DESC:FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
(Section 10 and Rule 13)

1. TITLE OF THE INVENTION:
STEERING SYSTEM FOR DELIVERY CATHETER

2. APPLICANT:
Meril Corporation (I) Private Limited, an Indian company of the address Survey No. 135/139, Muktanand Marg, Bilakhia House, Pardi, Vapi, Valsad-396191 Gujarat, India.

The following specification particularly describes the invention and the manner in which it is to be performed:

FIELD OF INVENTION
[1] The present disclosure relates to a catheter. More particularly, the present disclosure relates to a steering system for a delivery catheter.
BACKGROUND OF INVENTION
[2] Navigating through intricate anatomical structures and tortuous pathways to reach the desired location for catheter placement poses a significant challenge in medical procedures. A catheter is a thin, flexible tube-like medical device that is utilized in various sizes, materials, and designs to fulfill diverse medical purposes. Some common types of catheters include urinary catheters, central venous catheters, cardiac catheters, intravenous catheters and so on. Each type serves specific functions within the realm of medical intervention.
[3] The process of delivering a catheter is minimally invasive but demands precision and expertise. Inserting and positioning the catheter within a body cavity, a blood vessel, or a duct requires careful attention to detail. Once successfully placed, catheters facilitate a variety of medical procedures, including draining fluids, administering medications, conducting measurements or imaging studies, delivering nutrition, diagnosing conditions, and deploying stents, among others.
[4] Navigating through the intricate network of anatomical structures is challenging. Conventional devices necessitate physical exertion and precise motor skills from medical practitioners. For instance, rotating a knob continuously may be required to achieve the desired steering of a distal portion of the catheter so as to position the catheter at a desired location precisely. Additionally, to deflect the catheter in a specific direction, the practitioner might need to rotate the knob accordingly. For e.g., when shifting the catheter from one extreme position to another, the practitioner is required to first rotate the knob to neutralize the catheter’s position. After neutralizing, the practitioner then readjusts and rotates the knob further to deflect the catheter in a new direction. This sequential action of rotating the knob adds to the physical demand.
[5] Consequently, prolonged procedures may induce operator fatigue, potentially compromising the accuracy of the delivery of the catheter when such a manual approach is used. Particularly, in procedures requiring precise catheter placement, like cardiac catheterizations, manual methods can be significantly complex and may lead to fatal errors challenging the effectiveness of the procedure.
[6] Hence, there is a need for a steering system for a delivery catheter that overcomes the problems associated with the conventional devices.
SUMMARY OF THE INVENTION
[7] Particular embodiments of the present disclosure are described herein below with reference to the accompanying drawings, however, it is to be understood that the disclosed embodiments are merely examples of the disclosure, which may be embodied in various forms. Well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.
[8] The present invention relates to a catheter device. In an embodiment, the catheter device includes a steerable shaft and a steering mechanism. The steerable shaft includes a proximal end and a distal end. The steering mechanism is configured to steer the distal end of the steerable shaft to one of a plurality of steering directions.
[9] In an embodiment, the steering mechanism includes at least one control element assembly, a torque generating block and a wheel assembly. The at least one control assembly is configured to receive a trigger to deflect the distal end of the steerable shaft. The torque generating block is operatively coupled to the at least one control element. The wheel assembly is coupled to the torque generating block. In an embodiment, the wheel assembly includes a wheel and at least one follower. The at least one follower is operatively coupled to the wheel and the proximal end of the steerable shaft. Wherein, in response to the trigger received by the at least one control element assembly, the torque generating block is configured to generate a torque and rotate the wheel in one of a clockwise or an anti-clockwise direction. Wherein, upon the rotation of the wheel, the at least one follower is configured to deflect the distal end of the steerable shaft at a pre-defined angle in a corresponding direction.
BRIEF DESCRIPTION OF DRAWINGS
[10] The summary above, as well as the following detailed description of illustrative embodiments, is better understood when read in conjunction with the apportioned drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the disclosure is not limited to specific methods and instrumentality disclosed herein. Moreover, those in the art will understand that the drawings are not to scale.
[11] Fig. 1a depicts a device 100, according to an embodiment of the present disclosure.
[12] Fig. 1b depicts a pull ring 122 coupled to at least one pull wire of the device 100, according to an embodiment of the present disclosure.
[13] Fig. 2a depicts a side view of a handle 140 of the device 100, according to an embodiment of the present disclosure.
[14] Figs. 2b-2c depict a first control element assembly 130 of a steering mechanism of the device 100, according to an embodiments of the present disclosure.
[15] Figs. 2d-2e depict a second control element assembly 132 of the steering mechanism of the device 100, according to an embodiment of the present disclosure.
[16] Figs. 3a-3b depict a torque generating block coupled to the at least one control element assembly, according to an embodiment of the present disclosure.
[17] Figs. 3c-3e depict top perspective views of the torque generating block at various positions, according to an embodiment of the present disclosure.
[18] Fig. 4a depicts an exploded view of a wheel assembly of the steering mechanism provided within the handle 140 of the device 100, according to an embodiment of present disclosure.
[19] Fig. 4b depicts a perspective view of the wheel assembly with at least one tube, according to an embodiment of the present disclosure.
[20] Fig. 4c-4d depict side perspective views of a first follower 202 and a second follower 204, according to an embodiment of the present disclosure.
[21] Fig. 4e depicts a side perspective view of a distal plate 222 and a proximal plate 244, according to an embodiment of the present disclosure.
[22] Fig. 5 depicts a flowchart of a method 500 of assembling the device 100, according to an embodiment of the present disclosure.
[23] Fig. 6 depicts a flowchart of a method 600 of operating the device 100, according to an embodiment of the present disclosure.
[24] Figs. 7a-7c depict an arrangement of various components of the handle 140 when a distal end 120b of a steerable shaft 120 is at a neutral position, according to an embodiment of the present disclosure.
[25] Figs. 8a-8c depict an arrangement of various components of the handle 140 when the distal end 120b of the steerable shaft 120 is at a 180-degree position on a right side, according to an embodiment of the present disclosure.
[26] Figs. 9a-9c depict an arrangement of various components of the handle 140 when the distal end 120b of the steerable shaft 120 is at a 180-degree position on the left side, according to an embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE DRAWINGS
[27] Prior to describing the invention in detail, definitions of certain words or phrases used throughout this patent document will be defined: the terms "include" and "comprise", as well as derivatives thereof, mean inclusion without limitation; the term "or" is inclusive, meaning and/or; the phrases "coupled with" and "associated therewith", as well as derivatives thereof, may mean to include, be included within, interconnect with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have a property of, or the like. Definitions of certain words and phrases are provided throughout this patent document, and those of ordinary skill in the art will understand that such definitions apply in many, if not most, instances to prior as well as future uses of such defined words and phrases.
[28] Reference throughout this specification to “one embodiment,” “an embodiment,” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases “in one embodiment,” “in an embodiment,” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment, but mean “one or more but not all embodiments” unless expressly specified otherwise. The terms “including,” “comprising,” “having,” and variations thereof mean “including but not limited to” unless expressly specified otherwise. An enumerated listing of items does not imply that any or all of the items are mutually exclusive and/or mutually inclusive, unless expressly specified otherwise. The terms “a,” “an,” and “the” also refer to “one or more” unless expressly specified otherwise.
[29] Although the operations of exemplary embodiments of the disclosed method may be described in a particular, sequential order for convenient presentation, it should be understood that the disclosed embodiments can encompass an order of operations other than the particular, sequential order disclosed. For example, operations described sequentially may in some cases be rearranged or performed concurrently. Further, descriptions and disclosures provided in association with one particular embodiment are not limited to that embodiment, and may be applied to any embodiment disclosed herein. Moreover, for the sake of simplicity, the attached figures may not show the various ways in which the disclosed system, method, and apparatus can be used in combination with other systems, methods, and apparatuses.
[30] Furthermore, the described includes, advantages, and characteristics of the embodiments may be combined in any suitable manner. One skilled in the relevant art will recognize that the embodiments may be practiced without one or more of the specific includes or advantages of a particular embodiment. In other instances, additional includes and advantages may be recognized in certain embodiments that may not be present in all embodiments. These includes and advantages of the embodiments will become more fully apparent from the following description and apportioned claims, or may be learned by the practice of embodiments as set forth hereinafter.
[31] This current disclosure pertains to a steerable catheter device (or referred to as a device). The device may be used for cardiac catheterization, urinary catheterization, central venous catheterization, intravenous catheterization and more. A shaft of the device is introduced in the patient’s body and navigated through the vasculature to a target site for performing various medical procedures.
[32] In an embodiment, the device includes a handle having a steering mechanism for steering a distal end of a steerable shaft. The steerable shaft is coupled to the handle. With the help of the steering mechanism, the user can accurately control and maneuver the distal end of the steerable shaft. In an exemplary embodiment, the steering mechanism includes a plurality of control elements (hereinafter, the control element). With the help of the control elements, the user can deflect the distal end of the steerable shaft at various desired angles both in the right or left direction. This improves the predictable positioning of the device while the user can perform other tasks in the medical procedure without requiring continuous readjustments of the steering mechanism to return to a neutral position while changing the direction.
[33] The handle also includes one or more steering indicators indicating at least one of angular rotation, direction of rotation, etc. This allows users to visually determine orientation of the steerable shaft, aiding medical professionals in accurately maneuvering the intricate vascular pathways in the patient’s body.
[34] The device is compact and easier to operate even with a single hand unlike conventional devices that require usage of both hands to rotate the handle for deflecting the distal end of the steerable shaft. The device ensures a consistent navigation of the steerable shaft through the intricate anatomical structures, challenging pathways during procedures due to single hand operation. It also enhances safety, precision, and ease of maneuvering within intricate anatomical structures, facilitating accurate and targeted interventions and eliminating fatigue related errors.
