Classifications

• • 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
  • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
  • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
  • F16B7/04—Clamping or clipping connections
  • F16B7/0406—Clamping or clipping connections for rods or tubes being coaxial
  • F16B7/0413—Clamping or clipping connections for rods or tubes being coaxial for tubes using the innerside thereof
  • F16B7/042—Clamping or clipping connections for rods or tubes being coaxial for tubes using the innerside thereof with a locking element, e.g. pin, ball or pushbutton, engaging in a hole in the wall of at least one tube

Definitions

• the invention relates to a set of lockable cylindrical elements and a steerable instrument comprising same.
• two or more cylindrical elements are to be inserted into one another until they reach a locked condition into which the two cylindrical elements cannot, or only to a predetermined extent, longitudinally move with respect to one another.
• techniques like laser welding, welding, gluing, snap-fit connections, screw threads etc. can be used.
• a problem with snap-fit connections may be that the snap-fit connection comprises a resilient element in one cylindrical element like a lip that has to snap into an opening of an adjacent cylindrical element but where aligning of this resilient element and the opening is not easy.
• Figure 1 a shows a schematic perspective view of two cylindrical elements, one inserted into the other and fixed to one another by a locking mechanism.
• Figures lb and l c each show a different one of the two cylindrical elements of figure 1 a.
• Figures I d and l e show different cross sections through the connected set of cylindrical elements of figure l a.
• Figure I f shows an embodiment in which three cylindrical elements are insertable into one another and connectable by means of the locking mechanism of the present invention.
• Figures lg-lj show alternative embodiments of cylindrical elements with a locking mechanism.
• Figure l k shows another embodiment in which three cylindrical elements are insertable into one another and connectable by means of the locking mechanism of the present invention.
• Figure 11 shows a cross section through the connected set of cylindrical elements of figure lk.
• Figure lm-l o shows several different embodiments where one cylindrical element has a resilient front edge.
• Figure 2a shows a side view of a non-limiting embodiment of a steerable invasive instrument with one steerable flexible zone in which the locking mechanism of figures l a-l e can be applied.
• Figure 2b shows a side view of a non-limiting embodiment of a steerable invasive instrument with two steerable flexible zones in which the locking mechanism of figures l a- I f can be applied.
• Figure 3 a shows a longitudinal cross-sectional view of an exemplary embodiment of a steerable instrument of figure 2a and having one proximal and one distal flexible zone.
• Figure 3 b shows a perspective exploded view of the three cylindrical elements of the steerable instrument shown in figure 3 a.
• Figure 3 c shows a top view of an unrolled version of an exemplary embodiment of the intermediate cylindrical element of the steerable instrument shown in figure 3b.
• the intermediate cylindrical element can be formed by rolling the unrolled version into a cylindrical configuration and attaching adjacent sides of the rolled-up configuration by any known attaching means such as by a welding technique.
• Figure 3d shows a perspective exploded view of three cylindrical elements of a steerable tube analogous to the exploded view of figure 3b, but with a varying diameter of the cylindrical elements.
• Figure 4a provides a detailed perspective view of a non-limiting embodiment of elongated tubular body of the steerable instrument of figure 2b.
• Figure 4b shows a longitudinal cross-sectional view of the elongated tubular body of the steerable instrument as shown in figure 4a.
• Figure 4c shows a longitudinal cross-sectional view of the elongated tubular body of the steerable instrument as shown in figure 4a, wherein the first proximal and first distal flexible zones are bent, thereby illustrating the operation of the steering arrangement.
• Figure 4d shows a longitudinal cross-sectional view of the elongated tubular body of the steerable instrument as shown in figure 4c, wherein additionally the second proximal and second distal flexible zones are bent, thereby further illustrating the operation of the steering arrangement.
• Figure 4e shows a perspective view of a part of the elongated tubular body as shown in figure 4a, wherein the outer cylindrical element partially has been removed to show an exemplary embodiment of the longitudinal steering elements that have been obtained after providing longitudinal slits to the wall of an intermediate cylindrical element that interconnects the first proximal flexible zone and the first distal flexible zone of the elongated tubular body.
• Figure 5 shows a schematic cross-section of a steerable tube with cylindrical elements as shown in figures 4a-4e, however, with a varying diameter.
• Figure l a shows set of cylindrical elements 301 which comprises a first cylindrical element 303 which is inserted into a second cylindrical element 305. They are connected by means of a locking mechanism, as will be explained in detail below.
• the first cylindrical element 303 has two end portions of which one is inserted into the second cylindrical element 305 and the other one 307 is extending from the second cylindrical element 305.
• the second cylindrical element 305 has an end portion 310 into which the first cylindrical element 303 is inserted and an other end portion 321 at its opposite end.
• First cylindrical element 303 and second cylindrical element 305 may have the same wall thickness but different wall thicknesses may be applied as well.
• the thickness may, e.g., be between 0.01 and 1 mm.
• the locking mechanism as shown in figure l a comprises a stopping element 313 and a stopping element 3 17 attached to the second cylindrical element 305.
• the stopping element 3 13 is an inwardly bent lip cut out from the second cylindrical element 305 such as to leave an edge 315.
• the stopping element 317 is also an inwardly bent lip cut out from the second cylindrical element 305 such as to leave an edge 319.
• the inwardly bent lip 313 cooperates with an opening in the first cylindrical element 303 and, in the locked condition, abuts against an edge of that opening, as will be explained in detail below.
• the inwardly bent lip 3 17 abuts against a portion of an outer edge of the first cylindrical element 303, as will also become apparent from the description below.
• First cylindrical element 303 comprises an opening 309 whereas the second cylindrical element 305 comprises a notch 31 1 in the side 310.
• opening 309 and notch 31 1 are aligned such as to visually support an operator who inserts the first cylindrical element 303 in the second cylindrical element 305.
• Figure lb shows the first cylindrical element 303 in more detail. It has an end portion 308 opposite to end portion 307.
• the end portion 308 has a self- guiding mechanism 325 comprising an outer edge with a longitudinally extending portion 325a as seen from the end portion 307, at least one longitudinally retracted portion 325c and at least one spirally formed edge portion 325e, 325f.
• the end portion 308 has a first opening 323 defined by opening edges 323a, 323b, 323c, and 323d. Opening edge 323a is located most close to the outer edge of end portion 308.
