WO2007149841A2 - Torque shaft and torque drive - Google Patents

Torque shaft and torque drive Download PDF

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Publication number
WO2007149841A2
WO2007149841A2 PCT/US2007/071535 US2007071535W WO2007149841A2 WO 2007149841 A2 WO2007149841 A2 WO 2007149841A2 US 2007071535 W US2007071535 W US 2007071535W WO 2007149841 A2 WO2007149841 A2 WO 2007149841A2
Authority
WO
WIPO (PCT)
Prior art keywords
feature
male
segment
torque
female
Prior art date
Application number
PCT/US2007/071535
Other languages
French (fr)
Other versions
WO2007149841A3 (en
WO2007149841A9 (en
Inventor
David C. Forster
Brian Beckey
Brandon Walsh
Scott Heneveld
Alex Roth
Original Assignee
Aortx, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aortx, Inc. filed Critical Aortx, Inc.
Priority to US12/305,620 priority Critical patent/US8376865B2/en
Priority to CA002657433A priority patent/CA2657433A1/en
Priority to JP2009516671A priority patent/JP2009540952A/en
Priority to AU2007261046A priority patent/AU2007261046A1/en
Priority to EP07784474A priority patent/EP2035723A4/en
Publication of WO2007149841A2 publication Critical patent/WO2007149841A2/en
Publication of WO2007149841A9 publication Critical patent/WO2007149841A9/en
Priority to US12/242,196 priority patent/US20090099554A1/en
Publication of WO2007149841A3 publication Critical patent/WO2007149841A3/en
Priority to US13/569,090 priority patent/US20120303005A1/en
Priority to US13/861,362 priority patent/US20140148787A1/en