[35] Now referring to the figures, Fig. 1a illustrates an exemplary embodiment of a catheter device 100 (hereinafter, the device 100). In an exemplary embodiment, the device 100 includes a steerable shaft 120 and a handle 140.
[36] The steerable shaft 120 is a tubular structure having one or more lumens (not shown). The steerable shaft 120 has a proximal end 120a and a distal end 120b defining a length therebetween. The length of the steerable shaft 120 may range between 400 mm to 1200 mm. In an embodiment, the length of the steerable shaft 120 is 850 mm. The steerable shaft 120 may be made of material, such as, without limitation, polyether block amide (PEBA), nylon, polyurethane, polytetrafluoroethylene (PTFE), etc., or a combination thereof. In an embodiment, the steerable shaft 120 is made of PEBA.
[37] The proximal end 120a of the steerable shaft 120 is coupled to the handle 140. The handle 140 includes a proximal end 140a and a distal end 140b. The distal end 140b of the handle 140 is coupled to the proximal end 120a of the steerable shaft 120. The steerable shaft 120 may be coupled to the handle 140 using techniques, such as, without limitation, UV bonding, adhesive bonding. In an exemplary embodiment, the proximal end 120a of the steerable shaft 120 is coupled to the handle 140 using UV bonding technique.
[38] The handle 140 is ergonomically designed for easier operation. The handle 140 may have any suitable shape. In an embodiment, the handle 140 has a tubular body and is hollow from inside. The handle 140 may be made of one of a material including, but not limited to, polycarbonate, nylon, acrylonitrile butadiene styrene (ABS), polyethylene, polystyrene, polypropylene, polyether ether ketone, etc., or a combination thereof. In an embodiment, the handle 140 is made of polycarbonate. The handle 140 may have a predefined length ranging between 90 mm and 200 mm. In an embodiment, the length of the handle 140 is 100 mm.
[39] In an embodiment, the handle 140 includes tapering ends at the proximal end 140a and the distal end 140b. While the depicted embodiment includes tapers at both ends, a person skilled in the art will appreciate that numerous variations to the shape of the handle can be made while practicing the inventive features of the present disclosure and the same are within the scope of the present disclosure.
[40] The handle 140 may include at least one hub. In an embodiment, the distal end 140b of the handle 140 is provided with a hub 260. The hub 260 may be a hollow, tubular structure. The hub 260 may include one or more vascular access valve 262 (for example, a hemostasis valve) provided at an outer surface of the hub 260 to maintain hemostasis and reduce the patient’s blood loss.
[41] The handle 140 includes a steering mechanism disposed within the tubular body. The steering mechanism helps in deflecting the steerable shaft 120 to one of a plurality of steering positions, which has been explained later.
[42] During catheterization, first the distal end 120b of the steerable shaft 120 is introduced into the patient’s body followed by the remaining portion of the steerable shaft 120 for performing a desired medical procedure. The distal end 120b of the steerable shaft 120 may be deflectable to one of plurality of steering directions, for example, a left steering direction or a right steering direction at a pre-defined angle with the help of the steering mechanism provided within the handle 140. For example, the steerable shaft 120 can be deflected in the right or left direction at an angle ranging between 60 degrees to 180 degrees. In an exemplary embodiment, the distal end 120b of the steerable shaft 120 is deflectable in one of the left or right direction at 180 degrees.
[43] The steerable shaft 120 includes a pull ring 122 and at least one pull wire coupled to the pull ring 122, as shown in Fig. 1b.
[44] The pull ring 122 is a small ring-like structure provided on the steerable shaft 120 at the distal end 120b. The pull ring 122 may be coupled to the inner surface of the steerable shaft 120 using techniques, such as, without limitation, UV bonding, adhesive bonding, etc. In an embodiment, the pull ring 122 is coupled to the steerable shaft 120 using adhesive bonding technique. The pull ring 122 may be made of platinum, iridium, stainless steel, etc., or a combination thereof. In an embodiment, the pull ring 122 is made of platinum and iridium.
[45] The pull ring 122 is coupled to the at least one pull wire. The at least one pull wire is disposed at least partially within the steerable shaft 120. In an embodiment, the at least one pull wire includes a right pull wire 146a and a left pull wire 146b. The pull wire may include a predefined length. The predefined length of the pull wire may range between 450 mm and 1300 mm. In an embodiment, the length of each pull wire is 900 mm. The pull wire may be made of stainless steel, nitinol, etc. or a combination thereof. In an embodiment, the pull wire is made of stainless steel.
[46] Each pull wire includes a proximal end to a distal end. The distal ends of the pull wires are coupled to the pull ring 122. The pull wires may be coupled to the pull ring 122 using techniques, such as, without limitation, laser welding, spot welding, plasma welding, etc. In an embodiment, each pull wire is welded to the pull ring 122 using laser technique. In another embodiment, the pull ring 122 and the pull wires may form an integrated structure. The proximal ends of the pull wires extend out from the proximal end 120a of the steerable shaft 120 and are coupled to the steering mechanism of the handle 140, which has been explained later.
[47] With the help of the steering mechanism, the pull ring 122 and the pull wires are configured to deflect the distal end 120b of the steerable shaft 120 to one of the left or right steering directions, which has been explained later.
[48] The steering mechanism is pre-configured to deflect the distal end 120b of the steerable shaft 120 to one of the left or right steering directions upon pressing the respective push button. Specifically, the steering mechanism is pre-configured to create a tension in at least one of the pull wires. In response to the tension created in a pull wire, the pull ring 122 is pulled in a corresponding direction. For example, the right pull wire 146a, upon being pulled by the steering mechanism, is configured to pull the pull ring 122 in the right direction, thereby deflecting the steerable shaft 120 in the right steering direction at the predefined angle. Similarly, the left pull wire 146b, upon being pulled by the steering mechanism, is configured to pull the pull ring 122 in the left direction, thereby deflecting the steerable shaft 120 in the left steering direction at the predefined angle.
[49] The steering mechanism includes various components for steering the distal end 120b of the steerable shaft 120 in one of the right or left steering directions. In an exemplary embodiment, the steering mechanism includes at least one control element assembly, a torque generating block and a wheel assembly, which are described below. In response to the trigger received by the at least one control element assembly, the torque generating block is configured to generate a torque in the wheel assembly, which causes the distal end 120b of the steerable shaft 120 to deflect in one of the plurality of steering direction, as explained later.
[50] In an exemplary embodiment, the at least one control element assembly of the steering mechanism includes a first control element assembly 130 and a second control element assembly 132, as shown in Fig. 2a. In an embodiment, the first control element assembly 130 and the second control element assembly 132 are provided towards a distal end 120b of the handle 140. In an embodiment, the handle 140 includes two holes (not shown). Each hole is configured to receive a corresponding control element assembly. In an embodiment, the holes are provided opposite to each other and hence, the first control element assembly 130 and the second control element assembly 132 are placed opposite to each other.
[51] In an embodiment, one of the first control element assembly 130 or the second control element assembly 132 is configured to receive a trigger to deflect the distal end 120b of the steerable shaft 120 in the preconfigured steering direction. For example, in response to the trigger received by the first control element assembly 130, the steerable shaft 120 is pre-configured to deflect in the right steering direction. And, in response to the trigger received by the second control element assembly 132, the steerable shaft 120 is pre-configured to deflect in the left steering direction. It is to be noted that the steering direction can be reversed.
[52] Additionally, or optionally, the handle 140 includes a plurality of steering indicators and/or a plurality of pointers, as shown in Fig. 2a. The plurality of steering indicators and the plurality of pointers are configured to help the users press the appropriate control element assembly for deflecting the distal end 120b of the steerable shaft 120 in one of the left or right steering directions. The plurality of pointers and the plurality of steering indicators may be markers drawn or carved on the handle 140.
[53] In an exemplary embodiment, the plurality of steering indicators includes a neutral indicator 144a, a right steering indicator 144b and a left steering indicator 144c. Each steering indicator indicates the corresponding steering direction in which the distal end 120b of the steerable shaft 120 may be deflected. In an embodiment, the neutral indicator 144a indicates the neutral position of the distal end 120b of the steerable shaft 120. The right steering indicator 144b indicates 90 degrees steering angle of the distal end 120b of the steerable shaft 120 with respect to the neutral position in the right direction. The left steering indicator 144c indicates 90 degrees steering angle of the distal end 120b of the steerable shaft 120 with respect to the neutral position in the left direction.
[54] In an exemplary embodiment, the plurality of pointers includes a set of neutral pointers 144a1-144a2, a set of right pointers 144b1-144b2 and a set of left pointers 144c1-144c2. In the depicted embodiment, each set of the plurality of pointers are represented by drawings depicting the first control element assembly 130 and the second control element assembly 132, respectively, however, it may have any other suitable shape, size and pattern. In an embodiment, the set of neutral pointers 144a1144a2 are aligned with the neutral indicator 144a of the plurality of pointers. In an embodiment, the set of right pointers 144b1-144b2 and the set of left pointers 144c1-144c2 are aligned with the right indicator 114b and the left indicator 144c, respectively. The plurality of pointers indicates the pressed position and/or the unpressed position of the first control element assembly 130 and the second control element assembly 132 corresponding to the respective steering directions.
[55] In situations where the user intends to deflect the distal end 120b of the steerable shaft 120, such as in the right or left direction, the user may refer to the corresponding steering indicator and/or the corresponding set of pointers during operation of the device 100. This helps the user to press the appropriate control element for movement of the distal end 120b of the steerable shaft 120 in the respective steering direction, thereby guiding the user during operation of the device 100. For example, the set of right pointers 144b1-144b2 and the right steering indicator 144b, together, indicate that the first control element assembly 130 is to be triggered to deflect the distal end 120b of the steerable shaft 120 in the right direction. Similarly, the set of left pointers 144c1-144c2 and the left steering indicator 144c, together, indicate that the second control element 142b is to be in the triggered to deflect the distal end 120b of the steerable shaft 120 in the left direction. The set of neutral pointers 144a1-144a2 and the neutral indicator 144a, together, indicate that the first control element 142a and the second control element 142b is configured to remain in unpressed position, when the distal end 120b of the steerable shaft 120 is in the neutral position.
