Need clear class 6 polyurethane type material 1

I am trying to locate a good material that can be used to coat medical equipment for a client. These are mostly Endoscope type devices and flexible Ultrasound Endoscopes. This is for what is called the "insertion tube" and is the part that is inserts into the body for testing or sugery. My experience is with coatings primarly but not medical coatings. I need a material that is quite like a sprayable polyurethane, crystal clear, but it needs to meet the USP Class 6 specs (for temporary body contact) and must be biosafe. It must also withstand cleaning with Cidex without yellowing. Have any of you gentlemen had experience in this area and can suggest a material and manufacture ? Thank you for any help.

Gene Smith