Links

Classifications

    • 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

Definitions

  • Typical flexible shafts are susceptible to torque to the extent that rotation of one side of the shaft does not correlate to rotation of the opposite side of the shaft. For instance, in applications where a shaft is used to transmit torque along a tortuous path to a remote device, it is desirable to maintain a correlation between rotation on one side of the shaft to rotation at the remote device such that the amount of rotation at the remote device can be tracked with certainty.
  • Typical shafts are susceptible to buckling, kinking or require an excessive amount of initial rotation at the outset before correlatable torque transmission occurs. Accordingly, there is a need for a flexible shaft that transmits torque with improved certainty, adequacy and/or efficiency.
  • Figures IA-I C show a torque shaft with T-shaped interlocking features according to an embodiment.
  • Figures 2A-2B show a torque shaft with teardrop shaped interlocking features according to another embodiment.
  • Figure 3 illustrates the torque transferring capability of the torque shaft.
  • Figure 4 shows a torque shaft with spiral slots running the length of the torque shaft.
  • Figures 5-6 show a spot-link torque shaft according to another embodiment.
  • Figure 7 shows a torque shaft with living hinges according to another embodiment.
  • Figures 8-9 show two opposing torque shafts according to another embodiment.
  • Figure 10 shows a pull-pull torque drive according to another embodiment.
  • Figure 11 shows a device for translating axial force applied to the shaft into rotational movement of the shaft.
  • Torque shafts are described herein.
  • the torque shafts are both flexible and capable of transmitting torque.
  • the torque shafts are useful for procedures that require torque and pushability to drive or deploy a device in any application, such as a medical application constituting use in a patient's body.
  • the flexibility and pushability of the torque shafts enable them to curve along passageways in the body, and the torque transferring capability of the shafts enable them to transmit torque in the body to drive or deploy a device in the body.
  • the torque shafts are particularly useful for the deployment of prosthetic heart valves in a patient's heart, which are described in greater detail in Application Serial No.
  • FIGS IA- 1C show a torque shaft 10 according to an embodiment of the invention.
  • the torque shaft 10 comprises a plurality of interlocking sections 12 cut into a steel tube.
  • the sections 12 are linked together by interlocking geometry of slots 15.
  • Each interlocking slot 15 extends around the circumference of the tube and comprises a plurality of interlocking features 20.
  • the interlocking features 20 of each slot 15 connect two adjacent sections 12 on opposite sides of the slot 15.
  • Figure IB shows an expanded view of one of the slots 15
  • Figure 1C shows an expanded perspective view of one of the slots 15.
  • each slot comprises T-shaped interlocking features 20.
  • Figures 2A-2B show a torque shaft 1 10 according to another embodiment, in which each slot 115 comprises teardrop- shaped interlocking features 120.
  • the geometry of the interlocking features can be any shape that interlocks.
  • the torque shaft is fabricated by laser cutting the slots into a steel tube. This may be done by moving the steel tube across a stationary laser under computer control to precisely cut the slots. Laser cutting is well known in the art for fabricating, e.g., stents.
  • each slot 15,115 has a width W defined by the width of the laser cut.
  • the slot width W creates space between adjacent sections that allow adjacent sections 12,112 to move slightly relative to each other. This movement allows adjacent sections 12,1 12 to bend at a slight angle (e.g., 1-2 degrees) relative to each other.
  • the larger the slot width W the more adjacent sections 12,1 12 can bend relative to each other.
  • the flexibility of the shaft 10, 110 per unit length L depends on the amount that adjacent sections 12,1 12 can bend relative to each other and the number of slots 15,115 per unit length L.
  • the slot width W Since the amount that adjacent sections 12,112 can bend is determined by the slot width W, the flexibility of the shaft 10,110 per unit length is determined by the slot width W and the number of slots 15,115 per unit length L. The flexibility of the shaft 10, 110 is approximately independent of the shape of the interconnecting features of the slots.
  • the interlocking slots 15,115 allow the shaft 10,110 to be flexible while enabling the shaft 10,110 to transmit torque applied at one end of the shaft to the other end of the shaft.
  • the torque transferring capability of the shaft 10 is illustrated in Figure 3, which shows an expanded view of two adjacent interlocking features 20 of a slot 15. As the shaft 10 is rotated about it longitudinal axis in the direction indicated by the arrow, the adjacent interlocking features 10 of the slot 15 engage each other, at which point torque is transferred between the adjacent sections 12 of the slot 15.
  • Figure 4 shows an interlocking slot 215 according to another embodiment.
  • a continuous spiral or helical slot 215 runs along the length of the shaft 210.
  • two or more helical slots may run along the length of the shaft.
  • Figure 4 also shows an example in which two contiguous interspaced helical slots 225 and 235 run along the length of the shaft 210 next to each other.
  • the helical slots may have the same interlocking geometry or different interlocking geometries.
  • FIGS 5-6 show a spot-link torque shaft 310 according to another embodiment of the invention.
  • the torque shaft 310 comprises a plurality of interlocking sections 312.
  • Each section 312 comprises two male interlocking features 315 on opposite sides of the section, and two female interlocking features 317 on opposite sides of the section and orientated 90 degrees with respect to the male interlocking features 315.
  • the male interlocking features 315 have circular shapes and the female interlocking features 317 have corresponding inwardly curved shapes for receiving the male interlocking features 315 therein.
  • the male interlocking features 315 of each section 312 fit into the female interlocking features 317 of an adjacent section 312. This fit enables adjacent sections 312 to pivot relative to each other about an axis.
  • Each female interlocking feature 317 curves around the corresponding male interlocking feature 315 more than 180 degrees to prevent adjacent sections 312 from being pulled apart.
  • portions of the tube forming the shaft are removed or cut away between the adjacent sections.
  • wedge- shaped portions of the tube are cut away between adjacent sections to provide pivot spaces 320.
  • the pivot spaces 320 between adjacent sections allow adjacent sections 312 to pivot, e.g., 0-15 degrees, relative to each other.