[56] In an embodiment, Fig. 2b depicts the first control element assembly 130 in an inoperative position or in a position in the absence of a trigger. And, Fig. 2c depicts the first control element assembly 130 in a triggered position or in a position upon receiving the trigger.
[57] In an exemplary embodiment, the first control element assembly 130 includes a first control element 142a, a first casing 145a, a first connecting rod 150a and a first locking member A, as in Fig. 2b and 2c. Similarly, the second control element assembly 132 includes a second control element 142b, a second casing 145b, a second connecting rod 150b and a second locking member B, as shown in Figs. 2d-2e. It should be appreciated that the structure, components, function and operation of the second control element assembly 132 are the same as that of the first control element assembly 130 and can be understood from the Figs. 2b and 2c of the first control element assembly 130. Therefore, they are not repeated here for the sake of brevity.
[58] The first control element 142a and the second control element 142b may have a predefined shape, such as, without limitation, cylindrical, cuboidal, cubical, etc. In an embodiment, both the first control element 142a and the second control element 142b have a cylindrical shape. The first control element 142a and the second control element 142b may be made of one of polycarbonate, acrylonitrile butadiene styrene (ABS), etc., or a combination thereof. In an embodiment, the first control element 142a and the second control element 142b are made of ABS.
[59] The first control element 142a is configured to receive a trigger from a user to deflect the distal end 120b of the steerable shaft 120 in its preconfigured direction. For example, the first control element 142a may be pre-configured to deflect the distal end in the right direction. According to an embodiment of the present disclosure, the first control element 142a is a push-button. In other words, the first control element 142a is pressed to provide a trigger to the steering mechanism to deflect the steerable shaft 120 in the right steering direction, as shown in Fig. 2c. Similarly, the second control element 142b is pressed to provide a trigger to the steering mechanisms to deflect the steerable shaft 120 in the left steering direction.
[60] It should be understood that though, the depicted embodiment of each control element of the respective control element assembly is a push-button, it should be appreciated that any other suitable mechanism may be used to provide a trigger to the steering mechanism.
[61] In an embodiment, the first control element 142a is coupled to a first casing 145a. The first casing 145a may be made of one of polycarbonate, acrylonitrile butadiene styrene (ABS), etc., or a combination thereof. In an embodiment, the first casing 145a and the second casing 145b are made of ABS. The first casing 145a may have a predefined shape, including, but not limited, cylindrical, cuboidal, cubical, etc. In an embodiment, the first casing 145a is cylindrical in shape. The first casing 145a is hollow from inside defining a first lumen (not shown) and an outer surface.
[62] In an embodiment, the outer surface of the first casing 145a is coupled to the handle 140. In an embodiment, the first casing 145a is disposed within the hole of the handle 140 using snap fit mechanism, though other suitable coupling mechanisms may be used. The first casing 145a is configured to remain stationary with respect to movement of the first control element 142a.
[63] A partial portion of the first control element 142a is seated within the first lumen of the first casing 145a. The first control element 142a and the first casing 145a may be separate components. With the depicted embodiment including the first control element and the first casing being separate components, a skilled person may still be able to perform the inventive feature of the present disclosure with the first control element and the first casing forming a respective integrated structure.
[64] In an embodiment, the first control element 142a is coupled to the first casing 145a using transition fit technique. In an embodiment, the first casing 145a facilitates in and out movement of the first control element 142a, in response to the trigger by the first control element assembly 130. In other words, the transition fit technique helps the first control element 142a to slightly move in and out of the first casing 145a, in response to the trigger received by the respective control element.
[65] For example, in the triggered position of the first control element assembly 130, the first control element 142a is configured to slightly move inside the first casing 145a, as shown in Fig. 2c. And, in the inoperative position of the first control element assembly 130, the first control element 142a is configured to slightly move out of the first casing 145a, as shown in Fig. 2b. Similarly, the second casing 145b facilitates in and out movement of the second control element 142b, in response to the trigger is received by the second control element assembly 132, as shown in Figs. 2d-2e.
[66] It should be understood that though, the present disclosure describes transition fit technique for coupling the first control element to the first casing, it should be appreciated that any other suitable coupling techniques may be used without deviating the scope of the present disclosure, and the same are within the scope of the present invention.
[67] The first control element 142a is coupled to the first connecting rod 150a. In an embodiment, the first connecting rod 150a generally has a tubular structure. In an embodiment, the first connecting rod 150a includes between a first end 155a and a second end 155b. In an embodiment, the first end 155a of the first connecting rod 150a is coupled to the first control element 142a. The aforesaid coupling may be achieved using techniques, such as, without limitation, adhesive bonding, welding, brazing, soldering, etc., or a combination thereof. In an embodiment, the first connecting rod 150a is welded to the first control element 142a. Similarly, the second connecting rod 150b is coupled to the second control element 142b.
[68] In response to the trigger received by the first control element 142a, the first connecting rod 150a is pre-configured to move in the transverse direction. For example, in response to the trigger received by the first control element 142a, the first connecting rod 150a is pre-configured to move in the left direction. Similarly, in response to the trigger received by the second control element 142b, the second connecting rod 150b is pre-configured to move in the right direction.
[69] The second end 155b of the first connecting rod 150a helps in operatively coupling the first control element assembly 130 with the torque generating block, which has been explained later.
[70] The first connecting rod 150a may have a length and a diameter ranging between 10mm to 30mm, and 2 mm to 4mm, respectively. In an embodiment, the length and the diameter of the first connecting rod 150a is 20 mm and 3 mm, respectively. The first connecting rod 150a may be made of material, such as without, limitation, polycarbonate, nylon, acrylonitrile butadiene styrene (ABS), polyethylene, polystyrene, polypropylene, polyether ether ketone, etc., or combination thereof. In an embodiment, the first connecting rod 150a is made of polycarbonate. The first connecting rod 150a and the second connecting rod 150b may have the same or different length and diameter. In an embodiment, the first connecting rod 150a and the second connecting rod 150b have the same length and the same diameter.
[71] The first connecting rod 150a helps in coupling the first control element 142a with the first locking member A, which has been explained later. The first end 155a of the first connecting rod 150a includes at least one slot. In an embodiment, the first end 155a of the first connecting rod 150a includes a first slot 152a and a second slot 152b, as shown in Fig. 2b. Each slot of the first connecting rod 150a may have a suitable shape. In an embodiment, each slot is carved in an arc shape. The arc shape of each slot is configured to accommodate a partial portion of the first locking member A, thus helping in coupling the first connecting rod 150a with the first locking member A, which has been explained below. Similarly, in an embodiment, a first end 155c of the second connecting rod 150b includes at least one slot, namely, a third slot 152c and a fourth slot 152d, as shown in Fig. 2d-2e.
[72] In an embodiment, the first locking member A includes at least one ball and at least one resilient element coupled to the at least one ball. In an embodiment, the first locking member A includes the first ball 156a and the second ball 156b, as shown in Figs. 2b-2c. In an embodiment, the at least one resilient element includes the first resilient element 154a and the second resilient element 154b, as shown in Figs. 2b-2c. Similarly, the second locking member B includes at least one ball (namely, a third ball 156c and a fourth ball 156d) and at least one resilient element (namely, a third resilient element 154c and a fourth resilient element 154d), as shown in Fig. 2d-2e.
[73] The first locking member A is disposed within the tubular body of the handle 140, as shown in Figs. 2b-2c. The first locking member A is inserted through the hole of the handle 140.
[74] Each ball may be made of any one of the materials including, but not limited to, stainless steel (SS), carbon steel, high-speed steel (HSS), etc., or a combination thereof. In an embodiment, each ball is made of stainless steel. In embodiment, each ball is having a sphere shape, though it may have any other shape. A diameter of each ball may range between 0.8 mm and 3mm. In an exemplary embodiment, each ball has equal dimension having 1.5mm diameter.
[75] In the inoperative position of the first control element assembly 130, each ball is disposed towards the second end of the first connecting rod 150a. A partial portion of each ball is in contact with the walls of the first connecting rod 150a, as shown in Fig. 2b. In an embodiment, in the triggered position of the first control element assembly 130, a partial portion of the first ball 156a and the second ball 156b are seated within the first slot 152a and the second slot 152b on the first connecting rod 150a, respectively, as shown in Fig. 2c. Similarly, in the triggered position of the second control element assembly 132, a partial portion of the third ball 156c and the fourth ball 156d are seated within the third slot 152c and the fourth slot 152d of the second connecting rod 150b, respectively, as shown in Fig. 2e.
[76] The spherical shape of each ball and the arc shape of the corresponding slot facilitate easy coupling and/or decoupling between the first locking member A and the first connecting rod 150a in the triggered and/or inoperative position of the first control element assembly 130. In an embodiment, the arc shape of each slot on the first connecting rod 150a provides more surface area for the corresponding balls of the first locking member A to engage.
[77] Each resilient element (the first resilient element 154a, the second resilient element 154b, the third resilient element 154c and the fourth resilient element 154d) are disposed on the corresponding ball the first ball 156a, the second ball 156b, the third ball 156c and the fourth resilient element 154d. The first resilient element 154a and the second resilient element 154b may be made of any suitable material, such as without limitation, carbon steel, stainless steel. In an embodiment, the first resilient element 154a and the second resilient element 154b are made of carbon steel.
[78] According to an embodiment, the first resilient element 154a and the second resilient element 154b are compression springs. Each resilient element is configured to provide resilience to hold the corresponding control element assembly (the first control element assembly 130 and the second control element assembly 132) in the triggered position from the inoperative position, upon receiving the trigger.