• longitudinally extending portion 325a is longitudinally aligned with opening 323.
• first cylindrical element opening 323 is located at a first cylindrical element opening position and longitudinally retracted portion 325c is located at a tangentially rotated position relative to said first cylindrical element opening position.
• First cylindrical element 303 may have a second opening 331 defined by edges 331 a-331 d and located opposite to opening 323 as shown in figure l e.
• the self-guiding mechanism 325 may have a second longitudinally extending portion 325b opposite to longitudinally extending portion 325a, and a second longitudinally retracted portion 325d, which is visible in the cross section view of figure l e and located opposite to longitudinally retracted portion 325c.
• Figure l c shows an enlarged view of the second cylindrical element 305. All features shown in figure l c have already been explained with reference to figure l a.
• Figure I d shows a cross section view of the first cylindrical element 303 and second cylindrical element 305 in the locked condition in the direction of arrows Id, or, stated otherwise, in an upside direction when they are cut into half in a horizontal plane when arranged as shown in figure l a.
• inwardly bent lip 3 13 has an edge portion 313a arranged such as to face towards end portion 321.
• inwardly bent lip 313 of second cylindrical element 305 is arranged inside opening 323 of the first cylindrical element 303 such that they form a snap-fit connection where edge portion 313a of inwardly bent lip 313 abuts against opening edge 323a.
• edge portion 313a is bent inwardly to such an extent that it completely abuts against opening edge 323a.
• an abutment of between 50% and 100% may be sufficient.
• Inwardly bent lip 317 has an edge portion 317a arranged such as to face away from end portion 321. In the locked condition, edge portion 317a of inwardly bent lip 3 17 of second cylindrical element 305 abuts against longitudinally retracted portion 325c. To have a solid abutment, it is preferred that edge portion 317a is bent inwardly to such an extent that it completely abuts against
• first cylindrical element 303 cannot be inserted any further into second cylindrical element 305 because it is blocked from further insertion by inwardly bent lip 317.
• first cylindrical element 303 cannot be retracted anymore from the second cylindrical element 305 because such a movement is blocked by inwardly bent lip 313.
• edge portion 317a of inwardly bent lip 317 abuts against longitudinally retracted portion 325c
• edge portion 313a of inwardly bent lip 313 abuts against opening edge 323a, such that first cylindrical element 303 cannot or hardly cannot move relative to second cylindrical element 305 in the longitudinal direction anymore.
• the play is preferably less than 0.1 mm. However, there may be applications allowing a larger play, e.g. less than 0.5 mm, and preferably less than 0.3 mm. However, depending on the application even more play can be accepted.
• second cylindrical element 305 comprises an inwardly bent lip 327 with an edge portion 327a facing away from end portion 321. Then, first cylindrical element 303 has a longitudinally retracted portion 325d which, in the locked condition abuts against edge portion 327a. Again, to have a solid abutment, it is preferred that edge portion 313a is bent inwardly to such an extent that it completely abuts against longitudinally retracted portion 325d.
• the function of the at least one spirally formed edge portion 325e is as follows. As one may see from figure 1 d, in the locked condition, longitudinally extending portion 325a is arranged closer to end portion 321 of second cylindrical element 305 than longitudinally retracted edge portion 325c (and 325d). Spirally formed edge portion 325e is arranged for the following function. When first cylindrical element 303 is inserted into second cylindrical element 305, it is difficult to do so such that inwardly bent lip 313 is directly aligned with opening 323 and inwardly bent lip 317 and 327, respectively, is directly aligned with longitudinally retracted portion 325c and 325d, respectively.
• inwardly bent lip 3 17 or 327 will slide along spirally formed edge portion 325e or 325f, respectively, such that first cylindrical element 303 and second cylindrical element 305 will rotate relative to one another to such an extent that inwardly bent lip 313 will move towards alignment with opening 323 to make a snap-fit connection, and inwardly bent lip 317 and 327, respectively, will move towards alignment with and abutment against longitudinally retracted portion 325c and 325d, respectively.
• the longitudinally extending portion 325a has a tapered form.
• any other suitable form may be applied. It may have a rounded form.
• the spirally formed edge portion 325e, 325f may have any suitable form, as long as it forces first cylindrical element 303 and second cylindrical element 305 to rotate relative to one another when first cylindrical element 303 is inserted into second cylindrical element 305 and spirally formed edge portion 325e, 325f slides against inwardly bent lip 317, 327.
• Figure l e shows a cross section view of first cylindrical element 303 and second cylindrical element 305 when inserted into one another and being in the locked condition, as indicated by arrows Ie in figure l a. It shows that first cylindrical element 303 may have a second opening 331 as defined by opening edges 33 l a to 33 I d. Second cylindrical element 305 may have an extra inwardly bound lip 329 arranged to make a snap-fit connection with opening 331 in the locked condition. In that locked condition, an edge 329a of inwardly bound lip 329 abuts against edge portion 331 a of opening 331. Again, in the locked condition, any play between edge 329a and opening edge 331 a is, preferably kept to a minimum, e.g. less than 0. 1 mm. However, there may be applications allowing a larger play, e.g. less than 0.5 mm, and preferably less than 0.3 mm.
• first cylindrical element 303 can be inserted into second cylindrical element 305 until they are in the locked condition.
• first cylindrical element may have a larger diameter than second cylindrical element such that it can be shifted over second cylindrical element 305 until the locked condition.
• first cylindrical element may have the same design as the one shown in figures l a to l e.
• lips 313 and 317 of second cylindrical element 305 should be bent outwardly instead of inwardly, as will become apparent from figure I f where such lips have been indicated with reference numbers 313 ' and 3 17' .
• FIG. 49 Figure If shows how the present invention can also be applied when three cylindrical elements '303 ', 305 ', 341 are to be inserted into and locked to one another.
• First cylindrical element 303 ' is similarly designed as first cylindrical element 303 of figures l a to l e.
• Second cylindrical element 305 ' now has a smaller diameter than first cylindrical element 303 ' such that first cylindrical element 303 ' can be shifted over second cylindrical element 305 ' until they arrive at a locked condition.
• Second cylindrical element 305 ' has a larger diameter than third cylindrical element 341 such that it can be shifted over third cylindrical element 341 until they are in a locked condition too.
• second cylindrical element 305 is provided with further locking means at its end portion 321 ' for locking second cylindrical element 305 ' to third cylindrical element 341.
