Abstract: Multi-stage catheter device configured to navigate through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by a rotatable coupler connected to this hollow shaft. The distal position of the proximal catheter can be controlled by up to four independently controlled proximal stage steering cables positioned outside of the shaft, and the shaft itself can be used to rotate the distal catheter about the rotatable coupler. The position of the distal end of the distal catheter can be further controlled by up to four independently controlled distal stage steering cables positioned inside of the hollow shaft. The device is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.

Abstract: In an example, there is provided a method for manipulating a robotic surgery tool, the method comprising: applying tension to a first pull wire to cause a first link of a joint device of the tool to pivot in a first plane relative to a yoke attached to the first link; and applying tension to a second pull wire to cause a second link attached to the yoke to pivot in a second plane orthogonal to the first plane.