  • the male interlocking features 315 of adjacent sections 312 are orientated at 90 degrees from each other. This is done to enable the interlocking features to hold the sections together. This is also done so that the pivot axes of the sections alternate 312 between two perpendicular axes.
  • the pivot axis of adjacent sections 312a and 312b is perpendicular to the pivot axis of adjacent sections 312a and 312c.
  • the alternating pivot axes allow the torque shaft 310 to flex or bend in unlimited directions about the axis.
  • the male interlocking features 315 also enable the torque shaft 310 to transmit torque from one end of the shaft to the other end of the shaft. Each pair of male interlocking features 315 transmits torque between the corresponding adjacent sections 312 when the shaft is rotated along its longitudinal axis. In addition, the interlocking features 315 also provide column strength (compressive) and tensile strength to the shaft 310.
  • the torque shaft may include optional guides for steering cables.
  • Figure 5 shows an example in which the torque shaft 310 comprises four equally spaced guides 340 along its inner surface for receiving four steering cables.
  • the guides may also be on the outer surface of the torque shaft.
  • the spot-link torque shaft has several advantages over the torque shaft with interlocking slots.
  • One advantage is that adjacent sections of the spot-link torque shaft are able to pivot or bend to a much greater degree than adjacent sections of the torque shaft with interlocking slots.
  • the spot-link torque shaft requires far fewer sections per unit length to flex or bend a given amount per unit length than the torque shaft with interlocking slots. This reduction in the number of sections reduces the amount of laser cutting required to fabricate the spot-link torque shaft compared to the torque shaft with interlocking slots.
  • FIG. 7 shows a torque shaft 410 according to another embodiment.
  • the torque shaft 410 comprises a plurality of sections 412 connected together by living hinges 415.
  • Adjacent sections 412 are connected to each other by a pair of living hinges 415 on opposite sides of the shaft 410.
  • the sections 412 are laser cut into a tube, in which thin portions of the tube are left connected between the sections 412 to form the living hinges 415.
  • the tube is made of a pliable metal, e.g., steel or Nitinol, or other pliable material that enables the living hinges to flex or bend without breaking.
  • Slots 417 are cut on both side of each living hinge 415 to increase the length of the hinge 415 and hence the amount that each hinge can bend.
  • the living hinges 415 enable adjacent sections 412 to flex or bend relative to each other. To provide space for adjacent section 412 to bend, portions of the tube are removed or cut away between adjacent sections. In this embodiment, wedge-shaped portions of the tube are cut away between adjacent sections to provide space 420 to flex.
  • Adjacent pairs of living hinges 415 are orientated at 90 degrees from each other.
  • the pair of living hinges 415a between adjacent sections 412a and 412b are orientated at 90 degrees from the pair of living hinges 415b between adjacent sections 412b and 412c.
  • the 90 degree orientation between adjacent pairs of living hinges 415 enable the torque shaft 410 to flex or bend in more directions.
  • the torque shaft further comprises a pair of torque keys 430 between adjacent sections 412.
  • Each pair of torque keys 430 extend from opposite sides of a section 412 and is received in a pair of slots 435 in an adjacent section 412.
  • the slots 435 are dimensioned so that the corresponding torque keys 430 can slide in the slots 435 to allow bending.
  • the torque keys 430 transmit torque between adjacent sections 412 of the shaft when the shaft is rotated about its longitudinal axis by pushing against the side walls of the corresponding slots 435.
  • the torque keys 430 may be contiguous with the sections 412 or may be made of separate pieces attached to the sections 412.
  • FIGS 8-9 show two opposing torque shafts 510 and 520 with one of the torque shafts 510 within the other torque shaft 520.
  • a torque shaft has to be rotated by a certain amount at one end before torque is transmitted to the other end of the shaft. This amount of rotation is referred to as wind-up.
  • each torque shaft can be pre-wound or pre-loaded to remove wind-up before use.
  • the outer torque shaft 520 is pre-wound in the counter clockwise direction and the inner torque shaft 510 is pre-wound in the clockwise direction as indicated by arrows.
  • the torque shafts 510 and 520 are pre-wound until the wind-up is removed from each shaft 510 and 520.
  • the outer torque shaft 520 wants to unravel in the clockwise direction and the inner torque shaft 510 wants to unravel in the counter clockwise direction.
  • an interlocking feature can be placed between the two torque shafts.
  • Figure 9 shows an example of a pin 525 connected to the inner torque shaft 510 and received in a slot in the outer torque shaft 520.
  • the pin 525 engages an end surface of slot 530, which prevents the two torque shafts 510 and 520 from unraveling.
  • the slot 530 runs along part of the circumference of the outer shaft 520 to allow the ends of the torque shafts 510 and 520 to be rotated in opposing direction.
  • FIG 10 shows an exploded and a perspective view of a pull-pull torque drive 605 according to an embodiment.
  • the torque drive 605 comprises a slotted tube 610, a cable drum hub 620, and a sheave 630.
  • the drum hub 620 is placed in the tube 610 and rotates on the sheave 630.
  • the torque drive 605 further comprises two cables 635 running through coil pipes 650 (only one of the cables is shown in Figure 10).
  • the cables 635 are threaded through channels 640 in the sheave 630 and wound around the drum hub 620 in different directions.
  • the end of each cable 635 is attached to the drum hub 620.
  • Figure 10 shows one of the cables 635 wound around the hub 620 in one direction.
  • the other cable (not shown) is wound around the hub 620 in the opposite direction.
  • the cables 635 enable the cable drum hub 620 to be rotated in either direction with respect to the tube 610 by pulling one of the cables 635 axially. Pulling on one of the cables 635 causes that cable 635 to unwind around the hub 620 thereby rotating the hub 620. This also causes the other cable 635 to wind around the hub 620 so that the hub 620 can be rotated in the other direction by pulling the other cable 635.
  • the pull-pull torque drive 605 is useful for deploying a prosthetic heart valve in a patient, which is described in more detail in Application Serial No. 11/066,126, filed on September 15, 2005.
  • Figure 11 shows a device 705 for translating axial movement of the shaft 725 into rotational movement of the shaft 710. This may be used for transmitting torque to the distal end of the shaft by applying axial force to the proximal end of the shaft.
  • the device 705 comprises a cylindrical sleeve 710 with a curved slot 720 and a pin 715 connected to the shaft 725 that slides in the slot 720.
  • the pin 715 connected to the shaft travels along the curved slot 720 of the sleeve 710 causing the sleeve 710 to rotate.

