Patent attributes
A minimally invasive medical instrument comprises an elongate flexible body comprising a proximal portion, a distal portion, a transition portion between the proximal portion and the distal portion, and an inner sheath extending at least within the proximal portion. The inner sheath comprises a plurality of conduits extending through a wall of the inner sheath. A distal end of each conduit terminates at the transition portion. The flexible body further comprises a steerable tube extending within the distal portion. The steerable tube comprises a plurality of grooves in a wall of the steerable tube. The medical instrument further comprises at least one tendon extending from the proximal portion into the distal portion of the flexible body. In the proximal portion, the tendon extends through at least one conduit of the plurality of conduits. In the distal portion, the tendon extends within at least one groove of the plurality of grooves.