[79] Together, the first ball 156a coupled with the first resilient element 154a and the second ball 156b coupled with the second resilient element 154b form the first locking member A. The first locking member A is configured to lock the first control element assembly 130 in the triggered position.
[80] During the inoperative position of the first control element assembly 130, in response to the transverse movement of the first ball 156a and the second ball 156b with the wall of the first connecting rod 150a each resilient element (the first resilient element 154a and the second resilient element 154b) is configured to exert a compression force, as shown in Fig. 2b. Similarly, each resilient element (the third resilient element 154c and the fourth resilient element 154d) is configured to experience compression force, when the second control element assembly 132 is in the inoperative position, as shown in Fig. 2d.
[81] In response to the transverse movement of the first connecting rod 150a upon receiving the trigger, the first ball 156a and the second ball 156b are configured to roll on the surface of the wall of the first connecting rod 150a and engage with the first slot 152a and the second slot 152b, respectively. In response to the interaction between the first ball 156a and the first slot 152a, and the second ball 156b and the second slot 152b, the first resilient element 154a and the second resilient element 154b are configured to provide resilience to the corresponding ball and hold the respective balls within the respective slots. This prevents movement/slippage of the first ball 156a and the second ball 156b from the respective slot, thereby locking the first control element assembly 130 in the triggered position. Similarly, each resilient element of the second control element (e.g., the third resilient element 154c and the fourth resilient element 154d) are configured to provide resilience to and hold the corresponding ball (the third ball 156c and the fourth ball 156d) within the respective slots of the second connecting rod 150b (the third slot 152c and the fourth slot 152d), respectively, thereby holding the second control element assembly 132 in the triggered position.
[82] The at least one control element assembly is operatively coupled to the torque generating block. Figs. 3a-3b depict the coupling between the at least one control element assembly and the torque generating block. The torque generating block is disposed within the hollow body of the handle 140.
[83] In an exemplary embodiment, the torque generating block includes a bar 160 and a disc 170. The bar 160 is operatively coupled to the first control element 142a and the second control element 142b. In an embodiment, the first connecting rod 150a and the second connecting rod 150b are coupled to the bar 160. Specifically, the second end 155b of the first connecting rod 150a and the second end 155d of the second connecting rod 150b are coupled to the bar 160.
[84] The first connecting rod 150a and the second connecting rod 150b are coupled perpendicularly to bar 160. In an embodiment, the first connecting rod 150a is coupled from one side (say, a first side) of the bar 160. And, the second connecting rod 150b is coupled to the bar 160 from a second side (side opposite to the first side) of the bar 160, as shown in Fig. 3b. The first connecting rod 150a and the second connecting rod 150b are coupled at a corresponding center point on the respective side of the bar 160. The first connecting rod 150a and the second connecting rod 150b may be coupled to the bar 160 using techniques, such as, without limitation, adhesive bonding, welding, brazing, soldering, etc. In an embodiment, the first connecting rod 150a and the second connecting rod 150b are welded to the bar 160. Thereby coupling the first control element 142a and the second control element 142b to the torque generating block.
[85] In response to the transverse motion of one of the first connecting rod 150a or the second connecting rod 150b, the bar 160 is configured to reciprocate the movement in the corresponding direction. For example, in response to the movement of the first connecting rod 150a moving in the left direction, the bar 160 is pre-configured to move in the corresponding direction. And in response to the movement of the second connecting rod 150b moving in the right direction, the bar 160 is pre-configured to move in the corresponding direction.
[86] The bar 160 may have a length range between 10mm and 25 mm. In an embodiment, the bar 160 has a length of 18mm. The bar 160 may be made of any suitable material, such as, without limitation, polycarbonate, nylon, acrylonitrile butadiene styrene (ABS), polyethylene, polystyrene, polypropylene, polyether ether ketone, etc., or a combination thereof. In an embodiment, the bar 160 is made of polycarbonate.
[87] In an embodiment, the bar 160 includes a first portion and a second portion. In an exemplary embodiment, the bar 160 includes a slot 162. In an embodiment, the slot 162 is provided towards the first portion of the bar 160. The slot 162 helps in coupling the bar 160 to the disc 170, which has been explained later. In an embodiment, the second portion of the bar 160 is solid.
[88] The bar 160 is operatively coupled to the disc 170. The disc 170 is generally circular in shape having a diameter and a thickness. The diameter and the thickness of the disc 170 may range between 10mm to 20mm and 2mm to 5mm, respectively. In an embodiment, the diameter and the thickness of the disc 170 is 15mm and 3mm, respectively. The disc 170 may be made of any suitable material, such as, without limitation, polycarbonate, nylon, acrylonitrile butadiene styrene (ABS), polyethylene, polystyrene, polypropylene, polyether ether ketone, etc., or a combination thereof. In an exemplary embodiment, the disc 170 is made of polycarbonate.
[89] The disc 170 includes a first face and a second face. In an embodiment, the disc 170 includes a pin 172, as shown in Figs. 3a-3b. The pin 172 is provided towards a periphery of the first face of the disc 170, as shown in Fig. 3a.
[90] The pin 172 is generally cylindrical in shape, though it may have any other suitable shape. The pin 172 may be made of material, such as, without limitation, acrylonitrile butadiene styrene, polycarbonate, polypropylene, etc. In an embodiment, the pin 172 is made of polycarbonate. In an embodiment, the pin 172 and the disc 170 are separate components. The pin 172 may be coupled to the first face of the disc 170 using techniques, such as, without limitation UV bonding, adhesive bonding, laser welding etc. In an embodiment, the pin 172 is coupled to the disc 170 using adhesive bonding. In another embodiment, the pin 172 and the disc 170 form an integrated structure.
[91] The pin 172 is disposed within the slot 162 of the bar 160, thereby coupling the disc 170 to the bar 160. In an embodiment, the bar 160 is aligned at a central axis, say at A1, of the disc 170.
[92] In response to the translational movement of the bar 160 in one of the left or right direction, the pin 172 is pre-configured to move within the slot 162 between a first point B1 and a second point B2. In response to the movement of the pin 172 within the slot 162, the disc 170 is configured to rotate in one of the clockwise or anticlockwise direction. The length of the slot 162 determines the maximum angle up to which the disc 170 can rotate. In response to the trigger provided to the at least one control element, the disc 170 is pre-configured to rotate in one of a clockwise direction or an anticlockwise direction.
[93] Exemplary depictions of the movement of the disc 170 due to the movement of the control element is demonstrated in Figs. 3c-3e. In absence of trigger (i.e., in the inoperative position of the first control element 142a and the second control element 142b), the pin 172 of the disc 170 is at the first point B1 in the slot 162 of the bar 160, as shown in Fig. 3c.
[94] In response to the first control element 142a being triggered, the first connecting rod 150a is pre-configured to push the bar 160 in the left direction, as shown in Fig. 3d. In response to the movement of the bar 160 in the left direction, the pin 172 of the disc 170 is configured to move within the slot 162 from the first point B1 to the second point B2. In response to the movement of the pin 172, the disc 170 is pre-configured to rotate in the anticlockwise direction.
[95] Similarly, in response to the second control element 142b being pressed, the second connecting rod 150b is pre-configured to push the bar 160 in the right direction, as shown in Fig. 3e. In response to the movement of the bar 160 in the right direction, the pin 172 of the disc 170 is configured to move within the slot 162 from the first point B1 to the second point B2. In response to the movement of the pin 172, the disc 170 is pre-configured to rotate in the clockwise direction.
[96] Fig. 4a depicts the wheel assembly, according to an embodiment of the present disclosure. The wheel assembly is coupled to the torque generating block, specifically, to the disc 170 of the torque generating block, which has been explained later. In an exemplary embodiment, the wheel assembly includes a proximal driveshaft 180a, a distal driveshaft 180b, an axle 182, a wheel 200 and at least one follower, as shown in Figs. 4a-4e.
[97] In an embodiment, the proximal driveshaft 180a and the distal driveshaft 180b generally have tubular body, as shown in Fig. 4a. The proximal driveshaft 180a and the distal driveshaft 180b include a respective first end and a respective second end. The proximal driveshaft 180a and the distal driveshaft 180b may have a respective predefined length and a respective predefined diameter. The proximal driveshaft 180a and the distal driveshaft 180b may have the same or different length and the diameter. In an embodiment, the proximal driveshaft 180a and the distal driveshaft 180b have the same length and diameter. The length and the diameter of the proximal driveshaft 180a and the distal driveshaft 180b may range between 30 mm and 80 mm, and 1 mm and 4 mm, respectively. In an embodiment, the length and the diameter of the proximal driveshaft 180a and the distal driveshaft 180b are 50 mm and 2.5 mm, respectively.
[98] The proximal driveshaft 180a and the distal driveshaft 180b may be made of any suitable material, such as, without limitation, acrylonitrile butadiene styrene (ABS), polyethylene, polystyrene, polypropylene, polyether ether ketone, etc., or a combination thereof. In an exemplary embodiment, the proximal and distal driveshaft (180a and 180b) are made of polycarbonate.
[99] The proximal driveshaft 180a is coupled to the disc 170. Specifically, the first end of the proximal driveshaft 180a is coupled to the second face of the disc 170 using techniques, such as, without limitation, adhesive bonding, laser welding, UV bonding, etc. or a combination thereof. In an embodiment, the proximal driveshaft 180a is coupled to the disc 170 using adhesive bonding. Thus, coupling wheel assembly with the torque generating block.