• second cylindrical element 305 ' is also provided with a self-guiding mechanism 335 designed in the same way as self-guiding mechanism 325 of first cylindrical element 303 ' .
• a self-guiding mechanism 335 designed in the same way as self-guiding mechanism 325 of first cylindrical element 303 ' .
• it has an outer edge with a longitudinally extending portion 335a, at least one longitudinally retracted portion 335c and at least one spirally formed edge portion 335e.
• the end portion 321 ' has a first opening 333 defined by opening edges 333a, 333b, 333c, and 333d. Opening edge 333a is located most close to the outer edge of end portion 321 '.
• Second cylindrical element 305 ' may have a further opening located opposite to opening 333 like opening 331 in cylindrical element 303 shown in figure l e.
• self-guiding mechanism 335 may have a further longitudinally extending portion 335b opposite to longitudinally extending portion 335a.
• the locking mechanism as provided by opening 333 and self-guiding mechanism 335 of second cylindrical element 305 ' is designed to cooperate with a locking mechanism of third cylindrical element 341 which, in the embodiment shown in figure If, comprises outwardly bent lips 337 and 339 at end portion 342.
• Outwardly bent lip 337 is designed for a snap-fit connection with opening 333 when second cylindrical element 305 ' and third cylindrical element 341 are in a locked condition. It prevents second cylindrical element 305 ' from being retractable from third cylindrical element 341 in said locked condition.
• outwardly bent lip 339 abuts against longitudinally retracted portion 335c to prevent second cylindrical element 305 ' from being further shiftable over third cylindrical element 341 in said locked condition.
• Spirally formed edge portion 335e has the same function as spirally formed edge portion 325e in first cylindrical element 303, 303 '. I.e., when second cylindrical element 305 ' is shifted over third cylindrical element 341 , and lip 337 is not well aligned with opening 333, then, second cylindrical element 305 ' and third cylindrical element 341 are forced to rotate relative to one another when spirally formed edge portion 335e slides along lip 339 such that lip 337 will snap into opening 333 and establish the locked condition.
• the locking mechanism 333, 335 is not applied at end portion 32 ⁇ of second cylindrical element 305 ' but at end portion 342 of third cylindrical element 341. Then, second cylindrical element 305 ' is provided with two inwardly bent lips like inwardly bent lips 3 13 and 317 of second cylindrical element 305 and which are designed such as to cooperate with said locking mechanism 333, 335 at third cylindrical element 341.
• three cylindrical elements can be locked to one another by starting from first cylindrical element 303 and second cylindrical element 305 of figures l a to l e. Then, third cylindrical element 341 has a larger diameter than second cylindrical element 305 such that second cylindrical element 305 can be inserted into third cylindrical element 341. Then, the locking
• second cylindrical element 305 and third cylindrical element 341 may have the features as shown in figure If with reference to elements 333 , 335, 337 and 339 be it that, then, lips 337 and 339 should be bent inwardly.
• elements 335a to 335e can be applied at the end portion 342 of third cylindrical element 341 and lips 337 and 339 at the end portion 321 of second cylindrical element 305, where these lips 337, 339 are then bent outwardly.
• Figures lk and 11 are alternatives to the embodiment of figure If Figure lk shows a second embodiment of how the present invention can also be applied when three cylindrical elements 303 ", 305 "and 34 are to be inserted into and locked to one another.
• First cylindrical element 303 " is similarly designed as first cylindrical elements 303 and 303 ' of figures l a to If As in Figure I f, second cylindrical element 305 " has a smaller diameter than first cylindrical element 303 " such that first cylindrical element 303 " can be shifted over second cylindrical element 305 " until they arrive at a locked condition.
• Second cylindrical element 305 " has a larger diameter than third cylindrical element 34 ⁇ such that it can be shifted over third cylindrical element 341 ' until they are in a locked condition too.
• second cylindrical element 305 " is provided with further locking means at its end portion 321 " for locking second cylindrical element 305 " to third cylindrical element 341 '.
• First cylindrical element 303 " can be locked to second cylindrical element 305 " in the same way as first cylindrical element 303 ' can be locked to second cylindrical element 305 ' in Figure I f I.e., as in Figure If, in the locked condition between first cylindrical element 303 " and second cylindrical element 305 ", longitudinally retracted portion 325c abuts against outwardly bent lip 317 " such that first cylindrical element 303 " cannot be shifted any further over second cylindrical element 305 ". In that locked condition, opening edge 323a abuts against outwardly bent lip 3 13 ". The same observations apply again as to the play of this locked condition as in the embodiment explained with reference to figures l a to If
• second cylindrical element 305 " is also provided with a self-guiding mechanism 335 ' designed in the same way as self-guiding mechanism 325 of first cylindrical element 303 " and self- guiding mechanism 335 of second cylindrical element 305 '. To that end, it has an outer edge with a longitudinally extending portion 335a', at least one longitudinally retracted portion 335c' and at least one spirally formed edge portion 335e ⁇
• Self-guiding mechanism 335 ' may have a further longitudinally extending portion 335b' opposite to longitudinally extending portion 335a'.
• outwardly bent lip 313 " is cut out from the second cylindrical element 305 " such as to leave an opening 350 defined by an opening edge 350a, another two opening edges and the connection between outwardly bent lip 313 "and the main body of the second cylindrical element 305 ".
• the opening edge 350a is located most close to the outer edge of end portion 321 ' .
• the locking mechanism as provided by opening 350 and self-guiding mechanism 335 ' of second cylindrical element 305 " is designed to cooperate with a locking mechanism of third cylindrical element 341 ' which, in the embodiment shown in figure lk, comprises outwardly bent lips 337' and 339'.
• third cylindrical element 341 ' which, in the embodiment shown in figure lk, comprises outwardly bent lips 337' and 339'.
• Outwardly bent lip 337 ' is designed for a snap-fit connection with opening 350 when second cylindrical element 305 " and third cylindrical element 341 ' are in a locked condition. It prevents second cylindrical element 305 " from being retractable from third cylindrical element 34 ⁇ in said locked condition.
• outwardly bent lip 339' abuts against longitudinally retracted portion 335c' to prevent second cylindrical element 305 " from being further shiftable over third cylindrical element 34 ⁇ in said locked condition.