Abstract

Torque shafts and other related systems and methods are described herein. The torque shafts are both flexible and capable of transmitting torque. The torque shafts are useful for procedures that require torque and pushability to drive or deploy a device. The flexibility and pushability of the torque shafts enable them to curve along a tortuous path, and the torque transferring capability of the shafts enable them to transmit torque along the shaft.

Description

TORQUE SHAFT AND TORQUE DRIVE
BACKGROUND OF THE INVENTION
[0001] Typical flexible shafts are susceptible to torque to the extent that rotation of one side of the shaft does not correlate to rotation of the opposite side of the shaft. For instance, in applications where a shaft is used to transmit torque along a tortuous path to a remote device, it is desirable to maintain a correlation between rotation on one side of the shaft to rotation at the remote device such that the amount of rotation at the remote device can be tracked with certainty. Typical shafts are susceptible to buckling, kinking or require an excessive amount of initial rotation at the outset before correlatable torque transmission occurs. Accordingly, there is a need for a flexible shaft that transmits torque with improved certainty, adequacy and/or efficiency.
BRIEF SUMMARY OF THE INVENTION
[0002] Described herein are systems and methods for the transmission of torque and translation of movement in the context of torque. Exemplary embodiments of torque shafts and systems and methods making use of those shafts are described, as well as others.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] Figures IA-I C show a torque shaft with T-shaped interlocking features according to an embodiment.
[0004] Figures 2A-2B show a torque shaft with teardrop shaped interlocking features according to another embodiment.
[0005] Figure 3 illustrates the torque transferring capability of the torque shaft.
[0006] Figure 4 shows a torque shaft with spiral slots running the length of the torque shaft.
[0007] Figures 5-6 show a spot-link torque shaft according to another embodiment.
[0008] Figure 7 shows a torque shaft with living hinges according to another embodiment.
[0009] Figures 8-9 show two opposing torque shafts according to another embodiment.
[0010] Figure 10 shows a pull-pull torque drive according to another embodiment.
[0011] Figure 11 shows a device for translating axial force applied to the shaft into rotational movement of the shaft. DETAILED DESCRIPTION OF THE INVENTION
[0012] Torque shafts are described herein. The torque shafts are both flexible and capable of transmitting torque. The torque shafts are useful for procedures that require torque and pushability to drive or deploy a device in any application, such as a medical application constituting use in a patient's body. The flexibility and pushability of the torque shafts enable them to curve along passageways in the body, and the torque transferring capability of the shafts enable them to transmit torque in the body to drive or deploy a device in the body. The torque shafts are particularly useful for the deployment of prosthetic heart valves in a patient's heart, which are described in greater detail in Application Serial No. 1 1/066,126, titled "Prosthetic Heart Valves, Scaffolding Structures, and Systems and Methods for Implantation of Same," filed on September 15, 2005, the entire specification of which is incorporated by reference. Also described herein is a pull-pull torque drive as an alternative to the torque shafts.
[0013] Figures IA- 1C show a torque shaft 10 according to an embodiment of the invention. The torque shaft 10 comprises a plurality of interlocking sections 12 cut into a steel tube. The sections 12 are linked together by interlocking geometry of slots 15. Each interlocking slot 15 extends around the circumference of the tube and comprises a plurality of interlocking features 20. The interlocking features 20 of each slot 15 connect two adjacent sections 12 on opposite sides of the slot 15. Figure IB shows an expanded view of one of the slots 15 and Figure 1C shows an expanded perspective view of one of the slots 15. In this embodiment, each slot comprises T-shaped interlocking features 20. Figures 2A-2B show a torque shaft 1 10 according to another embodiment, in which each slot 115 comprises teardrop- shaped interlocking features 120. The geometry of the interlocking features can be any shape that interlocks.
[0014] In the preferred embodiment, the torque shaft is fabricated by laser cutting the slots into a steel tube. This may be done by moving the steel tube across a stationary laser under computer control to precisely cut the slots. Laser cutting is well known in the art for fabricating, e.g., stents.
[0015] Turning to Figures I B and 2B, each slot 15,115 has a width W defined by the width of the laser cut. The slot width W creates space between adjacent sections that allow adjacent sections 12,112 to move slightly relative to each other. This movement allows adjacent sections 12,1 12 to bend at a slight angle (e.g., 1-2 degrees) relative to each other. The larger the slot width W, the more adjacent sections 12,1 12 can bend relative to each other. [0016] The flexibility of the shaft 10, 110 per unit length L depends on the amount that adjacent sections 12,1 12 can bend relative to each other and the number of slots 15,115 per unit length L. Since the amount that adjacent sections 12,112 can bend is determined by the slot width W, the flexibility of the shaft 10,110 per unit length is determined by the slot width W and the number of slots 15,115 per unit length L. The flexibility of the shaft 10, 110 is approximately independent of the shape of the interconnecting features of the slots.
