Abstract: A medical probe includes a flexible insertion tube, having a distal end for insertion into a body cavity of a patient, and a distal tip, which is disposed at the distal end of the insertion tube and is configured to be brought into contact with tissue in the body cavity. A resilient member couples the distal tip to the distal end of the insertion tube and is configured to deform in response to pressure exerted on the distal tip when the distal tip engages the tissue. A position sensor within the probe senses a position of the distal tip relative to the distal end of the insertion tube, which changes in response to deformation of the resilient member.

Abstract: An endoscope includes a bending section for bending a bending portion, a manipulating section for operating the bending portion to bend the bending portion, a drive section for bending the bending portion with the bending section, a brake instruction section and a brake release instruction section, and a bend amount detecting section. In response to a brake instruction, the bend amount at a point in time the brake instruction was given is detected, and the drive section is so controlled as to maintain the bend amount whereas in response to a brake release instruction, the drive force of the drive section for maintaining the bend amount is gradually reduced.

Abstract: A manipulator operation system includes a treatment instrument distal end movement control section having an endoscope treatment instrument having a bending portion and a distal end portion, a bending driving section and a bending operating section. The manipulator operation system includes imaging mechanism having an imaging section that includes an optical system having a field curvature, images, observing mechanism having a display section that displays a taken image, detecting mechanism having a detecting section that detects an arrangement position of the distal end portion, field curvature information acquiring mechanism having a field curvature information acquiring section that acquires field curvature information of the taken image, and adjusting mechanism having an adjustment section that adjusts a ratio of an operation amount of the bending operating section and a driving amount of the bending driving section based on the arrangement position and the field curvature information.

Abstract: An endoscope includes a control method input section provided in a bending operation input unit and configured to input a control method of a bending operation, and a control method detector provided in an operation section body and configured to detect the input control method of the bending operation. The endoscope includes an activated portion provided in the bending operation input unit and configured to change its activated state in response to the bending operation in a bending operation input section, an activated state detector provided in the operation section body and configured to detect the activated state of the activated portion, and a drive member provided in the operation section body and configured to be driven in accordance with the detected control method and the detected activated state, thereby bending a bending section.

Abstract: An endoscope insertion shape detecting device of the present invention comprises an insertion shape detection portion for detecting an insertion shape of an endoscope insertion portion, an insertion shape image generation portion for generating an insertion shape figure of the endoscope insertion portion according to the insertion shape, a marking processing portion for carrying out a control to add a mark to the insertion shape figure for output as a control for the insertion shape image generation portion in a first observation for the subject, a memory portion for storing subject information, the insertion shape figure, and information on a position to which the mark is added in the insertion shape figure, and a position detection information output portion for outputting position detection information when a distal end portion of the insertion shape figure overlaps the mark position information in second observation made for the same subject.

Abstract: An endoscope insertion shape analysis system of the present invention includes an insertion state acquisition unit that acquires coordinate values of a plurality of locations in an insertion portion of an endoscope inserted in an examinee, an insertion shape detection unit that detects at least some insertion shapes of the insertion portion inserted in the examinee based on the coordinate values at the plurality of locations, a coordinate plane setting unit that sets a plurality of coordinate planes according to the coordinate values and the insertion shapes at the plurality of predetermined locations, an insertion shape projecting unit that projects the insertion shapes onto the plurality of coordinate planes and an insertion shape judging unit that judges whether or not a predetermined shape exists in the insertion shapes projected onto the plurality of coordinate planes.

Abstract: An endoscope inserted-shape detecting apparatus 8 includes a sense coil unit 23 in which multiple sense coil groups of sense coil groups 23A to 23I for detecting magnetic fields generated by multiple source coils 21 in an inserted-shape detecting probe 6 are placed as a part of the endoscope inserted-shape detecting apparatus 8, a signal detecting section 33, a source coil position analyzing section 35 and a signal control section 37 that selects a magnetic-field detecting element to be used for detection of a magnetic field signal based on the magnetic field generated by each of the source coils 21 from the sense coil groups 23A to 23I in a control section based on positional information signals outputted from the source coil position analyzing section 35.

Abstract: A medical probe includes a flexible insertion tube, having a distal end for insertion into a body cavity of a patient, and a distal tip, which is disposed at the distal end of the insertion tube and is configured to be brought into contact with tissue in the body cavity. A coupling member couples the distal tip to the distal end of the insertion tube and includes a tubular piece of an elastic material having a helical cut therethrough along a portion of a length of the piece.

