署装置。扭矩轴特别地适用于对患者心脏内的人工心瓣的部署，这在于2005年9月15日提交的申请号No.11/066,126中非常详细地进行了描述，该申请名为“Prosthetic Heart Valves，Scaffolding Structures，and Systems andMethods for Implantation of Same”，且通过引用结合该申请的整个说明书。在此还描述了作为扭矩轴的可选方案的拉拉扭矩驱动。
[013]图1A-1C显示了根据本发明的一个实施例的扭矩轴10。扭矩轴10包括切入钢管中的多个互锁部段12。通过槽15的互锁几何形状把部段12连接在一起。每一个互锁槽15都绕着管的周边延伸且包括多个互锁特征20。每一个槽15的互锁特征20都在槽15的相反侧上连接两个相邻的部段12。图1B显示了槽15中的一个槽的扩展图，而图1C显示了槽15中的一个槽的扩展透视图。在本实施例中，每一个槽都包括T形互锁特征20。图2A-2B显示了根据另一个实施例的扭矩轴110，其中每一个槽115都包括泪珠状互锁特征120。互锁特征的几何形状能够是互锁的任何形状。
[014]在优选的实施例中，通过激光把槽切入到钢管中来制造扭矩轴。在计算机的控制下通过移动钢管穿过稳态激光可完成上述情况以精确地切割槽。在本领域中激光切割对于制造例如伸展(stent)是已知的。
[015]转到图1B和图2B，每一个槽15，115都具有由激光切割的宽度所限定的宽度W。槽宽度W产生在相邻部段之间的空间，该空间允许相邻部段12，112稍微相对彼此移动。该运动允许相邻部段12，112在相对彼此的微小角度(例如，1-2度)处弯曲。槽宽度W越大，相邻部段12，112就能够相对彼此弯曲得越多。
[016]轴10，110的每单位长度L上的灵活性取决于相邻部段12，112能够相对彼此弯曲的量和槽15，115的每单位长度L上的个数。由于由槽宽度W来确定相邻部段12，112能够弯曲的量，所以由槽宽度W和槽15，115的每单位长度L上的个数来确定轴10，110的每单元长度上的灵活性。轴10，110的灵活性大致独立于槽的互锁特征的形状。
[017]互锁槽15，115在使得轴10，110能够把施加在轴的一个端部处的扭矩传递到该轴的另一个端部上的同时允许轴10，110是柔性的。在图3中图解了轴10的扭矩传输能力，该图显示了槽15的两个相邻互锁特征20的扩展图。当轴10在由箭头所指示的方向上绕着它的纵向轴线旋转时，槽15的相邻互锁特征20彼此接合，在该接合点处扭矩在槽15的相邻部段12之间传输。
[018]图4显示了根据另一个实施例的互锁槽215。在本实施例中，替代沿着轴的多个分离的互锁槽，连续的螺旋槽或螺线槽215沿着轴210的长度延伸。可选地，两个或多个螺线槽可以沿着轴的长度延伸。图4还显示了其中两个邻接间隔的螺线槽225和235彼此接近而沿着轴210的长度延伸的实例。螺线槽可以具有相同的互锁几何形状或不同的互锁几何形状。
[019]图5-6显示了根据本发明的另一个实施例的点链扭矩轴310。扭矩轴310包括多个互锁部段312。每一个部段312都包括在该部段的相反侧上的两个公互锁特征315和在该部段的相反侧上的且相对公互锁特征315定向成90度的两个母互锁特征317。公互锁特征315具有圆形形状，而母互锁特征317具有用于把公互锁特征315容纳在其中的对应的向内弯曲形状。每一个部段312的公互锁特征315都配合到相邻部段312的母互锁特征317中。这种配合使得相邻部段312能够绕着轴线相对彼此枢转。每一个母互锁特征317都绕着对应的公互锁特征315弯曲超过180度以防止相邻部段312被拉开。
[020]为了提供用于相邻部段312枢转的空间，在相邻部段之间除去或切割掉管的形成轴的部段。在本实施例中，在相邻部段之间切割掉管的楔形形状部段以提供枢转空间320。在相邻部段之间的枢转空间320允许相邻部段312相对彼此枢转，例如0-15度。