[0017] The interlocking slots 15,115 allow the shaft 10,110 to be flexible while enabling the shaft 10,110 to transmit torque applied at one end of the shaft to the other end of the shaft. The torque transferring capability of the shaft 10 is illustrated in Figure 3, which shows an expanded view of two adjacent interlocking features 20 of a slot 15. As the shaft 10 is rotated about it longitudinal axis in the direction indicated by the arrow, the adjacent interlocking features 10 of the slot 15 engage each other, at which point torque is transferred between the adjacent sections 12 of the slot 15.
[0018] Figure 4 shows an interlocking slot 215 according to another embodiment. In this embodiment, instead of a plurality of separate interlocking slots along the shaft, a continuous spiral or helical slot 215 runs along the length of the shaft 210. Alternatively, two or more helical slots may run along the length of the shaft. Figure 4 also shows an example in which two contiguous interspaced helical slots 225 and 235 run along the length of the shaft 210 next to each other. The helical slots may have the same interlocking geometry or different interlocking geometries.
[0019] Figures 5-6 show a spot-link torque shaft 310 according to another embodiment of the invention. The torque shaft 310 comprises a plurality of interlocking sections 312. Each section 312 comprises two male interlocking features 315 on opposite sides of the section, and two female interlocking features 317 on opposite sides of the section and orientated 90 degrees with respect to the male interlocking features 315. The male interlocking features 315 have circular shapes and the female interlocking features 317 have corresponding inwardly curved shapes for receiving the male interlocking features 315 therein. The male interlocking features 315 of each section 312 fit into the female interlocking features 317 of an adjacent section 312. This fit enables adjacent sections 312 to pivot relative to each other about an axis. Each female interlocking feature 317 curves around the corresponding male interlocking feature 315 more than 180 degrees to prevent adjacent sections 312 from being pulled apart.
[0020] To provide space for adjacent sections 312 to pivot, portions of the tube forming the shaft are removed or cut away between the adjacent sections. In this embodiment, wedge- shaped portions of the tube are cut away between adjacent sections to provide pivot spaces 320. The pivot spaces 320 between adjacent sections allow adjacent sections 312 to pivot, e.g., 0-15 degrees, relative to each other.
[0021] The male interlocking features 315 of adjacent sections 312 are orientated at 90 degrees from each other. This is done to enable the interlocking features to hold the sections together. This is also done so that the pivot axes of the sections alternate 312 between two perpendicular axes. For example, in Figure 6, the pivot axis of adjacent sections 312a and 312b is perpendicular to the pivot axis of adjacent sections 312a and 312c. The alternating pivot axes allow the torque shaft 310 to flex or bend in unlimited directions about the axis.
[0022] The male interlocking features 315 also enable the torque shaft 310 to transmit torque from one end of the shaft to the other end of the shaft. Each pair of male interlocking features 315 transmits torque between the corresponding adjacent sections 312 when the shaft is rotated along its longitudinal axis. In addition, the interlocking features 315 also provide column strength (compressive) and tensile strength to the shaft 310.
[0023] The torque shaft may include optional guides for steering cables. Figure 5 shows an example in which the torque shaft 310 comprises four equally spaced guides 340 along its inner surface for receiving four steering cables. The guides may also be on the outer surface of the torque shaft.
[0024] The spot-link torque shaft has several advantages over the torque shaft with interlocking slots. One advantage is that adjacent sections of the spot-link torque shaft are able to pivot or bend to a much greater degree than adjacent sections of the torque shaft with interlocking slots. As a result, the spot-link torque shaft requires far fewer sections per unit length to flex or bend a given amount per unit length than the torque shaft with interlocking slots. This reduction in the number of sections reduces the amount of laser cutting required to fabricate the spot-link torque shaft compared to the torque shaft with interlocking slots.
[0025] Another advantage is that the spot-link torque shaft requires less rotation of the shaft before torque is transmitted from one end of the shaft to the other end of the shaft. Before torque can be transmitted from one end of a torque shaft to the other end, the rotational slack between each one of the adjacent sections of the shaft must be removed by rotating the shaft. Because the spot-link torque shaft has fewer sections than the torque shaft with interlocking slots, the spot-link torque shaft has less rotational slack that needs to be removed before toque is transmitted from one end of the shaft to the other end. [0026] Figure 7 shows a torque shaft 410 according to another embodiment. The torque shaft 410 comprises a plurality of sections 412 connected together by living hinges 415. Adjacent sections 412 are connected to each other by a pair of living hinges 415 on opposite sides of the shaft 410. The sections 412 are laser cut into a tube, in which thin portions of the tube are left connected between the sections 412 to form the living hinges 415. Preferably, the tube is made of a pliable metal, e.g., steel or Nitinol, or other pliable material that enables the living hinges to flex or bend without breaking. Slots 417 are cut on both side of each living hinge 415 to increase the length of the hinge 415 and hence the amount that each hinge can bend. The living hinges 415 enable adjacent sections 412 to flex or bend relative to each other. To provide space for adjacent section 412 to bend, portions of the tube are removed or cut away between adjacent sections. In this embodiment, wedge-shaped portions of the tube are cut away between adjacent sections to provide space 420 to flex.