[100] The second end of the proximal driveshaft 180a is coupled to the axle 182. The axle 182 generally has a tubular body. The axle 182 includes a proximal end and a distal end. The axle 182 includes a predefined length and a predefined diameter ranging between 50 mm and 200 mm, and 5 mm and 50 mm, respectively. In an embodiment, the predefined length and the predefined diameter are 120 mm and 20 mm, respectively. The axle 182 may made of materials including, but not limited to, polycarbonate (PC), polypropylene (PP), polyethylene (PE), acrylonitrile butadiene styrene (ABS), etc., or a combination thereof. In an embodiment, the axle 182 is made of polycarbonate.
[101] The axle 182 is sandwiched between the proximal driveshaft 180a and the distal driveshaft 180b. In other words, the axle 182 is coupled to the proximal driveshaft 180a and the distal driveshaft 180b. Specifically, the proximal end and the distal end of the axle 182 are coupled to the second end of the proximal driveshaft 180a and the first end of the distal driveshaft 180b, respectively. The axle 182 is coupled to the proximal driveshaft 180a and the distal driveshaft 180b using techniques, such as, without limitation, adhesive bonding, laser welding, UV bonding, etc. In an embodiment, the axle 182 is coupled to the proximal driveshaft 180a and the distal driveshaft 180b using adhesive bonding.
[102] The wheel 200 is coupled to the axle 182. In an embodiment, the wheel 200 includes a hole (not shown) at a center. The axle 182 is disposed within the hole and is fixedly coupled to the wheel 200. The wheel 200 may be coupled to the axle 182 using techniques, such as, without limitation, welding, soldering, adhesive bonding, etc. In an embodiment, the wheel 200 is coupled to the axle 182 using adhesive bonding technique. The wheel 200 may have a thickness and a diameter range between 3 mm to 5 mm and 10 mm to 40 mm, respectively. In an embodiment, the thickness and diameter of the wheel 200 is 5 mm and 30 mm, respectively. The wheel 200 may be made of any suitable material, such as, without limitation, polycarbonate, nylon, acrylonitrile butadiene styrene (ABS), polyethylene, polystyrene, polypropylene, polyether ether ketone, etc., or combination thereof. In an embodiment, the wheel 200 is made of polycarbonate.
[103] A center point of the wheel 200 (where the wheel 200 is coupled to the axle 182) remains aligned with the longitudinal axis of the axle 182.
[104] In response to the trigger received by the at least one control element assembly, the torque generating block is configured to generate the torque and rotate the wheel 200 of the wheel assembly in one of a clockwise or anticlockwise direction. Specifically, the disc 170 of the torque generating block is configured to generate the torque and rotate the wheel 200 in one of the clockwise or anticlockwise direction, which is explained below.
[105] In response to the rotation of the disc 170 in one of the clockwise or the anticlockwise direction, the proximal driveshaft 180a, the distal driveshaft 180b and the axle 182 are pre-configured to rotate in the corresponding direction along a respective longitudinal axis. For example, in response to the rotation of the disc 170 in the clockwise direction, the proximal driveshaft 180a, the distal driveshaft 180b and the axle 182 are pre-configured to rotation the clockwise direction along the respective longitudinal axis. And, in response to the rotation of the disc 170 in the anticlockwise direction, the proximal driveshaft 180a, the distal driveshaft 180b and the axle 182 are pre-configured to rotate in the same direction along the respective longitudinal axis.
[106] Upon rotation of the axle 182, each point on the circumference of the wheel 200 is configured to make a circular motion about the longitudinal axis of the axle 182. In response to the rotation of the axle 182 in one of the clockwise direction or the anticlockwise direction, the wheel 200 is configured to rotate in the corresponding direction. For example, in response to the rotation of the axle 182 in the clockwise direction (which is caused due to the rotation of the disc 170 in the clockwise direction), the wheel 200 is pre-configured to rotate in the clockwise direction. Similarly, in response to the rotation of the axle 182 in the anticlockwise direction (which is caused due to the rotation of the disc 170 in the clockwise direction), the wheel 200 is pre-configured to rotate in the anticlockwise direction. Thus, the rotational motion of the disc 170 is transferred to the wheel 200 via the axle 182.
[107] The wheel 200 is coupled to the axle 182 in such a way that the wheel 200 is inclined at a pre-defined angle relative to the longitudinal axis of the axle 182. The pre-defined angle of inclination of the wheel 200 relative to the longitudinal axis of the axle 182 may range between 30 degrees and the 60 degrees. In an exemplary embodiment, the pre-defined angle of inclination of the wheel 200 is 45 degrees relative to the longitudinal axis of the axle 182.
[108] The combined rotation and inclination of the wheel 200 with respect to the axle 182 is configured to create a tilted axis of rotation of the wheel 200 with respect the longitudinal axis of the axle 182. The tilted axis of rotation of the wheel 200 with respect to the axle 182 helps in creating a wobbling motion of the wheel 200 while the wheel 200 rotates in one of the clockwise or anticlockwise direction.
[109] The wobbling motion of the wheel 200 is explained here. Due to the inclination of the wheel 200, each point on a circumference of the wheel 200 has a respective distance from the longitudinal axis of the axle 182. The respective distance between the longitudinal axis of the axle 182 and each point on the circumference varies based on a corresponding vertical position of each point aligned along the inclination. Thus, in response to the rotation of the axle 182, the corresponding vertical position of each point is configured to change with respect to the longitudinal axis of the axle 182.
[110] In response to the change in the vertical position, each point on the circumference of the wheel 200 is configured to oscillate in a direction parallel to the longitudinal axis of the axle 182 and rotate about the longitudinal axis of the axle 182. The rotational motion and the oscillatory motion of the wheel 200 combine to create an overall wobbling motion of the wheel 200 where the motion of the points alternates in forward and backward directions relative to the longitudinal axis of the axle 182.
[111] The wobbling motion of the wheel 200 is further illustrated by exemplary points (a first point 200a and a second point 200b) taken on the circumference of the wheel 200, as shown in the fig. 4b. In an embodiment, the first point 200a and the second point 200b are diametrically opposite to each other on the circumference of the wheel 200. In response to the rotation of the axle 182 in one of the clockwise direction or the anticlockwise direction, the exemplary points (the first point 200a and the second point 200b) are configured to rotate around the longitudinal axis of the axle 182 and oscillate parallel in a direction parallel to the longitudinal axis of the axle 182. In response to the oscillatory motion, the first point 200a and the second point 200b are configured to move transversely in a direction opposite to each other.
[112] For example, in response to the rotation of the axle 182 in the clockwise direction, the first point 200a and the second point 200b on the wheel 200 are configured to rotate in the clockwise direction around the longitudinal axis of the axle 182. The first point 200a is configured to move in the backward direction and the second point 200b on the wheel 200 is configured to move in the forward direction, simultaneously, due to the oscillatory motion in a direction parallel to the longitudinal axis of the axle 182.
[113] In response to the rotation of the axle 182 in the anticlockwise direction, the first point 200a and the second point 200b is configured to rotate on the wheel 200 are configure to rotate in the anticlockwise direction around the longitudinal axis of the axle 182. The first point 200a is configured to move in the forward direction and the second point 200b is configured to move in the backward direction, simultaneously, due to the oscillatory motion in a direction parallel to the longitudinal axis of the axle 182.
[114] The simultaneous movement of some points in a forward direction and movement of some points in the backward direction while the wheel 200 rotates results in the wobbling motion of the wheel 200.
[115] The wheel 200 is operatively coupled with the at least one follower. In an embodiment, the at least one follower includes a first follower 202 and a second follower 204, as shown in Figs. 4a-4b.
[116] The first follower 202 and the second follower 204 may have a predefined shape, such as, without limitation, C-shape, ellipse, oval shape, etc. In an exemplary embodiment, the first follower 202 and the second follower 204 are C-shaped. The first follower 202 and the second follower 204 may be made of material, such as, without limitation, polycarbonate, acrylonitrile butadiene styrene (ABS), polypropylene (PP), Polyvinyl Chloride (PVC), etc. In an embodiment the first follower 202 and the second follower 204 are made of polycarbonate. The first follower 202 and the second follower 204 are provided opposite to each other, as shown in Fig. 4b.
[117] In an embodiment, each follower includes a corresponding proximal end and a corresponding distal end. In an embodiment, the first follower 202 and the second follower 204 include a pair of first legs 202a and a pair of second legs 204a, respectively, as shown in Figs. 4c-4d.
[118] The first proximal end 202c and the first distal end 202d of the first follower 202, respectively, include the first leg 202a, as shown in Fig. 4d. Similarly, the second proximal end 204c and the second distal end 204d of the second follower 204, respectively, include the second leg 204a, as shown in Fig. 4c.
[119] Each follower includes a respective pair of projections, as shown in Figs. 4c-4d. As shown in Fig. 4d, each projection (or first projection) 203 is perpendicularly coupled to the respective first leg 202a of the first follower 202. Similarly, as shown in Fig. 4c, each projection (or second projection) 205 is perpendicularly coupled to a respective second leg 204a of the second follower 204.
[120] The first projections 203 may be separate components from the first follower 202. The first projections 203 may be coupled to the first follower 202 using techniques, such as, adhesive bonding. The first projections 203 and the first follower 202 may be an integrated structure formed using techniques, such as without limitations, molding, machining, etc. The second projections 205 may be coupled with the second follower 204 using the same technique.
[121] Each projection may have a predefined shape, including, tubular, cylindrical, polygonal etc. In an embodiment, each projection generally has cylindrical shape. Each projection may be made of material, such as, without limitation, polycarbonate, acrylonitrile butadiene styrene (ABS), polypropylene (PP), Polyvinyl Chloride (PVC), etc. In an embodiment, each projection is made of polycarbonate.
[122] The pair of first projections 203 include a predefined gap therebetween. The predefined gap between the pair of second projections 205 are same as that of the predefined gap between the pair of first projections 203. The dimensions of the predefined gap between the pair of first projections 203 is same as that of the thickness of the wheel 200. The predefined gap between the pair of first projections 203 and the predefined gap between the pair of second projections 205 is configured to receive the surface of the wheel 200 while the wheel 200 rotates within the predefined gap. The pair of first projections 203 and the pair of second projections 205 include polished surfaces. The first projections 203 and the second projections 205 are configured to interact with the surface of the wheel 200.