[021]把相邻部段312的公互锁特征315定向在彼此相距90度处。这样做以使得互锁特征能够把部段保持在一起。还这样做以便部段312的枢转轴线在两个垂直轴线之间交替。例如，在图6中，相邻部段312a和312b的枢转轴线与相邻部段312a和312c的枢转轴线垂直。交替的枢转轴线允许扭矩轴310在绕着轴线的不受限(unlimited)方向上折曲或弯曲。
[022]公互锁特征315还使得扭矩轴310能够把扭矩从轴的一个端部传递到该轴的另一个端部。当轴沿着它的纵向轴线旋转时，每一对公互锁特征315都在对应的相邻部段312之间传递扭矩。此外，互锁特征315还提供到轴310的断裂强度(压缩的)和抗拉强度。
[023]扭矩轴可以包括用于转向线缆的备选导向件。图5显示了其中扭矩轴310包括沿着它的内表面用于容纳四个转向线缆的四个等距间隔的导向件340的实例。导向件也可以在扭矩轴的外表面上。
[024]点链扭矩轴对于带有互锁槽的扭矩轴而言具有几个优点。一个优点在于点链扭矩轴的相邻部段能够比扭矩轴的带有互锁槽的相邻部段枢转或弯曲到更大的程度。因此，点链扭矩轴比带有互锁槽的扭矩轴需要每单位长度上的少得多的部段以折曲或弯曲每单位长度上给定的量。这种在部段个数上的减少比起带有互锁槽的扭矩轴而言减少了所需的激光切割量以制造点链扭矩轴。
[025]另一个优点在于点链扭矩轴在把扭矩从轴的一个端部传递到该轴的另一个端部之前需要轴的较少旋转。在能够把扭矩从扭矩轴的一个端部传递到另一个端部之前，必须通过旋转轴除去在轴的相邻部段中的每一个相邻部段之间的旋转松弛。因为点链扭矩轴比带有互锁槽的扭矩轴具有较少的部段，所以在把扭矩从轴的一个端部传递到另一个端部之前，点链扭矩轴具有较少的需要被除去的旋转松弛。
[026]图7显示了根据另一个实施例的扭矩轴410。扭矩轴410包括由活动铰链415连接在一起的多个部段412。通过在轴410的相反侧上的一对活动铰链415把相邻部段412连接到彼此。把部段412激光切割成管，其中把该管的薄部分保留成连接在部段412之间以形成活动铰链415。优选地，管由例如钢或镍钛诺的挠性金属或者使得活动铰链能够在不断裂的情况下折曲或弯曲的其它挠性材料制成。在每一个活动铰链415的两侧上切割槽417以增加铰链415的长度且因此增加每一个铰链能够弯曲的量。活动铰链415使得相邻部段412能够相对彼此折曲或弯曲。为了提供用于相邻部段412弯曲的空间，在相邻部段之间除去或切割掉管的部段。在本实施例中，在相邻部段之间切割掉管的楔形形状部段以提供空间420来弯曲。
[027]把相邻成对的活动铰链415定向在彼此相距90度处。例如，在图7中，把在相邻部段412a和412b之间的成对活动铰链415a定位在相距在相邻部段412b和412c之间的活动铰链415b的90度处。在相邻成对活动铰链415之间的90度定向使得扭矩轴410能够在多个方向上折曲或弯曲。
[028]扭矩轴进一步包括在相邻部段412之间的一对扭矩键430。每一对扭矩键430都从部段412的相反侧延伸且被容纳在相邻部段412中的一对槽435中。为了允许相邻部段412绕着铰链415弯曲，槽435具有一定大小，以便对应的扭矩键430能够在槽435中滑动以允许弯曲。当通过抵着对应的槽435的侧壁推动使轴绕着它的纵向轴线旋转时，扭矩键430在轴的相邻部段412之间传递扭矩。扭矩键430可以与部段412邻接或者可以由被连到部段412上的分离件制成。
[029]图8-9显示了两个相反的扭矩轴510和520，其中扭矩轴中的一个扭矩轴510在另一个扭矩轴520中。如上面所解释的，在把扭矩传递到轴的另一个端部之前必须使扭矩轴在一个端部处旋转一定的量。把这种旋转量称为卷紧(wind-up)。