[0027] Adjacent pairs of living hinges 415 are orientated at 90 degrees from each other. For example, in Figure 7, the pair of living hinges 415a between adjacent sections 412a and 412b are orientated at 90 degrees from the pair of living hinges 415b between adjacent sections 412b and 412c. The 90 degree orientation between adjacent pairs of living hinges 415 enable the torque shaft 410 to flex or bend in more directions.
[0028] The torque shaft further comprises a pair of torque keys 430 between adjacent sections 412. Each pair of torque keys 430 extend from opposite sides of a section 412 and is received in a pair of slots 435 in an adjacent section 412. To allow adjacent sections 412 to bend about the hinges 415, the slots 435 are dimensioned so that the corresponding torque keys 430 can slide in the slots 435 to allow bending. The torque keys 430 transmit torque between adjacent sections 412 of the shaft when the shaft is rotated about its longitudinal axis by pushing against the side walls of the corresponding slots 435. The torque keys 430 may be contiguous with the sections 412 or may be made of separate pieces attached to the sections 412.
[0029] Figures 8-9 show two opposing torque shafts 510 and 520 with one of the torque shafts 510 within the other torque shaft 520. As explained above, a torque shaft has to be rotated by a certain amount at one end before torque is transmitted to the other end of the shaft. This amount of rotation is referred to as wind-up.
[0030] Since the two torque shafts 510 and 520 oppose each other in rotational direction, each torque shaft can be pre-wound or pre-loaded to remove wind-up before use. In Figure 8, the outer torque shaft 520 is pre-wound in the counter clockwise direction and the inner torque shaft 510 is pre-wound in the clockwise direction as indicated by arrows. The torque shafts 510 and 520 are pre-wound until the wind-up is removed from each shaft 510 and 520. When the torque shafts 510 and 520 are pre-wound, the outer torque shaft 520 wants to unravel in the clockwise direction and the inner torque shaft 510 wants to unravel in the counter clockwise direction. To prevent the torque shafts 510 and 520 from unravel after they are pre-wound, an interlocking feature can be placed between the two torque shafts.
[0031 ] Figure 9 shows an example of a pin 525 connected to the inner torque shaft 510 and received in a slot in the outer torque shaft 520. The pin 525 engages an end surface of slot 530, which prevents the two torque shafts 510 and 520 from unraveling. The slot 530 runs along part of the circumference of the outer shaft 520 to allow the ends of the torque shafts 510 and 520 to be rotated in opposing direction.
[0032] Figure 10 shows an exploded and a perspective view of a pull-pull torque drive 605 according to an embodiment. The torque drive 605 comprises a slotted tube 610, a cable drum hub 620, and a sheave 630. The drum hub 620 is placed in the tube 610 and rotates on the sheave 630. The torque drive 605 further comprises two cables 635 running through coil pipes 650 (only one of the cables is shown in Figure 10). The cables 635 are threaded through channels 640 in the sheave 630 and wound around the drum hub 620 in different directions. The end of each cable 635 is attached to the drum hub 620. Figure 10 shows one of the cables 635 wound around the hub 620 in one direction. The other cable (not shown) is wound around the hub 620 in the opposite direction.
[0033] The cables 635 enable the cable drum hub 620 to be rotated in either direction with respect to the tube 610 by pulling one of the cables 635 axially. Pulling on one of the cables 635 causes that cable 635 to unwind around the hub 620 thereby rotating the hub 620. This also causes the other cable 635 to wind around the hub 620 so that the hub 620 can be rotated in the other direction by pulling the other cable 635.
[0034] The pull-pull torque drive 605 is useful for deploying a prosthetic heart valve in a patient, which is described in more detail in Application Serial No. 11/066,126, filed on September 15, 2005.
[0035] Figure 11 shows a device 705 for translating axial movement of the shaft 725 into rotational movement of the shaft 710. This may be used for transmitting torque to the distal end of the shaft by applying axial force to the proximal end of the shaft. The device 705 comprises a cylindrical sleeve 710 with a curved slot 720 and a pin 715 connected to the shaft 725 that slides in the slot 720. When axial force is applied to the shaft 725, the pin 715 connected to the shaft travels along the curved slot 720 of the sleeve 710 causing the sleeve 710 to rotate.
[0036] Although the present invention has been described in terms of the presently preferred embodiments, it is to be understood that the disclosure is not to be interpreted as limiting. Various alterations and modifications will no doubt become apparent to those skilled in the art after having read this disclosure.