• Spirally formed edge portion 335e' has the same function as spirally formed edge portion 325e in first cylindrical element 303, 303 ', 303 ". I.e., when second cylindrical element 305 " is shifted over third cylindrical element 341 ', and lip 337' is not well aligned with opening 350, then, second cylindrical element 305 " and third cylindrical element 34 ⁇ are forced to rotate relative to one another when spirally formed edge portion 335e' slides along lip 339' such that lip 337' will snap into opening 350 and establish the locked condition.
• the locking mechanism 335 ' is not applied at the end portion of second cylindrical element 305 " but at end portion 342' of third cylindrical element 341 '. Then, second cylindrical element 305 " is provided with one inwardly bent lip like inwardly bent lip 317 of second cylindrical element 305 and which are designed such as to cooperate with said locking mechanism 335 ' at third cylindrical element 341 ' .
• three cylindrical elements can be locked to one another by starting from first cylindrical element 303 and second cylindrical element 305 of figures l a to l e. Then, third cylindrical element 341 ' has a larger diameter than second cylindrical element 305 such that second cylindrical element 305 can be inserted into third cylindrical element 341 '. Then, the locking mechanisms of second cylindrical element 305 and third cylindrical element 341 ' may have the features as shown in figure l k with reference to elements 335 ', 337 ' and 339' be it that, then, lips 337 ' and 339' should be bent inwardly.
• elements 335a' to 335e' can be applied at the end portion 342' of third cylindrical element 341 ' and lip 339' at the end portion 321 ' of second cylindrical element 305, where lip 339' is then bent outwardly.
• Figure 11 shows a cross section view of first cylindrical element 303, second cylindrical element 305 and third cylindrical element 341 ' when inserted into one another by starting from first cylindrical element 303 and second cylindrical element 305 of figures l a to l e.
• Third cylindrical element 341 ' has a larger diameter than second cylindrical element 305 such that second cylindrical element 305 can be inserted into third cylindrical element 341 '.
• the locking mechanisms of second cylindrical element 305 and third cylindrical element 341 ' have the features as shown in figure l k with reference to elements 335 ', 337' and 339' wherein lips 337 ' and 339' are bent inwardly.
• first cylindrical element 303 may have a second opening 331 as defined by opening edges 331 a to 331 d.
• Second cylindrical element 305 may have an extra inwardly bound lip 329 arranged to make a snap-fit connection with opening 331 in the locked condition.
• an edge 329a of outwardly bound lip 329 abuts against edge portion 331 a of opening 331 and an edge 343a of inwardly bound lip 343 abuts against edge portion 344a of opening 344.
• any play between edge 329a and opening edge 331 a and edge 344a and opening edge 344 is, preferably kept to a minimum, e.g. less than 0.1 mm.
• there may be applications allowing a larger play e.g. less than 0.5 mm, and preferably less than 0.3 mm.
• Figures lg-lj show cylindrical elements 303, 305 with alternative locking mechanisms.
• cylindrical element 303 still comprises opening 323 but has an amended self-guiding mechanism 325.
• longitudinally retracted portions 325c and 325d are shaped like a tapered tip instead of a straight edge like in the embodiments of figures l a- If Moreover, the edges 3 17a and 327a, respectively, of lips 317 and 327, respectively, are also tapered.
• the tapered form of edges 317a and 327a, respectively matches the tapered form of the longitudinally retracted portions 325c and 325d,
• the tapered forms need not necessarily have sharp edged tips.
• the tips may have rounded shapes instead.
• FIG. 77 The alternative embodiment of figures 1 i and lj has the same tapered longitudinally retracted portions 325c and 325d as in figures lg and l h. However, longitudinally retracted portions 325c and 325d at opposing sides of cylindrical element 303 are longitudinally shifted relative to one another. Likewise, opposing lips 317 and 327 in cylindrical element 305 are longitudinally shifted such that, in the locking condition, longitudinally retracted portions 325c and 325d,
• the alternative embodiment of figure lm has the same tapered longitudinally retracted portions 325c and 325d and longitudinally extending portions 325a and 325b as in figures lg and l h.
• lips 317 and 327 in cylindrical element 305 are longitudinally shifted such that, in the locking condition, longitudinally retracted portions 325c and 325d, respectively, still match tapered edges 317a and 327a, respectively, of lips 317 and 327.
• the alternative embodiment of figure l m comprises slits 371 a-371 d which are cut into the first cylindrical element 303 such as to go through it.
• the slits 371 a-371 d provide respectively edges portions 325f, 325e, 372a and 372b with certain resilience. In this way, in a locked position in which edge portion 3 17a of inwardly bent lip 317 abuts against longitudinally retracted portion 325e and edge portion 313a of inwardly bent lip 3 13 abuts against opening edge 323a, even when the distance from edge portion 317a to opening edge 323a is less than the distance from opening edge 323a to tapered edge 317a, the slit 371 c provides tapered edge 317a with certain resilience such that the distance from opening edge 323a to tapered edge 3 17a may be reduced in order to allow the locked position. The rest of the slits provide the same function in their respective edges.
• the slit 371 a may be oriented such as to extend longitudinally in the direction that goes from longitudinally extending portion 325a to longitudinally retracted portion 325d.
• the dimensions of the slits, namely the length, the width, and the position of the slits may be selected for providing a target resilience. As one will understand this target resilience also depends on the material of the cylindrical elements.
• the locking mechanism 325 of figures lb- lm may be provided with longitudinally retracted portion 325c, the locking mechanism 325 may be provided with slits 380a and 380b in addition to or instead of slits 371 a- 371 d, as it can be seen in figure In.
• Slit 380a may be located extending in a direction substantially parallel to longitudinally retracted portion 325c and slit 380b may be located extending in a direction substantially parallel to longitudinally retracted portion 325d.
• the two slits 380a, 380b provide respectively the longitudinally retracted portions 325c and 325d with certain resilience.
• the locking mechanism 325 of figures l i- lj is provided with longitudinally retracted portion 325c and 325d which are longitudinally shifted relative to one another
• the locking mechanism 325 may be provided with slit 390a and a second slit, as it can be seen in figure l o.
• Slit 390a may be located extending in a direction substantially parallel to longitudinally retracted portion 325c and the second slit (not shown) may be located extending in a direction substantially parallel to longitudinally retracted portion 325d.
• the two slits 390a, and second slit provide respectively the longitudinally retracted portions 325c and 325d with certain resilience.