[123] In response to the wobbling motion of the wheel 200, the first follower 202 and the second follower 204 are pre-configured to move in a transverse direction. The first follower 202 is pre-configured to move transversely in a direction opposite to the direction of motion of the second follower 204, in response to the wobbling motion of the wheel 200.
[124] For example, in response to the rotation of the wheel 200 in the clockwise direction, the first point 200a and the second point 200b on the circumference of the wheel 200, simultaneously, move in the forward and the backward direction, respectively. In response to the wobbling motion of the wheel 200, the first follower 202 (interacting with the first point 200a of the wheel 200) is pre-configured to move in the backward direction. And, the second follower 204 (interacting with the second point 200b of the wheel 200) is pre-configured to move the forward direction, simultaneously.
[125] In response to the rotation of the wheel 200 in the anticlockwise direction, the first point 200a and the second point 200b on the circumference of the wheel 200 simultaneously move in the backward direction and the forward direction, respectively. In response to the wobbling motion of the wheel 200, the first follower 202 (interacting with the first point 200a of the wheel 200) is pre-configured to move in the forward direction. And, the second follower 204 (interacting with the second point 200b of the wheel 200) is pre-configured to move the backward direction, simultaneously.
[126] The at least follower is operatively coupled to the proximal end 120a of the steerable shaft 120.The at least one follower may include at least one tube. In an exemplary embodiment, the first follower 202 includes a first tube 212 and a second tube 214. In an exemplary embodiment, the second follower 204 includes a third tube 216 and a fourth tube 218.
[127] The first proximal end 202c and the first distal end 202d are coupled to a first tube 212 and a second tube 214, respectively. Similarly, the second proximal end 204c and the second distal end 204d are coupled to a third tube 216 and a fourth tube 218, respectively. The followers and the tubes may be separate components. The first tube 212 and the second tube 214 may be coupled to the first follower 202, using techniques, such as, without limitation, adhesive bonding, laser welding, UV bonding etc. The first tube 212 and the second tube 214 may form an integrated structure with the first follower 202 using techniques, such as, without limitation, machining, molding technique, etc. The third tube 216 and the fourth tube 218 are also coupled to the second follower 204 using the same techniques.
[128] The first tube 212, the second tube 214, the third tube 216 and the fourth tube 218 are generally tubular in structure. The first tube 212, the second tube 214, the third tube 216 and the fourth tube 218 may have the same or different length and diameter. In an embodiment, the first tube 212, the second tube 214, the third tube 216 and the fourth tube 218 have the same length and the same diameter. The length and the diameter of the first tube 212, the second tube 214, the third tube 216 and the fourth tube 218 may range between 50 mm and 100 mm, and 5 mm and 20 mm, respectively. In an embodiment, the length and the diameter of the first tube 212, the second tube 214, the third tube 216 and the fourth tube 218 are 50 mm and 5 mm, respectively.
[129] The at least one follower of the wheel assembly is coupled to the proximal ends of the at least one pull wire of the steerable shaft 120.
[130] The first tube 212 includes a proximal end 212b and a distal end 212a. The distal end 212b is coupled to the first follower 202. In an embodiment, the distal end 212a of the first tube 212 of the first follower 202 are coupled to the proximal end right pull wire 146a. And, a distal end 216a of the third tube 216 of the second follower 204 are coupled the proximal end of left pull wire 146b. In response to the rotation of the wheel 200 in one of the clockwise or anticlockwise direction, the at least one follower is configured to deflect the distal end 120b in one of the left or right direction, as explained below. In response to the movement of the first follower 202 in the backward direction, the right pull wire 146a is configured to be pulled, thereby deflecting the steerable shaft 120 in the right direction. Similarly, in response to the movement of the second follower 204 in the backward direction, the left pull wire 146b is configured to be pulled, thereby deflecting the steerable shaft 120 in the left direction.
[131] In an embodiment, the device 100 includes a proximal plate 244 and a distal plate 222 provided within the handle 140, as shown in Fig. 4e. The proximal plate 244 and the distal plate 222 may be made of material, such as, without limitation, polycarbonate, nylon, acrylonitrile butadiene styrene (ABS), polyethylene, polystyrene, polypropylene, polyether ether ketone, etc., or a combination thereof. In an embodiment, the proximal plate 244 and the distal plate 222 are made of polycarbonate. The proximal plate 244 and the distal plate 222 may have a shape, including, but not limited to, curved rectangle, circle, square, etc. In an embodiment, the proximal plate 244 and the distal plate 222 are curved rectangular in shape.
[132] Each plate may have a predefined length and a predefined thickness ranging between 50mm and 100 mm, and 3 mm and 8 mm, respectively. In an embodiment, the predefined length and the predefined thickness of each plate is 60 mm and 5 mm, respectively.
[133] The distal plate 222 and the proximal plate 244 may be kept at a predefined distance. The predefined distance may range between 40mm and 80mm. In an exemplary embodiment, the predefined distance between the distal plate 222 and the proximal plate 244 is 50 mm. The axle 182 coupled to the wheel 200, the first follower 202 and the second follower 204 are provided between the distal plate 222 and the proximal plate 244.
[134] Each plate may include at least one peripheral hole configured to receive a corresponding tube of the at least one tube. In an embodiment, the distal plate 222 and the proximal plate 244 includes a corresponding first hole (222a, 244a) and a corresponding second hole (222b, 244b), as shown in Fig. 4e.
[135] The first hole 222a of the distal plate 222 and the first hole 244a of the proximal plate 244 are configured to receive the first tube 212 and the second tube 214 of the first follower 202, respectively. The second hole 222b of the distal plate 222 and the second hole 244b of the proximal plate 244 are configured to receive the third tube 216 and the fourth tube 218 of the second follower 204, respectively.
[136] In response to the transverse motion of the first follower 202 and the second follower 204, one peripheral hole of the at least one peripheral hole is configured to receive the corresponding tube of the at least one tube. For example, in response to the backward motion of the first follower 202 and the forward motion of the second follower 204, the first hole 244a of the proximal plate 244 and the second hole 222b of the distal plate 222 are configured to receive the second tube 214 of the first follower 202 and the third tube 216 of the second follower 204, respectively. And, in response to the forward motion of the first follower 202 and the backward motion of the second follower 204, the first hole 222a of the distal plate 222 and the second hole 244b of the proximal plate 244 is configured to receive the first tube 212 of the first follower 202 and the fourth tube 218 of the second follower 204, respectively.
[137] Further, the proximal plate 244 and the distal plate 222 includes a corresponding central hole (244c, 222c). In an embodiment, the proximal plate 244 includes a first central hole 244c provided between the first hole 244a and the second hole 244b. The first central hole 244c of the proximal plate 244is configured to receive the proximal driveshaft 180a. Similarly, the distal plate 222 includes a second central hole 222c provided between the first hole 222a and the second hole 222b. The second central hole 222c of the distal plate 222 are configured to receive the distal driveshaft 180b. The first central hole 244c of the proximal plate 244 and the second central hole 222c of the distal plate 222 allows the rotation of the proximal driveshaft 180a and the distal driveshaft 180b, respectively.
[138] The proximal plate 244 and the distal plate 222 are coupled to an inner surface of the handle 140, using a rod (not shown). The rod acts like a vertical stand for the proximal plate 244 and the distal plate 222 and helps in coupling the proximal plate 244 and the distal plate 222 with the inner surface of the handle 140. The coupling of the proximal plate 244 and the distal plate 222 to the inner walls of the handle 140 ensures stability for the various components of the steering mechanism, as described earlier, thereby minimizing unwanted movement or slippage of the coupled components during the use. Though the description of the present disclosure describes that rod is used in coupling proximal plate and the distal plate with the inner surface of the handle, it should be understood that the proximal plate and the distal plate may be coupled to the inner surface of the handle using any other suitable techniques, and the same is within the scope of the present disclosure.
[139] Fig. 5 depicts a flowchart of a method 500 of assembling the device 100, according to an embodiment of the present disclosure. The sequential steps disclosed herein the method 500 of assembling the steering mechanism are provided for illustrative purposes and are not intended to limit the scope of the present disclosure. The steps may be performed in a different order or concurrently, where applicable, without deviating the scope of the present disclosure.
[140] Firstly, the steering mechanism is assembled. As mentioned earlier, the steering mechanism includes the control element assemblies, the torque generating block, the wheel assembly and the proximal plate 244 and the distal plate 222.
[141] For initiating the assembly of the steering mechanism, each control element, the torque generating block and the wheel assembly are assembled, individually, at step 502.
[142] At step 502a, the first control element assembly 130 and the second control element assembly 132 are assembled, individually. The first control element 142a of the first control element assembly 130 is coupled to the first casing 145a and the second control element 142b of the second control element assembly 132 is coupled to the second casing 145b. The coupling between the corresponding control element and the respective casing has been explained in the above paragraph 60 and paragraph 61.
[143] The first control element 142a and the second control element 142b are coupled to the first connecting rod 150a and the second connecting rod 150b, respectively. The method of coupling has been explained in the context of paragraph 64.
[144] At step 502b, the torque generating block is assembled. In an embodiment, the pin 172 of the disc 170 is disposed within the slot 162 of the bar 160, thus assembling the torque generating block.
[145] At step 502c, the wheel assembly is assembled. In an embodiment, the proximal end and the distal end of the axle 182 are coupled to the proximal driveshaft 180a and the distal driveshaft 180b, respectively. The wheel 200 is coupled to the axle 182 at an inclined angle (e.g., 45 degrees).