Claims

What is claimed is:
1. An apparatus for transmission of torque, comprising: a plurality of rigid segments coupled together in an elongate configuration, wherein each segment comprises: a first end comprising a male feature; and a second end comprising a female feature, the female feature having a shape corresponding to the male feature such that the female feature is configured to receive the male feature of the first end of an adjacent rigid segment.
2. The apparatus of claim 1, wherein the plurality of rigid segments are coupled together in a flexible elongate configuration.
3. The apparatus of claim 1, wherein the male feature has a ''T" like shape.
4. The apparatus of claim 1, wherein the male feature has a teardrop shape.
5. The apparatus of claim 1, wherein the male feature comprises a base and an end, the end having a greater width than the base.
6. The apparatus of claim 1, wherein the male feature is configured to interlock with the female feature.
7. The apparatus of claim 1, wherein the male feature comprises a base and an end and extends from the first end of the segment by a first length, the male feature having a width along the first length that does not increase when viewed from the base to the end.
8. The apparatus of claim 1 , wherein each segment comprises: a plurality of male features located along the periphery of the first end; and a plurality of female features located along the periphery of the second end.
9. The apparatus of claim 8, wherein the plurality of rigid segments are coupled together in a flexible elongate configuration.
10. The apparatus of claim 9, wherein the male feature has a 'T" like shape.
1 1. The apparatus of claim 9, wherein the male feature has a teardrop shape.
12. The apparatus of claim 9, wherein the male feature comprises a base and an end, the end having a greater width than the base.
13. The apparatus of claim 9, wherein the male feature comprises a base and an end and extends from the first end of the segment by a first length, the male feature having a width along the first length that does not increase when viewed from the base to the end.
14. The apparatus of claim 9, wherein the male feature is configured to interlock with the female feature.
15. The apparatus of claim 9, wherein the axial length of at least two segments is not the same.
16. The apparatus of claim 15, wherein the axial length of a first segment is a first length, and the apparatus comprises a plurality of segments adjacent to the first segment, the axial length of each of the adjacent segments being a second length not equal to the first length.
17. The apparatus of claim 16, wherein the plurality of the adjacent segments are located on one side of the first segment.
18. The apparatus of claim 9, wherein the axial length of each segment is the same.
19. The apparatus of claim 9, wherein the plurality of male features located along the periphery of the first end form a first pattern outline and the a plurality of female features located along the periphery of the second end form a second pattern outline, the first and second pattern outlines having generally the same shape.
20 The apparatus of claim 19, wherein the first and second pattern outlines are offset from each other.
21. The apparatus of claim 19, wherein the first and second pattern outlines have different sizes.
22. The apparatus of claim 1, wherein the male feature is a first male feature and the female feature is a first female feature, each segment comprising: a second male feature on the first end, the second male feature being configured differently from the first male feature; and a second female feature on the second end, the second female feature being configured differently from the first female feature, the second female feature having a shape corresponding to the second male feature such that the second female feature is configured to receive the second male feature of the first end of an adjacent rigid segment.
23. The apparatus of claim 22, wherein the plurality of rigid segments are coupled together in a flexible elongate configuration.
24. The apparatus of claim 1, further comprising a segment having a second end that does not have a female feature.
25. The apparatus of claim 1, further comprising a segment having a first end that does not have a male feature.
26. The apparatus of claim 1, wherein a first segment of the plurality of segments is pivotable with respect to an adjacent second segment of the plurality of segments.
27. The apparatus of claim 26, wherein the female feature of the second segment is configured to rotate about the male feature of the first segment.
28. The apparatus of claim 27, wherein each segment comprises a pivot space.
29. The apparatus of claim 28, wherein the pivot space is adjacent at least one of the male and female features.
30. The apparatus of claim 29, wherein the female feature is a first female feature, the male feature is a first male feature, and the pivot space is a first pivot space, each segment further comprising: a second male feature located opposite the first male feature and having the same configuration as the first male feature; a second female feature located opposite the first female feature and having the same configuration as the first female feature; and a second pivot space located opposite the first pivot space and having the same configuration as the first pivot space.
31. The apparatus of claim 26, wherein the first segment is coupled to the second segment by a hinge.
32. The apparatus of claim 31 , wherein the hinge is a living hinge.
33. The apparatus of claim 32, wherein the male feature is configured to slide within the female feature.
34. The apparatus of claim 33, wherein each segment further comprises a pivot space.