• the locking mechanism of the present invention can advantageously be applied in steerable instruments, e.g., medical steerable instruments.
• two or more locked cylindrical elements are not only prevented from being longitudinally shiftable relative to one another, but also from being rotatable relative to one another.
• Rotatable fixation is obtained by at least one of tangential abutment between lips 313, 329, 337 and corresponding openings 323, .., 333 and tangential abutment between lips 317, 327 and corresponding longitudinally retracted portions 325c, 325d, 335c, 335d
• Figure 2a shows a side view of a non-limiting embodiment of a steerable invasive instrument 240 with one steerable section and figure 2b shows a non-limiting embodiment of a steerable invasive instrument 10 with two steerable sections.
• the steerable invasive instrument 240 as shown in figure 2a comprises an elongated shaft 242 having a proximal end part 241 and a distal end part 243.
• a tool 2 for example a forceps
• Other examples of such a tool are a camera, a manual manipulator, e.g. a pair of scissors, or manipulators using an energy source, e.g. an electrical, ultrasonic or optical energy source.
• a handle 3 is arranged that is adapted for manipulating the tool 2, i.e.
• a control rod (not shown) is present within the elongated shaft 242, which rod connects the handle 3 with the tool 2.
• the rod can be moved by the handle 3 and the movement of the rod is translated into a predetermined movement of the tool 2, as is known to persons skilled in the art and need no further explanation here.
• the shaft 242 may comprise conducting wires to allow a current to flow to a tool, e.g. to heat said tool in order to perform a heat treatment within a human or animal body.
• Distal end part 243 is steerable and flexible. Also proximal end part 241 is flexible. Distal end part 243 can be bent by bending flexible proximal end part 241 , as will become more clear from the below specification with reference to figures 3a to 3d.
• FIG. 2b shows a side view of a steerable invasive instrument 10 with two steerable sections.
• the steerable instrument 10 comprises an elongated tubular body 18 having a proximal end part 1 1 including two actuation proximal zones 14, 15, a distal end part 13 including two flexible distal zones 16, 17, and a rigid intermediate part 12.
• the actuation proximal zones 14, 15 in the present embodiment are configured as flexible proximal zones, and will further be referred to as flexible proximal zones.
• a tool like a forceps 2 is arranged.
• a handle 3 is arranged that is adapted for opening and closing the jaw of the forceps 2, like in the embodiment of Figure 2a.
• Figure 3a shows a longitudinal cross-section of a steerable instrument 2201 that can be applied in the steerable invasive instrument of figure 2a and comprises three co-axially arranged cylindrical elements, i.e. inner cylindrical element 2202, intermediate cylindrical element 2203 and outer cylindrical element 2204.
• Suitable materials to be used for making the cylindrical elements 2202, 2203, and 2204 include stainless steel, cobalt-chromium, shape memory alloy such as Nitinol®, plastic, polymer, composites or other cutable material.
• the inner cylindrical element 2202 comprises a first rigid end part 2221 , which is located at the distal end part 13 of the instrument 2201 , a first flexible part 2222, an intermediate rigid part 2223, a second flexible part 2224 and a second rigid end part 2225, which is located at the proximal end part 1 1 of the instrument 2201.
• the outer cylindrical element 2204 also comprises a first rigid end part 2241 , a first flexible part 2242, an intermediate rigid part 2243, a second flexible part 2244 and a second rigid end part 2245.
• the lengths of the different parts of the cylindrical elements 2202 and 2204 are substantially the same so that when the inner cylindrical element 2202 is inserted into the intermediate cylindrical element 2203 which is inserted into the outer cylindrical element 2204, first flexible part 2222 is longitudinally aligned with first flexible part 2242 and second flexible part 2224 is longitudinally aligned with second flexible part 2244.
• the intermediate cylindrical element 2203 also has a first rigid end part 233 1 and a second rigid end part 2335 which in the assembled condition are located between the corresponding rigid parts 2221 , 2241 and 2225, 2245 respectively of the two other cylindrical elements 2202 and 2204, respectively.
• the intermediate part 2333 of the intermediate cylindrical element 2203 comprises three or more separate longitudinal elements which can have different forms and shapes as will be explained below.
• the second rigid end part 2225 of the inner cylindrical element 2202, the second rigid end part 2335 of the intermediate cylindrical element 2203 and the second rigid end part 2245 of the outer cylindrical element 2204 at the proximal end of the instrument are connected to each other such that they cannot longitudinally move relative to one another anymore and the three cylindrical elements 2202, 2203, 2204 form one integral unit.
• the connections between the three cylindrical elements 2202, 2203 and 2204 are implemented by means of the locking mechanisms as shown in and described with reference to figures l a to If
• the snap-fit connection as shown in figures l a to If can only be established by inserting one cylindrical element into another in a predefined direction, one cannot apply such a snap-fit direction at both ends of the instrument. So, at the other end the connections between the three cylindrical elements 2202, 2203, 2204 should be made in another way such as by welding, gluing or folding a lip present in one cylindrical element into a mating and aligned opening in an adjacent cylindrical element.
• Figure 3b shows the implementation where the distal ends of the cylindrical elements 2202, 2203, and 2204 are provided with the locking mechanisms of the present invention.
• inner cylindrical element 2202 is provided with opening 323 and self-guiding mechanism 325 as explained with reference to figures l a to If Intermediate cylindrical element 2203 is provided with inwardly bent, flexible lip 313 arranged to mate with opening 323, and provided with inwardly bent lip 317 arranged to cooperate with self-guiding mechanism 325 and to abut against edge 325c when the inner cylindrical element 2202 is locked into the intermediate cylindrical element 2203.
• the intermediate cylindrical element 2203 is provided with its own self-guiding mechanism 335 which is constructed in an identical way as self-guiding mechanism 325. Only longitudinally retracted portion 335c of self- guiding mechanism 335 is shown in Figure 3b, which has the same function as longitudinally retracted portion 325c of inner cylindrical element 325. Also, intermediate cylindrical element 2203 has opening 333 designed for the same function as opening 323 in the inner cylindrical element 2202.
• Outer cylindrical element 2204 is provided with an inwardly bent, flexible lip 337 arranged to mate with opening 333, and provided with inwardly bent lip 339 arranged to cooperate with self-guiding mechanism 335 and to abut against edge 335c when the intermediate cylindrical element 2203 is locked into the outer cylindrical element 2204.