[030]由于两个扭矩轴510和520在旋转方向上彼此相反，所以每一个扭矩轴在使用之前都能够被预卷绕或预加载以除去卷紧。在图8中，如由箭头所指示的，外扭矩轴520在逆时针方向上预卷绕，而内扭矩轴510在顺时针方向上预卷绕。预卷绕扭矩轴510和520，直到从每一种轴510和520除去卷紧为止。当预卷绕扭矩轴510和520时，外扭矩轴520希望在顺时针方向上松开，而内扭矩轴510希望在逆时针方向上松开。为了防止扭矩轴510和520在被预卷绕之后松开，可以在两个扭矩轴之间放置互锁特征。
[031]图9显示了被连接到内扭矩轴510上的且被容纳在外扭矩轴520中的槽中的销525的实例。销525接合槽530的端表面，这可以防止两个扭矩轴510和520松开。槽530沿着外轴520的周边的部段延伸以允许扭矩轴510和520的端部在相反的方向上旋转。
[032]图10显示了根据一个实施例的拉拉扭矩驱动605的分解图和透视图。扭矩驱动605包括槽管610、线缆卷轴620和滑轮630。把卷轴620放置在管610中且使该卷轴在滑轮630上旋转。扭矩驱动605进一步包括穿过盘管650延伸的两个线缆635(在图10中仅仅显示了线缆中的一个线缆)。线缆635穿过滑轮630中的通道640且在不同的方向上卷绕卷轴620。把每一个线缆635的端部都连到卷轴620上。图10显示了线缆635中的在一个方向上卷绕卷轴620的一个线缆。另一个线缆(图未示)在相反的方向上卷绕卷轴620。
[033]通过轴向拉动线缆635中的一个线缆，线缆635使得线缆卷轴620能够在相对于管610的任一方向上旋转。继续拉动线缆635中的一个线缆引起线缆635绕着卷轴620解开(unwind)，由此使卷轴620旋转。这也引起另一个线缆635绕着卷轴620卷绕，以致通过拉动另一个线缆635卷轴620能够在另一个方向上旋转。
[034]拉拉扭矩驱动605适用于在患者中部署人工心瓣，这在于2005年9月15日提交的申请号No.11/066,126中进行了非常详细地描述。
[035]图11显示了用于把轴725的轴向运动转化成轴710的旋转运动的装置705。这可以被用于通过把轴向力施加到轴的近端上来把扭矩传递到轴的远端上。装置705包括带有弯曲槽720的圆柱套管710和被连接到轴725上的销715，该销在槽720中滑动。当把轴向力施加到轴725上时，被连接到轴上的销715沿着套管710的弯曲槽720行进，以引起套管710旋转。
[036]尽管就当前优选实施例而言已经描述了本发明，但是可以理解的是并不把本说明书解释为限制性的。在阅读本说明书之后，对本领域中的那些技术人员而言各种变型和修改无疑将变得显而易见。

Claims (56)

1.一种用于传递扭矩的装置，包括：
结合到一起成伸长构造的多个刚性部段，其中每一个部段都包括：
包括阳性构造的第一端部；和
包括阴性构造的第二端部，所述阴性构造具有与所述阳性构造对应的形状，使得所述阴性构造构造成能够容纳相邻刚性部段的第一端部的阳性构造。
2.根据权利要求1所述的装置，其特征在于，所述多个刚性部段被结合到一起成柔性的伸长构造。
3.根据权利要求1所述的装置，其特征在于，所述阳性构造具有“T”状形状。
4.根据权利要求1所述的装置，其特征在于，所述阳性构造具有泪珠状形状。
5.根据权利要求1所述的装置，其特征在于，所述阳性构造包括基部和端部，所述端部具有比所述基部大的宽度。
6.根据权利要求1所述的装置，其特征在于，所述阳性构造构造成与所述阴性构造互锁。
7.根据权利要求1所述的装置，其特征在于，所述阳性构造包括基部和端部，并且从所述部段的所述第一端部延伸第一长度，所述阳性构造具有沿着所述第一长度的宽度，当从所述基部向所述端部观察时所述宽度不会增加。
8.根据权利要求1所述的装置，其特征在于，每一个部段都包括：
沿着所述第一端部的外围定位的多个阳性构造；和
沿着所述第二端部的外围定位的多个阴性构造。
9.根据权利要求8所述的装置，其特征在于，所述多个刚性部段被结合到一起成柔性的伸长构造。
10.根据权利要求9所述的装置，其特征在于，所述阳性构造具有“T”状形状。