35. The apparatus of claim 34, wherein the living hinge is a first living hinge, the female feature is a first female feature, the male feature is a first male feature, and the pivot space is a first pivot space, each segment further comprising: a second living hinge located opposite the first living hinge and having a similar configuration to the first living hinge; a second male feature located opposite the first male feature and having a similar configuration to the first male feature; a second female feature located opposite the first female feature and having a similar configuration to the first female feature; and a second pivot space located opposite the first pivot space.
36. The apparatus of claim 35, wherein at least one of the male or female features is located in at least one of the pivot spaces.
37. The apparatus of claim 35, wherein each male feature is a torque key.
38. The apparatus of claim 31 , wherein the male feature is a torque key.
39. The apparatus of claim 32, wherein the living hinge is composed of NITINOL.
40. The apparatus of claim 1, wherein at least one segment comprises a guide lumen.
41. The apparatus of claim 1 , wherein each segment is generally tubular.
42. The apparatus of claim 1 , wherein the plurality of rigid members are configured for medical use.
43. The apparatus of claim 1, wherein the plurality of rigid segments are one continuous body.
44. An apparatus for transmission of torque, comprising: an inner elongate member comprising a wound portion, the wound portion having a proximal location wound with respect to a distal location in a first direction; and an outer elongate member comprising a wound portion, the wound portion having a proximal location wound with respect to a distal location in a second direction opposite the first direction, the outer elongate member coupled to the inner elongate member.
45. The apparatus of claim 44, wherein the outer elongate member and the inner elongate member are together flexible.
46. The apparatus of claim 45, wherein the wound portion of the inner elongate member is biased to unwind in the second direction.
47. The apparatus of claim 45, wherein the wound portion of the outer elongate member is biased to unwind in the second direction.
48. The apparatus of claim 45, wherein the wound portion of the inner elongate member is biased to unwind in the second direction and the wound portion of the outer elongate member is biased to unwind in the second direction.
49. The apparatus of claim 48, wherein the inner elongate member and the outer elongate member are in contact with each other.
50. The apparatus of claim 49, wherein the inner and outer elongate members are configured such that the respective biases are sufficient to counteract each other and prevent unwinding.
51. The apparatus of claim 44, wherein the inner and outer elongate members are configured for medical use.
52. A medical apparatus, comprising: a tubular member configured to interface with a prosthesis; a torque drive coupled with the tubular member and configured to rotate the tubular member, the torque drive being configured to fit within the vasculature of a patient.
53. The medical apparatus of claim 52, wherein the tubular member is a torque shaft.
54. The medical apparatus of claim 53, further comprising a cable configured to interface with the torque drive.
55. The medical apparatus of claim 54, wherein the torque drive is configured to translate axial motion of the cable into rotational motion of the torque shaft.
56. The medical apparatus of claim 55, wherein the torque shaft comprises: a sheave; and a cable hub rotatably coupled to the sheave and fixably coupled with the torque shaft , the cable hub configured to receive the cable in a wrapped state.
PCT/US2007/071535 2006-06-20 2007-06-19 Torque shaft and torque drive WO2007149841A2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
US12/305,620 US8376865B2 (en) 2006-06-20 2007-06-19 Torque shaft and torque shaft drive
CA002657433A CA2657433A1 (en) 2006-06-20 2007-06-19 Torque shaft and torque drive
JP2009516671A JP2009540952A (en) 2006-06-20 2007-06-19 Torque shaft and torque drive
AU2007261046A AU2007261046A1 (en) 2006-06-20 2007-06-19 Torque shaft and torque drive
EP07784474A EP2035723A4 (en) 2006-06-20 2007-06-19 Torque shaft and torque drive
US12/242,196 US20090099554A1 (en) 2006-06-20 2008-09-30 Elongate Flexible Torque Instruments And Methods Of Use
US13/569,090 US20120303005A1 (en) 2006-06-20 2012-08-07 Torque Shaft and Torque Drive
US13/861,362 US20140148787A1 (en) 2006-06-20 2013-04-11 Elongate flexible torque instruments and methods of use

Applications Claiming Priority (2)

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US80533406P 2006-06-20 2006-06-20
US60/805,334 2006-06-20

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US12/242,196 Continuation-In-Part US20090099554A1 (en) 2006-06-20 2008-09-30 Elongate Flexible Torque Instruments And Methods Of Use
US13/569,090 Continuation US20120303005A1 (en) 2006-06-20 2012-08-07 Torque Shaft and Torque Drive

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WO2007149841A9 WO2007149841A9 (en) 2008-02-14
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EP (1) EP2035723A4 (en)
JP (1) JP2009540952A (en)
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WO2007149841A3 (en) 2008-10-16
CN101506538A (en) 2009-08-12
EP2035723A2 (en) 2009-03-18
US8376865B2 (en) 2013-02-19
US20090182416A1 (en) 2009-07-16
JP2009540952A (en) 2009-11-26
CA2657433A1 (en) 2007-12-27
US20090099554A1 (en) 2009-04-16
WO2007149841A9 (en) 2008-02-14
EP2035723A4 (en) 2011-11-30
US20120303005A1 (en) 2012-11-29
US20140148787A1 (en) 2014-05-29
AU2007261046A1 (en) 2007-12-27

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