[146] The wheel 200 is operatively coupled to the at least one follower (e.g., the first follower 202 and the second follower 204). In an embodiment, the wheel 200 is disposed within the predefined gaps between pair of first projections 203 and the pair of second projections 205, as explained earlier in the context of paragraph 115.
[147] This completes the step 502 of assembling each control element assembly, the torque generating bloc and the wheel assembly, individually.
[148] At step 504, the control element assemblies, the torque generating block, the wheel assembly are assembled together to form the steering mechanism.
[149] At step 504a, both the control element assemblies are operatively coupled to the torque generating block. In an embodiment, the first connecting rod 150a and the second connecting rod 150b are coupled to the bar 160, thus coupling each control element assemblies with the torque generating block. The coupling mechanisms have been mentioned earlier in the context of paragraph 80.
[150] At step 504b, the torque generating block is operatively coupled to the wheel assembly. In an embodiment, the distal driveshaft 180b is coupled to the second face of the disc 170. The coupling mechanism has been discussed earlier in the context of paragraph 95.
[151] At step 504c, the wheel assembly is coupled to the at least one plate (the proximal plate 244 and the distal plate 222). In an embodiment, the first tube 212 and the second tube 214 of the first follower 202 are disposed within the first holes (244a, 222a) of the proximal plate 244 and the distal plate 222, respectively.
[152] The third tube 216 and the fourth tube 218 of the second follower 204 are disposed within the second holes (244b, 222b) of the proximal plate 244 and the distal plate 222, respectively.
[153] The proximal driveshaft 180a and the distal driveshaft 180b is disposed within the first and second central holes (244c and 222c) of the proximal plate 244 and the distal plate 222, respectively. Thus, coupling the wheel assembly with the proximal plate 244 and the distal plate 222.
[154] This completes the step 504 of assembling the control element assembly, the torque generating block, the wheel assembly, the proximal plate 244 and the distal plate 222 together to form the steering mechanism.
[155] At step 506, the steering mechanism is coupled with the handle 140.
[156] At step 506a, each control element assembly are assembled with the handle 140. In an embodiment, the first casing 145a and the second casing 145b are coupled to the handle 140, which has been explained earlier in the context of the paragraph 59.
[157] Further, the first locking member A and the second locking member B are disposed within the handle 140. The first locking member A and the second locking member B are operatively coupled to the first connecting rod 150a and the second connecting rod 150b, respectively. Thus, establishing the coupling between the first control element assembly 130, the second control element assembly 132 and the handle 140.
[158] At step 506b, the proximal plate 244 and the distal plate 222 are coupled to the inner wall of the handle 140.
[159] This completes the step 606 of assembling the steering mechanism with the handle 140.
[160] At step 508, the steering mechanism is coupled to the steerable shaft 120 of the device 100. In an embodiment, the at first follower 206a and the second follower 206b of the cam assembly are coupled to the right pull wire 146a and the left pull wire 146b, respectively. Thus, completing the assembly of the device 100, according to an embodiment of the present disclosure.
[161] Fig. 6 depicts a flowchart of a method 600 of operating the device 100, according to an embodiment of the present disclosure.
[162] The method 600 commences at step 602, where the user introduces the steerable shaft 120 into patient’s body. During the insertion, the distal end 120b of the steerable shaft 120 is in the neutral position.
[163] At step 602a, the first control element assembly 130 and the second control element assembly 132 are in inoperative position, as shown in Fig. 7a and Fig. 7b, respectively. In an embodiment, the first ball 156a and the second ball 156b are in contact with the walls of the first connecting rod 150a. The third ball 156c and the fourth ball 156d are in contact with the second connecting rod 150b. In other words, the first ball 156a, the second ball 156b, the third ball 156c and the fourth ball 156d are disengaged from the first slot 152a, the second slot 152b, the third slot 152c and the fourth slot 152d, respectively, provided on the corresponding connecting rod, as shown in Figs. 8a-8b. The surface of contact between each ball and the corresponding connecting rod is reduced. The reduced surface of contact increases the compression force acting upon the respective resilient element (i.e., the first resilient element 154a, the second resilient element 154b, the third resilient element 154c, the fourth resilient element 154d).
[164] At step 602b, the first and second connecting rods (150a and 150b) are stationary at its position. The bar 160 is disposed at the center axis A1 on the disc 170, as shown in Fig. 3c. The pin 172 of the disc 170 is disposed within the slot 162 of the bar 160 at the point B1.
[165] At step 602c, the disc 170, the proximal driveshaft 180a, the distal driveshaft 180b and the wheel 200 are stationary at a respective place. The first follower 206a and the second follower 206b are disposed opposite from each other, as shown in Fig. 7c. The first follower 206a and the second follower 206b are stationary at a respective place.
[166] The distal end 212a of the first tube 212 and the proximal end 214b of the second tube 214 are received by the second hole 222b of the distal plate 222 and the second hole 244b of the proximal plate 244, respectively. Similarly, the distal end 216a of the third tube 216 and the proximal end 218b of the fourth tube 218 are received by the first hole 222a of the distal plate 222 and the first hole 244a of the proximal plate 244, respectively.
[167] At step 602d, as the first follower 202 and the second follower 204 are stationary at a respective position, there is no movement of the first tube 212, the second tube 214, the third tube 216 and the fourth tube 218. As a result, no tension is experienced by the right pull wire 146a and the left pull wire 146b coupled to the distal end 212a of the first tube 212 and the third distal end 216a of the third tube 216. Consequently, the distal portion of the steerable shaft 120 is at the neutral position.
[168] At step 604, the user triggers a first desired control element assembly with the help of the plurality of steering indicators and the plurality of pointers.
[169] At step 604a, for example, if the user requires to deflect the distal end 120b of the steerable shaft 120 in the right direction, the user refers the set of right pointers 144b1-144b2 that are aligned with the right steering indicator 144b of the plurality of steering indicators and, as shown in Fig. 2a.
[170] As mentioned above, the set of right pointers 144b1-144b2 guides the user to trigger the first desired control element assembly (e.g., the first control element assembly 130) so as to deflect the distal end 120b of the steerable shaft 120 in the first desired steering direction (e.g., right steering direction). In other words, the user is guided to press the first control element 142a to deflect the distal end 120b of the steerable shaft 120 in the right direction by the pre-defined angle (i.e., 180 degrees), as shown in Fig. 8b. While, the second control element assembly 132 is in the inoperative position, as shown in Fig. 8a.
[171] In response to the pressing of the first control element 142a, the first connecting rod 150a is pre-configured to move in the left direction. The first slot 152a and the second slot 152b provided on the first connecting rod 150a are configured to engage with the first ball 156a and the second ball 156b, respectively, as shown in Fig. 8b. The increased contact surface between the first slot 152a and the second slot 152b on the first connecting rod 150a and the corresponding balls results in expansion of the first resilient element 154a and the second resilient element 154b. Expansion of the first resilient element 154a and the second resilient element 154b provides necessary resilience force for holding the first control element assembly 130 in the triggered position.
[172] The third and the fourth ball (156c and 156d) are disengaged from the corresponding third and fourth slot (152c and 152d) provided on the second connecting rod 150b, as shown in Fig. 8a. Thus, the second control element assembly 132 is configured to remain in the inoperative position when the distal end 120b of the steerable shaft 120 is to be deflected in the right direction.
[173] At step 604b, in response to the movement of the first connecting rod 150a, the bar 160 is pre-configured to move in the corresponding direction (i.e., towards the left direction), as show in Fig. 3d. In response to the movement of the bar 160 in the left direction, the pin 172 of the disc 170 is pre-configured to move within the slot 162 of the bar 160 from the point B1 to B2. In response to the movement of the pin 172 within the slot 162 of the bar 160, the disc 170 is pre-configured to rotate in the clockwise direction.
[174] At step 604c, as mentioned above, the length of the slot 162 of the bar 160 determines the extent of rotation of the disc 170. In an embodiment, the movement of the pin 172 within the slot 162 causes a half rotation of the disc 170. In response to the half rotation of the disc 170, the wheel 200 is configured to rotate up to the same extent in the corresponding direction. The half rotation of the disc 170 in the clockwise direction is transferred to the wheel 200 by the distal driveshaft 180b. The wheel 200 is configured to make wobbling motion, where some points on the circumference of the wheel 200 is configured to move in the forward direction and some points on the circumference of the wheel 200 is configured to move in the backward direction, simultaneously. For example, the first point 200a is configured to move in the forward direction and the second point 200b is configured to move in the backward direction, simultaneously, while the wheel 200 rotates in the clockwise direction.
[175] At step 604d, the rotational and wobbling motion of the wheel 200 is translated into linear motion of the at least one follower. As the wheel 200 undergoes half rotation in the clockwise direction and wobble along the longitudinal axis of the axle 182, the at least one follower interacts with the surfaces of the wheel 200. For example, the first follower 202 (interacting with the first point 200a of the wheel 200) is configured to move in the backward direction, the second follower 204 (interacting with the second point 200b of the wheel 200) is configured to move in the forward direction, as shown in Fig. 8c.
[176] As the first follower 202 moves in the proximal direction/backward direction, a distal end 214a of the second tube 214 of the first follower 202 is received by the first hole 244a of the proximal plate 244. Simultaneously, the second follower 204 moves in the distal/forward direction, a proximal end 216b of the third tube 216 is received by the second hole 222b of the distal plate 222.
[177] At step 604e, the movement of the first follower 202 in the backward direction generates tension in the right pull wire 146a, resulting in the right pull wire 146a being pulled. This action causes the distal end 120b of the steerable shaft 120 to deflect in the first desired direction, which is the right direction.
[178] At step 606, the user triggers a second desired control element with the help of the plurality of steering indicators and the plurality of pointers so as to deflect the distal end 120b of the steerable shaft 120 in a second desired direction.