11.根据权利要求9所述的装置，其特征在于，所述阳性构造具有泪珠状形状。
12.根据权利要求9所述的装置，其特征在于，所述阳性构造包括基部和端部，所述端部具有比所述基部大的宽度。
13.根据权利要求9所述的装置，其特征在于，所述阳性构造包括基部和端部，并且从所述部段的所述第一端部延伸第一长度，所述阳性构造具有沿着所述第一长度的宽度，当从所述基部向所述端部观察时所述宽度不会增加。
14.根据权利要求9所述的装置，其特征在于，所述阳性构造构造成与所述阴性构造互锁。
15.根据权利要求9所述的装置，其特征在于，至少两个所述部段的轴向长度不是相同的。
16.根据权利要求15所述的装置，其特征在于，第一部段的轴向长度是第一长度，并且所述装置包括与所述第一部段相邻的多个部段，所述相邻部段中的每一个相邻部段的轴向长度都是与所述第一长度不相等的第二长度。
17.根据权利要求16所述的装置，其特征在于，所述多个相邻部段定位在所述第一部段的一侧上。
18.根据权利要求9所述的装置，其特征在于，每一个部段的轴向长度都是相同的。
19.根据权利要求9所述的装置，其特征在于，所述沿着所述第一端部的外围定位的多个阳性构造形成第一图案轮廓，而所述沿着所述第二端部的外围定位的多个阴性构造形成第二图案轮廓，所述第一图案轮廓和所述第二图案轮廓具有大致相同的形状。
20.根据权利要求19所述的装置，其特征在于，所述第一图案轮廓和所述第二图案轮廓彼此偏移。
21.根据权利要求19所述的装置，其特征在于，所述第一图案轮廓和所述第二图案轮廓具有不同的大小。
22.根据权利要求1所述的装置，其特征在于，所述阳性构造是第一阳性构造，而所述阴性构造是第一阴性构造，每一个部段都包括：
在所述第一端部上的第二阳性构造，所述第二阳性构造构造成与所述第一阳性构造不同；和
在所述第二端部上的第二阴性构造，所述第二阴性构造构造成与所述第一阴性构造不同，所述第二阴性构造具有与所述第二阳性构造对应的形状，使得所述第二阴性构造构造成能够容纳相邻刚性部段的第一端部的所述第二阳性构造。
23.根据权利要求22所述的装置，其特征在于，所述多个刚性部段被结合到一起成柔性的伸长构造。
24.根据权利要求1所述的装置，其特征在于，所述装置进一步包括具有不带阴性构造的第二端部的部段。
25.根据权利要求1所述的装置，其特征在于，所述装置进一步包括具有不带阳性构造的第一端部的部段。
26.根据权利要求1所述的装置，其特征在于，所述多个部段的第一部段相对于所述多个部段的相邻第二部段是可枢转的。
27.根据权利要求26所述的装置，其特征在于，所述第二部段的阴性构造构造成绕着所述第一部段的阳性构造旋转。
28.根据权利要求27所述的装置，其特征在于，每一个部段都包括枢转空间。
29.根据权利要求28所述的装置，其特征在于，所述枢转空间相邻于所述阳性构造和所述阴性构造中的至少一个。
30.根据权利要求29所述的装置，其特征在于，所述阴性构造是第一阴性构造，所述阳性构造是第一阳性构造，并且所述枢转空间是第一枢转空间，每一个部段都进一步包括：
与所述第一阳性构造相反定位的、且具有与所述第一阳性构造相同构造的第二阳性构造；
与所述第一阴性构造相反定位的、且具有与所述第一阴性构造相同构造的第二阴性构造；和
与所述第一枢转空间相反定位的、且具有与所述第一枢转空间相同构造的第二枢转空间。
31.根据权利要求26所述的装置，其特征在于，所述第一部段通过铰链结合到所述第二部段上。
32.根据权利要求31所述的装置，其特征在于，所述铰链是活动铰链。
33.根据权利要求32所述的装置，其特征在于，所述阳性构造构造成在所述阴性构造中滑动。
34.根据权利要求33所述的装置，其特征在于，每一个部段都进一步包括枢转空间。
35.根据权利要求34所述的装置，其特征在于，所述活动铰链是第一活动铰链，所述阴性构造是第一阴性构造，所述阳性构造是第一阳性构造，并且所述枢转空间是第一枢转空间，每一个部段都进一步包括：
