Abstract: An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

Abstract: An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

Abstract: An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

Abstract: An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

Abstract: A flexible robotic endoscopy slave system includes an endoscope body and a flexible elongate shaft extending therefrom into which at least one tendon driven robotic endoscopic instrument is insertable; a docking station with which the endoscope body is releasably dockable; and a translation mechanism for selectively longitudinally displacing the endoscopic instrument(s) within the flexible elongate shaft when the endoscope body is docked. The translation mechanism can carry and selectively displace actuators that drive each robotic endoscopic instrument by way of tendons. At least one degree of freedom (DOF) of robotic instrument motion is controlled by a pair of actuators and a corresponding pair of tendons. Actuation engagement structures releasably couple the actuators to an adapter structure for driving each endoscopic instrument. Tendon pretensioning can occur automatically under programmable control.

Abstract: An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

Abstract: A flexible robotic endoscopy slave system includes an endoscope body and a flexible elongate shaft extending therefrom into which at least one tendon driven robotic endoscopic instrument is insertable; a docking station with which the endoscope body is releasably dockable; and a translation mechanism for selectively longitudinally displacing the endoscopic instrument(s) within the flexible elongate shaft when the endoscope body is docked. The translation mechanism can carry and selectively displace actuators that drive each robotic endoscopic instrument by way of tendons. At least one degree of freedom (DOF) of robotic instrument motion is controlled by a pair of actuators and a corresponding pair of tendons. Actuation engagement structures releasably couple the actuators to an adapter structure for driving each endoscopic instrument. Tendon pretensioning can occur automatically under programmable control.

Abstract: An eye observation apparatus includes a non-translucent peripheral frame member, a cylindrical light-transmitting member, and an imaging unit. The peripheral frame member includes a tight-fit inner cylindrical surface and a clearance-fit inner cylindrical surface. The cylindrical light-transmitting member includes a tight-fit outer cylindrical surface and a clearance-fit outer cylindrical surface, the tight-fit and clearance-fit outer cylindrical surfaces being coaxial with the tight-fit and clearance-fit inner cylindrical surfaces of the peripheral frame member. A radial clearance between the clearance-fit inner cylindrical surface of the peripheral frame member and the clearance-fit outer cylindrical surface of the cylindrical light-transmitting member is greater than a radial clearance between the tight-fit inner cylindrical surface of the peripheral frame member and the tight-fit outer cylindrical surface of the cylindrical light-transmitting member.

Abstract: A cam mechanism includes a cam ring having front and rear cam grooves which have a common reference cam diagram and are formed so that a front part of the front cam groove and a rear part of the rear cam groove are omitted from the reference cam diagram. A normal-width section and a wide-width section are provided in each of the front and rear cam grooves. In a zoom range, an associated cam follower of a driven member is engaged in the normal-width section of one of the front and rear cam grooves, and another associated cam follower of the driven member is positioned out of the other of the front and rear cam grooves. In a transition state between the zoom range and an accommodated position, both of the associated cam followers are positioned out of the normal-width sections of the respective front and rear cam grooves.

Abstract: An image pickup device mounting structure includes an image pickup device, a reinforcing plate, and a flexible circuit board having at least one electrical component mounted thereon, wherein the reinforcing plate; the image pickup device and a part of the flexible circuit board are superimposed on each other, the reinforcing plate includes at least one cutout portion; and the electrical component is positioned on the part of the flexible circuit board and within the cutout portion.

Abstract: A cam mechanism includes a cam ring having front and rear cam grooves which have a common reference cam diagram and are formed so that a front part of the front cam groove and a rear part of the rear cam groove are omitted from the reference cam diagram. A normal-width section and a wide-width section are provided in each of the front and rear cam grooves. In a zoom range, an associated cam follower of a driven member is engaged in the normal-width section of one of the front and rear cam grooves, and another associated cam follower of the driven member is positioned out of the other of the front and rear cam grooves. In a transition state between the zoom range and an accommodated position, both of the associated cam followers are positioned out of the normal-width sections of the respective front and rear cam grooves.

Abstract: An image pickup device mounting structure includes an image pickup device, a reinforcing plate, and a flexible circuit board having at least one electrical component mounted thereon, wherein the reinforcing plate; the image pickup device and a part of the flexible circuit board are superimposed on each other, the reinforcing plate includes at least one cutout portion; and the electrical component is positioned on the part of the flexible circuit board and within the cutout portion.