• Figure 3b shows the situation where the self-guiding mechanisms 325 and 335, respectively, are provided on the respective cylindrical element that is to be inserted into another one to which it is to be fixedly connected. However, as explained, that may be the other way around.
• intermediate cylindrical element 2203 is provided with two flexible lips like the lips 337 and 339 of the outer cylindrical element 2204, which lips are then bent outwardly.
• the outer cylindrical element 2204 is provided with an opening like opening 333 and a self-guiding mechanism like self-guiding mechanism 335.
• the invention relates to a steerable instrument only comprising cylindrical elements 2202 and 2203 or cylindrical elements 2203 and 2204.
• intermediate cylindrical element 2203 does not have the opening 333 and the self-guiding mechanism 335.
• the opening 323 and self-guiding mechanism 325 may be applied on the intermediate cylindrical element 2203 instead of on the inner cylindrical element 2202, whereas, then, the inner cylindrical element comprises the lips 313, 317, be it that they are then bent outwardly.
• intermediate cylindrical element 2203 does not have the lips 313 and 317.
• the opening 333 and self-guiding mechanism 335 may be applied on the outer cylindrical element 2204 instead of on the intermediate cylindrical element 2203, whereas, then, the intermediate cylindrical element 2203 comprises the lips 337, 339, be it that they are then bent outwardly.
• the intermediate part 2333 of intermediate cylindrical element 2203 comprises a number of longitudinal elements 2338 with a, preferably, uniform cross-section so that the intermediate part 2333 has the general shape and form as shown in the unrolled condition of the intermediate cylindrical element 2203 in figure 3c.
• the intermediate part 2333 is, preferably, formed by a number of over the circumference of the intermediate cylindrical part 2203 equally spaced parallel longitudinal elements 2338.
• the number of longitudinal elements 2338 is at least three, so that the instrument 2201 becomes fully controllable in any direction, but any higher number is possible as well.
• the number of longitudinal elements 2338 is 6 or 8.
• longitudinally elements 2338 are preferably separated from one another by means of spacers such that they cannot tangentially but only longitudinally move relative to one another in the assembled condition.
• Longitudinal steering elements 2338 may, at least in part, be spiraling about a longitudinal axis of the instrument such that an end portion of a respective steering element at the proximal portion of the instrument is arranged at another angular orientation about the longitudinal axis than an end portion of the same longitudinal steering element at the distal portion of the instrument.
• This spiral construction of the longitudinal steering elements allows for the effect that bending of the instrument at the proximal portion in a certain plane may result in a bending of the instrument at the distal portion in another plane, or in the same plane in the same direction.
• a preferred spiral construction is such that the end portion of a respective steering element at the proximal portion of the instrument is arranged at an angular shifted orientation of 180 degrees about the longitudinal axis relative to the end portion of the same longitudinal steering element at the distal portion of the instrument.
• any other angular shifted orientation e.g. 90 degrees, is within the scope of this document.
• the slits may be dimensioned such that movement of a longitudinal element is guided by adjacent longitudinal elements when provided in place in a steerable instrument.
• the removal of material can be done by means of different techniques such as laser cutting, photochemical etching, deep pressing, conventional chipping techniques such as drilling or milling, high pressure water jet cutting systems or any suitable material removing process available.
• laser cutting is used as this allows for a very accurate and clean removal of material under reasonable economic conditions.
• the above mentioned processes are convenient ways as the member 2203 can be made so to say in one process, without requiring additional steps for connecting the different parts of the intermediate cylindrical member as required in the conventional instruments, where conventional steering cables must be fixedly connected in some way to the end parts.
• the same type of technology can be used for producing the inner and outer cylindrical elements 2202 and 2204 with their respective flexible parts 2222, 2224, 2242 and 2244.
• proximal portions and distal portions are constructed in a similar way. However, that need not be the case always as will be explained now.
• the proximal portion may have a wider diameter as shown in figure 3d, which shows a special embodiment of an instrument according to the invention.
• the inner cylindrical element 2202 is composed of a first rigid end part 2225, a first flexible part 2224, an intermediate rigid part 2223, a second flexible part 2222 and a second rigid end part 2221 which is normally used as the operating part of the instrument in that it serves to steer the other end of the unit.
• the outer cylindrical element 2204 is in the same way composed of a first rigid part 2245 , a flexible part 2244, an intermediate rigid part 2243, a second flexible part 2242 and a second rigid part 2241.
• the intermediate cylindrical element 2203 also has a first rigid end part 2335 and a second rigid end part 233 1 which in the assembled condition are located between the corresponding rigid parts 2225 , 2245 and 2221 , 2241 , respectively, of the two other cylindrical elements 2202, 2204.
• the longitudinal elements 2338 are of the type shown in figure 3b, but it will be obvious that any other type described above may be used as well. So far the construction is comparable to the instruments described above.
• connections between the three cylindrical elements 2202, 2203 and 2204 are implemented by means of the locking mechanism as shown in and described with reference to figure 3b.
• the attachments between the three cylindrical elements may be made by welding, gluing or folding a lip present in one cylindrical element into a mating and aligned opening in an adjacent cylindrical element.
• Figure 4a provides a detailed perspective view of the distal portion of the elongated tubular body 18 of the steerable instrument 10 of Figure 2b and shows that the elongated tubular body 18 comprises of a number of co-axially arranged layers or cylindrical elements including an outer cylindrical element 104 that ends after the first flexible distal zone 16 at the distal end portion 13.
• the distal end portion 13 of the outer cylindrical element 104 is connected to a cylindrical element 103 located within and adjacent to the outer cylindrical element 104 by means of locking mechanisms as shown in and discussed with reference to figures l a to If
• the distal end part 13 includes three co-axially arranged layers or cylindrical elements being an inner cylindrical element 101 , a first intermediate cylindrical element 102 and a second intermediate cylindrical element 103 (cf, also figure 4b).
• the distal ends of inner cylindrical element 101 , first intermediate cylindrical element 102 and second intermediate cylindrical element 103 are all three locked to one another.
• second intermediate cylindrical element 103 is, e.g., provided with inwardly bent lips 337, (338) 339 that cooperate with a locking mechanism 333, 335 provided at a distal end portion of first intermediate cylindrical element 102.
• first intermediate cylindrical element 102 is connected to inner cylindrical element 101 by means of the locking mechanism including lips 313, 317, opening 323 and self-guiding mechanism 325.