[179] At step 606a, for example, if the user requires to deflect the distal end 120b of the steerable shaft 120 in the left direction, the user refers the set of left pointers 144c1-144c2 that are aligned with the left steering indicator 144c of the plurality of steering indicators, as shown in Fig. 2a.
[180] As mentioned above, the set of left pointers 144c1-144c2 guides the user to trigger the second desired control element assembly (e.g., the second control element assembly 132) so as to deflect the distal end 120b of the steerable shaft 120 in the second desired steering direction (e.g., left steering direction). In other words, the user is guided to press the second control element 142b to deflect the distal end 120b of the steerable shaft 120 in the left direction by the pre-defined angle (i.e., 180 degrees), as shown in Fig. 9a. While, the first control element 142a are in the inoperative position, as shown in Fig. 9b.
[181] At step 606b, in response to the pressing of the second control element 142b, the second connecting rod 150b is pre-configured to move in the right direction. The third ball 156c and the fourth ball 156d are configured to engage with the third slot 152c and the fourth slot 152d provided on the second connecting rod 150b, respectively, as shown in Fig. 9a. The increased surface of contact between the at third and the fourth slot (152c and 152d) on the second connecting rod 150b and the corresponding ball results in expansion of the third resilient element 154c and the fourth resilient element 154d. Expansion of the third resilient element 154c and the fourth resilient element 154d provides necessary resilience force for holding the second control element 142b in triggered position.
[182] At step 606c, in response to the movement of the second connecting rod 150b, the bar 160 is pre-configured to move in the corresponding direction (i.e., towards the right direction), as shown in Fig. 3e. In response to the movement of the bar 160 in the right direction, the pin 172 of the disc 170 is pre-configured to move within the slot 162 of the bar 160 from the point B1 to B2. In response to the movement of the pin 172 within the slot 162 of the bar 160, the disc 170 is pre-configured to rotate in the anticlockwise direction.
[183] As mentioned above, the length of the slot 162 of the bar 160 determines the extent of rotation of the disc 170. In an embodiment, the movement of the pin 172 within the slot 162 causes a half rotation of the disc 170. In response to the half rotation of the disc 170, the wheel 200 is configured to rotate up to the same extent in the corresponding direction. The half rotation of the disc 170 in the anticlockwise direction is transferred to the wheel 200 by distal driveshaft 180b.
[184] At step 606d, the rotational and wobbling motion of the wheel 200 is translated into linear motion of the at least one follower. As the wheel 200 undergoes half rotation in the anticlockwise direction and wobble along the longitudinal axis of the axle 182, the at least one follower interacts with the surfaces of the wheel 200. For example, the first follower 202 (interacting with the first point 200a of the wheel 200) is configured to move in the forward direction, the second follower 204 (interacting with the second point 200b of the wheel 200) is configured to move in the backward direction, as shown in Fig. 9c.
[185] As the first follower 202 moves in the distal direction/forward direction, a proximal end 212b of the first tube 212 of the first follower 202 is received by the first hole 222a of the distal plate 222. Simultaneously, the second follower 204 moves in the proximal/backward direction, a distal end 218a of the fourth tube 218 is received by the second hole 244b of the proximal plate 244.
[186] At step 606e, the movement of the second follower 204 in the backward direction generates tension in the left pull wire 146b, resulting in the left pull wire 146b being pulled. This action causes the distal end 120b of the steerable shaft 120 to deflect in the second desired direction, which is the left direction.
[187] The scope of the invention is only limited by the appended patent claims. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and/or configurations will depend upon the specific application or applications for which the teachings of the present invention is/are used. ,CLAIMS:Claims:
1. A catheter device (100) comprising:
a) a steerable shaft (120) having a proximal end (120a) and a distal end (120b);
b) a steering mechanism configured to steer the distal end (120b) of the steerable shaft (120) to one of a plurality of steering directions, the steering mechanism comprising:
i. at least one control element assembly (130, 132) for receiving a trigger to deflect the distal end (120b) of the steerable shaft (120);
ii. a torque generating block operatively coupled to the at least one control element; and
iii. a wheel assembly coupled to the torque generating block, including
a. a wheel (200); and
b. at least one follower (202, 204) operatively coupled to the wheel (200) and the proximal end (120a) of the steerable shaft (120);
wherein, in response to the trigger received by the at least one control element assembly (130, 132), the torque generating block is configured to generate a torque and rotate the wheel (200) in one of a clockwise or an anti-clockwise direction,
wherein, upon the rotation of the wheel (200), the at least one follower (202, 204) is configured to deflect the distal end (120b) of the steerable shaft (120) at a pre-defined angle in a corresponding direction.
2. The catheter device (100) as claimed in claim 1, wherein the steerable shaft (120) includes:
a) a pull ring (122) provided at the distal end (120b) of the steerable shaft (120); and
b) at least one pull wire disposed at least partially within the steerable shaft (120), each pull wire (146a, 146b) of the at least one pull wire includes a distal end coupled to the pull ring (122) and a proximal end extending out from the proximal end (120a) of the steerable shaft (120); and
wherein, the each pull wire (146a, 146b) is proximally coupled to a corresponding follower (206a, 206b) of the at least one follower.
3. The catheter device (100) as claimed in claim 1, wherein each control element assembly (130,132) of the at least one control element assembly (130,132) includes:
a) a control element (142a, 142b) configured to receive the trigger to deflect the distal end 120b of the steerable shaft 120 in one of the plurality of steering directions.
4. The catheter device (100) as claimed in claim 1, wherein each control element assembly (130, 132) of the at least one control element assembly (130, 132) includes:
a) a casing (145a, 145b) to facilitate in and out movement of a control element (142a, 142b) of the control element assembly (130,132) in response to the trigger received by the control element (142a, 142b) of the control element assembly (130,132).
5. The catheter device (100) as claimed in claim 1, wherein each control element assembly (130,132) of the at least one control element assembly (130, 132) includes:
a) a connecting rod (150a, 150b) coupled to a control element (142a, 142b) of the control element assembly (130, 132), the connecting rod (150a, 150b) comprises:
i. at least one slot (152a, 152b, 152c and 152d) provided towards a first end,
b) a locking member (A, B) comprising:
i. at least one ball (156a, 156b, 156c and 156d);
ii. at least one resilient element, each resilient element (154a, 154b, 154c and 154d) being disposed on a corresponding ball of the at least one ball (156a, 156b, 156c and 156d);
c) wherein, in response to the trigger received by a control element assembly (130, 132), one slot (152a, 152b, 152c and 152d) of the at least one slot is configured to receive the corresponding ball (156a, 156b, 156c and 156d) of the at least one ball of the locking member (A, B); and
d) wherein, in response to the disposition of the ball (156a, 156b and 156c, 156d), a respective resilient element (154a, 154b, 154c, 154d) of the at least one resilient element is configured to hold the corresponding ball (156a, 156b, 156c, 156d) within the one slot (152a, 152b, 152c, 152d), thereby holding the control element assembly (130, 132) in the triggered position.
6. The catheter device (100) as claimed in claim 1, wherein the torque generating block includes:
a) a bar (160) coupled to the at least one control element assembly (130, 132) via a corresponding connecting rod (150a, 150b), the bar (160) includes a slot (162); and
b) a disc (170) comprising a pin (172) disposed within the slot (162) of the bar (160);
wherein, in response to the trigger received by the at least one control element assembly (130, 132), the bar (160) is configured to move translationally in one of a left or right direction,
wherein, in response to the translational movement of the bar (160), the pin (172) is configured to move within the slot (162) of the bar (160) between a first point (B1) and a second point (B2), and
wherein, in response to the movement of the pin (172) within the slot (162), the disc (170) is configured to rotate in one of the clockwise or anticlockwise direction.
7. The catheter device (100) as claimed in claim 1, wherein the wheel assembly further includes:
a) a proximal driveshaft (180a),
b) a distal driveshaft (180b) coupled to a disc (170) of the torque generating block, and
c) an axle (182) coupled between the proximal driveshaft (180a) and the distal driveshaft (180b),
wherein, the wheel (200) is coupled to the axle (182) and is inclined at a pre-defined angle relative to a longitudinal axis of the axle (182), such that the inclination establishes a titled axis of rotation of the wheel (200), causing the wheel (200) to wobble during the rotation.
8. The catheter device (100) as claimed in claim 7, wherein the pre-defined angle of inclination of the wheel 200 relative to the longitudinal axis of the axle 182 ranges between 30 degrees and the 60 degrees.
9. The catheter device (100) as claimed in claim 1, wherein each follower (202, 204) includes a pair of projections (203, 205) having a predefined gap therebetween for receiving the wheel (200).
10. The catheter device (100) as claimed in claim 1, wherein each follower (202, 204) includes at least one tube (212, 216) coupled to at least pull wire (146a, 146b) of the steerable shaft (120).
11. The catheter device (100) as claimed in claim 1, wherein the catheter device (100) includes a distal plate (222) and a proximal plate (244), each plate (222, 244) includes:
a) at least one peripheral hole (222a, 222b, 244a and 244b) configured to receive a corresponding tube of at least one tube (212, 214, 216, 218) of the at least one follower (202, 204), and
b) a corresponding central hole configured to receive a distal driveshaft (180b) and a proximal driveshaft (180a) of the wheel assembly, respectively.
12. The catheter device (100) as claimed in claim 1, wherein the catheter device (100) includes a plurality of steering indicators (144a, 144b, 144c) indicating the corresponding steering direction of the plurality of steering directions in which the distal end (120b) of the steerable shaft (120) is deflectable.
13. The catheter device (100) as claimed in claim 1, wherein the catheter device (100) includes a plurality of pointers (144a1-144a2, 144b1-144b2, 144c1-144c2) aligned with a respective steering indicator (144a, 144b, 144c) of the plurality of steering indicators, the plurality of pointers configured to guide the user to press the appropriate control element for deflection of the distal end (120b) of the steerable shaft (120) in the respective steering direction.