与所述第一活动铰链相反定位的、且具有与所述第一活动铰链相似构造的第二活动铰链；
与所述第一阳性构造相反定位的、且具有与所述第一阳性构造相似构造的第二阳性构造；
与所述第一阴性构造相反定位的、且具有与所述第一阴性构造相似构造的第二阴性构造；和
与所述第一枢转空间相反定位的第二枢转空间。
36.根据权利要求35所述的装置，其特征在于，所述阳性构造和所述阴性构造中的至少一个定位在所述枢转空间中的至少一个中。
37.根据权利要求35所述的装置，其特征在于，每一个阳性构造都是扭矩键。
38.根据权利要求31所述的装置，其特征在于，所述阳性构造是扭矩键。
39.根据权利要求32所述的装置，其特征在于，所述活动铰链由镍钛诺组成。
40.根据权利要求1所述的装置，其特征在于，至少一个部段包括引导腔。
41.根据权利要求1所述的装置，其特征在于，每一个部段都是大致管状的。
42.根据权利要求1所述的装置，其特征在于，所述多个刚性构件构造成用于医疗使用。
43.根据权利要求1所述的装置，其特征在于，所述多个刚性部段是一个连续体。
44.一种用于传递扭矩的装置，包括：
包括卷绕部分的内伸长构件，所述卷绕部分具有相对于远端位置在第一方向上卷绕的近端位置；和
包括卷绕部分的外伸长构件，所述卷绕部分具有相对于远端位置在与所述第一方向相反的第二方向上卷绕的近端位置，所述外伸长构件结合到所述内伸长构件上。
45.根据权利要求44所述的装置，其特征在于，所述外伸长构件和所述内伸长构件是共同柔性的。
46.根据权利要求45所述的装置，其特征在于，所述内伸长构件的所述卷绕部分被偏置以在所述第二方向上解开。
47.根据权利要求45所述的装置，其特征在于，所述外伸长构件的所述卷绕部分被偏置以在所述第二方向上解开。
48.根据权利要求45所述的装置，其特征在于，所述内伸长构件的所述卷绕部分被偏置以在所述第二方向上解开，并且所述外伸长构件的所述卷绕部分被偏置以在所述第二方向上解开。
49.根据权利要求48所述的装置，其特征在于，所述内伸长构件和所述外伸长构件彼此接触。
50.根据权利要求49所述的装置，其特征在于，所述内伸长构件和所述外伸长构件构造成使得相应的偏置能够易于彼此抵消且能够防止解开。
51.根据权利要求44所述的装置，其特征在于，所述内伸长构件和所述外伸长构件构造成用于医疗使用。
52.一种医疗装置，包括：
构造成与假体接合的管状构件；
与所述管状构件结合的且构造成使所述管状构件旋转的扭矩驱动，所述扭矩驱动构造成配合在患者的脉管系统中。
53.根据权利要求52所述的医疗装置，其特征在于，所述管状构件是扭矩轴。
54.根据权利要求53所述的医疗装置，其特征在于，所述医疗装置进一步包括构造成与所述扭矩轴接合的线缆。
55.根据权利要求54所述的医疗装置，其特征在于，所述扭矩驱动构造成把所述线缆的轴向运动转化成所述扭矩轴的旋转运动。
56.根据权利要求55所述的医疗装置，其特征在于，所述扭矩轴包括：
滑轮；和
可旋转地结合到所述滑轮上的、且可固定地与所述扭矩轴结合的线枢，所述线枢构造成在封装状态下容纳所述线缆。
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US20140148787A1 (en) 2014-05-29
US20090182416A1 (en) 2009-07-16
US8376865B2 (en) 2013-02-19
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US20090099554A1 (en) 2009-04-16
JP2009540952A (ja) 2009-11-26

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