• this locking mechanism as discussed with reference to figures l a to If may applied instead.
• Outer cylindrical element 104 is provided with a self-guiding mechanism 336 that is designed in the same way as self-guiding mechanisms 325, 335, as well as an opening 330 that is arranged to make a snap-fit connection with an outwardly bent lip (not shown) on second intermediate cylindrical element 103.
• Second intermediate cylindrical element 103 is provided with one or more outwardly bent lips 332, 334 designed to abut against respective longitudinally retracted portions of self-guiding mechanism 336 in the locked condition between second intermediate cylindrical element 103 and outer cylindrical element 104.
• the elongated tubular body 18 as shown in figure 4a comprises four cylindrical elements in total.
• the elongated tubular body 18 according to the embodiment shown in figure 4a comprises two intermediate cylindrical elements 102 and 103 in which the steering members of the steering arrangement are arranged.
• the steering arrangement in the exemplary embodiment of the elongated tubular body 18 as shown in figure 4a comprises the two flexible zones 14, 15 at the proximal end part 1 1 of the elongated tubular body 18, the two flexible zones 16, 17 at the distal end part 13 of the elongated tubular body 18 and the steering members that are arranged between related flexible zones at the proximal 1 1 and distal 13 end parts.
• An exemplary actual arrangement of the steering members is shown in figure 4b, which provides a schematic longitudinal cross-sectional view of the exemplary embodiment of the elongated tubular body 18 as shown in figure 4a.
• Figure 4b shows the four layers or cylindrical elements mentioned above, i.e. the inner cylindrical element 101 , the first intermediate cylindrical element 102, the second intermediate cylindrical element 103, and the outer cylindrical element 104.
• the inner cylindrical element 101 as seen along its length from the distal end to the proximal end of the instrument, comprises a rigid ring 1 1 1 , which is arranged at the distal end part 13 of the steerable instrument 10, a first flexible portion 1 12, a first intermediate rigid portion 1 13, a second flexible portion 1 14, a second intermediate rigid portion 1 15, a third flexible portion 1 16, a third intermediate rigid portion 1 17, a fourth flexible portion 1 18, and a rigid end portion 1 19, which is arranged at the proximal end portion 1 1 of the steerable instrument 10.
• the first intermediate cylindrical element 102 as seen along its length from the distal end to the proximal end of the instrument, comprises a rigid ring 121 , a first flexible portion 122, a first intermediate rigid portion 123, a second flexible portion 124, a second intermediate rigid portion 125, a third flexible portion 126, a third intermediate rigid portion 127, a fourth flexible portion 128, and a rigid end portion 129.
• the second intermediate cylindrical element 103 as seen along its length from the distal end to the proximal end of the instrument, comprises a first rigid ring 131 , a first flexible portion 132, a second rigid ring 133, a second flexible portion 134, a first intermediate rigid portion 135, a first intermediate flexible portion 136, a second intermediate rigid portion 137, a second intermediate flexible portion 138, and a rigid end portion 139.
• the longitudinal dimensions of the first rigid ring 131 , the first flexible portion 132 together with the second rigid ring 133 and the second flexible portion 134, the first intermediate rigid portion 135, the first intermediate flexible portion 136, the second intermediate rigid portion 137, the second intermediate flexible portion 138, and the rigid end portion 139 of the second intermediate cylinder 103, respectively, are aligned with, and preferably approximately equal to the longitudinal dimensions of the rigid ring 1 1 1 , the first flexible portion 1 12, the first intermediate rigid portion 1 13, the second flexible portion 1 14, the second intermediate rigid portion 1 15, the third flexible portion 1 16, the third intermediate rigid portion 1 17, the fourth flexible portion 1 18, and the rigid end portion 1 19 of the first intermediate element 102, respectively, and are coinciding with these portions as well.
• the outer cylindrical element 104 as seen along its length from the distal end to the proximal end of the instrument, comprises a first rigid ring 141 , a first flexible portion 142, a first intermediate rigid portion 143, a second flexible portion 144, and a second rigid ring 145.
• the longitudinal dimensions of the first flexible portion 142, the first intermediate rigid portion 143 and the second flexible portion 144 of the outer cylindrical element 104, respectively, are aligned with, and preferably approximately equal to the longitudinal dimension of the second flexible portion 134, the first intermediate rigid portion 135 and the first intermediate flexible portion 136 of the second intermediate element 103, respectively, and are coinciding with these portions as well.
• the rigid ring 141 has approximately the same length as the rigid ring 133 and is fixedly attached thereto, by a locking mechanism as shown in and discussed with reference to figures l a to If
• the rigid ring 145 overlaps with the second intermediate rigid portion 137 only over a length that is required to make an adequate fixed attachment between the rigid ring 145 and the second intermediate rigid portion 137, respectively, e.g. by spot welding or gluing, or by folding a lip present in one cylindrical element into a mating and aligned opening in an adjacent cylindrical element.
• the rigid rings 1 1 1 , 121 and 131 are attached to each other, also by a locking mechanism as shown in and discussed with reference to Figures l a to If
• the rigid end portions 1 19, 129 and 139 are attached together as well e.g. by spot welding or gluing, or by folding a lip present in one cylindrical element into a mating and aligned opening in an adjacent cylindrical element.
• the construction may be such that the diameter of the cylindrical elements at the proximal portion is larger, or smaller, with respect to the diameter at the distal portion.
• the construction at the proximal portion differs from the one shown in figure 4b.
• the bending angle of a flexible zone at the distal portion will be larger than the bending angle of a corresponding flexible portion at the proximal portion. This has been explained for a single steerable, flexible zone in more detail above with reference to figure 3d.
• the inner and outer diameters of the cylindrical elements 101 , 102, 103, and 104 are chosen in such a way that at a same location along the elongated tubular body 18 that the outer diameter of inner cylindrical element 101 is slightly less than the inner diameter of the first intermediate cylindrical element 102, the outer diameter of the first intermediate cylindrical element 102 is slightly less than the inner diameter of the second intermediate cylindrical element 103 and the outer diameter of the second intermediate cylindrical element 103 is slightly less than the inner diameter of the outer cylindrical element 104, in such a way that a sliding movement of the adjacent cylindrical elements with respect to each other is possible.
• the dimensioning should be such that a sliding fit is provided between adjacent elements.
• a clearance between adjacent elements may generally be in the order of 0.02 to 0.1 mm, but depends on the specific application and material used.
• the clearance is, preferably, smaller than a wall thickness of the longitudinal elements to prevent an overlapping configuration thereof. Restricting the clearance to about 30% to 40% of the wall thickness of the longitudinal elements is generally sufficient.
• flexible zone 14 of the proximal end part 1 1 is connected to the flexible zone 16 of the distal end part 13 by portions 134, 135 and 136, of the second intermediate cylindrical element 103, which form a first set of longitudinal steering members of the steering arrangement of the steerable instrument 10. Furthermore, flexible zone 15 of the proximal end part 1 1 is connected to the flexible zone 17 of the distal end part 13 by portions 122, 123,
• Suitable materials to be used for making the cylindrical elements 101, 102, 103, and 104 include stainless steel, cobalt-chromium, shape memory alloy such as Nitinol®, plastic, polymer, composites or other cutable material.
• Zone 151 comprises the rigid rings 1 1 1 , 121 , and 131.
• Zone 152 comprises the portions 1 12, 122, and 132.
• Zone 153 comprises the rigid rings 133 and 141 and the portions 1 13 and 123.
• Zone 154 comprises the portions 1 14, 124, 134 and 142.
• Zone 155 comprises the portions 1 15, 125, 135 and 143.
• Zone 156 comprises the portions 1 16, 126, 136 and 144.
• Zone 157 comprises the rigid ring 145 and the parts of the portions 1 17, 127, and 137 coinciding therewith.
• Zone 158 comprises the parts of the portions
• Zone 159 comprises the portions 1 18, 128 and 138.
• zone 160 comprises the rigid end portions 1 19, 129 and 139.
• zone 158 In order to deflect at least a part of the distal end part 13 of the steerable instrument 10, it is possible to apply a bending force, in any radial direction, to zone 158. According to the examples shown in figures 4c and 4d, zone 158 is bent downwards with respect to zone 155. Consequently, zone 156 is bent downwards. Because of the first set of steering members comprising portions 134, 135, and 136 of the second intermediate cylindrical element 103 that are arranged between the second intermediate rigid portion 137 and the second rigid ring 133, the downward bending of zone 156 is transferred by a longitudinal displacement of the first set of steering members into an upward bending of zone 154 with respect to zone 155. This is shown in both figures 4c and 4d.
• zone 156 only results in the upward bending of zone 154 at the distal end of the instrument as shown in figure 4c. Bending of zone 152 as a result of the bending of zone 156 is prevented by zone 153 that is arranged between zones 152 and 154. When subsequently a bending force, in any radial direction, is applied to the zone 160, zone 159 is also bent. As shown in figure 4d, zone 160 is bent in an upward direction with respect to its position shown in figure 4c. Consequently, zone 159 is bent in an upward direction.
• the upward bending of zone 159 is transferred by a longitudinal displacement of the second set of steering members into a downward bending of zone 152 with respect to its position shown in figure 4c.
• Figure 4d further shows that the initial bending of the instrument in zone 154 as shown in figure 4c will be maintained because this bending is only governed by the bending of zone 156, whereas the bending of zone 152 is only governed by the bending of zone 159 as described above. Due to the fact that zones 152 and 154 are bendable independently with respect to each other, it is possible to give the distal end part 13 of the steerable instrument 10 a position and longitudinal axis direction that are independent from each other. In particular the distal end part 13 can assume an advantageous S-like shape.
• the steering arrangement of the steerable invasive instrument 10 may comprise conventional steering cables as steering members that are fixedly attached to the respective rigid rings 121 , 133.
• the steering members preferably comprise one or more sets of longitudinal elements that form integral parts of the one or more intermediate cylindrical elements 102, 103.
• the steering members preferably comprise one or more sets of longitudinal elements that form integral parts of the one or more intermediate cylindrical elements 102, 103.
• longitudinal elements comprise remaining parts of the wall of an intermediate cylindrical element 102, 103 after the wall of the intermediate cylindrical element 102, 103 has been provided with longitudinal slits that define the remaining longitudinal steering elements.
• FIG. 4e shows an exemplary embodiment of longitudinal (steering) elements 4 that have been obtained after providing longitudinal slits 5 to the wall of the second intermediate cylindrical element 103 that interconnects proximal flexible zone 14 and distal flexible zone 16 as described above.
• longitudinal steering elements 4 are, at least in part, spiraling about a longitudinal axis of the instrument such that an end portion of a respective steering element 4 at the proximal portion of the instrument is arranged at another angular orientation about the longitudinal axis than an end portion of the same longitudinal steering element 4 at the distal portion of the instrument.
• the slits may be dimensioned such that movement of a longitudinal element is guided by adjacent longitudinal elements when provided in place in a steerable instrument.
• Such flexible parts may have a structure as shown in figure 4a. I.e., the flexibility may be obtained by a plurality of slits 14a, 15a, 16a, 17a.
• two circumferential slits may be provided in a cylindrical element along a same circumferential line where both slits are located at a certain distance from one another.
• a plurality of identical sets of circumferential slits 14a, 15a, 16a, 17a is provided at a plurality of distances in the longitudinal direction of the instrument, where consecutive sets are arranged at an angular rotated position, e.g. each time 90 degrees rotated. In such an arrangement, all parts of the cylindrical element are still connected to each other.
• the different co-axially arranged layers or cylindrical elements 101 , 102, 103, 104, 2202, 2203 and 2204 as described above in relation to the exemplary embodiments of the steerable instruments shown in figures 4b and 3 a, respectively, may be produced by any of the known methods, provided that they are suitable to make a multilayer system.
• a multilayer system is to be understood as being a steerable instrument that comprises at least two separate sets of longitudinal elements 4, 2338 for transferring the movement of the proximal end part to the distal end part.
• the assembly of the different cylindrical elements can be realized in the same way as well.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Quick-Acting Or Multi-Walled Pipe Joints (AREA)
• Mutual Connection Of Rods And Tubes (AREA)
• Mechanical Pencils And Projecting And Retracting Systems Therefor, And Multi-System Writing Instruments (AREA)
• Endoscopes (AREA)

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• 2015
  • 2015-07-16 NL NL2015179A patent/NL2015179B1/en active
• 2016
  • 2016-07-14 WO PCT/NL2016/050522 patent/WO2017010883A2/en active Application Filing

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