Abstract: A driving block includes a plurality of magnetic-field generating elements and a driving signal generating section, and the magnetic field generated by the plurality of magnetic-field generating elements is detected by a plurality of magnetic-field detecting elements. A shape calculating block calculates a shape of an insertion portion of an endoscope based on a frequency component corresponding to a frequency of the driving signal in a detection signal detected by the plurality of magnetic-field detecting elements. Oscillation frequency of the reference clock for deciding the frequency of the driving signal is changeably set by the frequency setting section, and the reference clock with oscillation frequency set by the frequency setting section is supplied to both of the driving block and the shape calculating block.

Abstract: An endoscopic form detection device includes a posture detecting section configured to detect a posture of each of sensor units based on measurement data in the sensor unit, and a linear form detecting section configured to detect a detected linear form of an inserting section on an assumption that a form between the respective sensor units is a linear link whose dimension is equal to an inter-sensor dimension based on the detected posture of each of the sensor units. The endoscopic form detection device includes a form correcting section configured to compensate at least a position of each of the sensor units by using a particle filter, and configured to detect a corrected form obtained by correcting the detected linear form.

Abstract: An endoscopic form detection device includes a posture detecting section configured to detect a posture of each of sensor units based on measurement data in the sensor unit, and a linear form detecting section configured to detect a detected linear form of an inserting section on an assumption that a form between the respective sensor units is a linear link whose dimension is equal to an inter-sensor dimension based on the detected posture of each of the sensor units. The endoscopic form detection device includes a curve form detecting section configured to perform curve interpolation with respect to the detected linear form detected on an assumption that a form between the respective sensor units is an arc whose arc length is equal to the inter-sensor dimension, and configured to detect a detected curve form.

Abstract: An endoscope system comprises an endoscope, medical instrument, operating unit, first and second drive units, and control unit. The endoscope comprises a flexible insertion tube being inserted into an object being examined. The medical instrument is partially inserted into the object through the insertion tube and the operating unit is used for commanding the medical instrument to operate. The first drive unit drives the medical instrument to enable an inserting and pulling-out operation of the medical instrument with the object through the insertion tube. The second drive unit drives the medical instrument to enable the medical instrument to perform a therapeutic operation in the object. The control unit controls drive of the first and second driving devices depending on both an operated state of the operating device and an interference state caused between the medical instrument and the insertion tube when the instrument is actually used.

Abstract: A curving control device to which an electrically-controlled endoscope is connected has a main CPU for primarily performing curving driving control, and a monitoring CPU for monitoring whether the operating state relating to curving actions is normal or abnormal. IN the event of detecting an abnormality from the monitoring CPU, the curving control device also performs processing for handling the occurrence of the abnormality, such as outputting an emergency stop through an interlock via the main CPU, turning the main power and the like of a servo driver OFF.

Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

Abstract: A medical instrument including a medical catheter having a distal end insertable within a body lumen of a patient, having a first flexible catheter segment, and having a second flexible catheter segment located distal the first flexible catheter segment. The first flexible catheter segment includes a first loop sensor and includes an active first catheter stiffener adapted to stiffen and un-stiffen substantially only the first flexible catheter segment. The second flexible catheter segment includes a second loop sensor and includes an active second catheter stiffener adapted to stiffen and un-stiffen substantially only the second flexible catheter segment. A method for using the medical instrument is also presented.

Abstract: An endoscope shape monitoring system that is used to grasp a shape of a flexible insertion portion is provided that includes a position detector and a determining processor. The position detector detects a plurality of positions of the insertion portion along the central axis of the insertion portion at predetermined intervals. The determining processor determines the position of at least one of the central axis or an outline of the insertion portion.

Abstract: An inserting shape detecting probe has a long and slender core wire, a plurality of shape detecting devices, signal lines, and an outer sheath. The plurality of shape detecting devices extended from the signal lines are fixed to the core wire at a predetermined interval. The core wire is inserted in the outer sheath. The inserting shape detecting probe has a thermal radiating member which is arranged along the outer circumference of at least one of the shape detecting devices.

Abstract: A power driven bending endoscope with detachable insertion portion 2 is formed of an insertion body 3 having a flexible bending portion 3B, and a motor unit 4 having an electric motor 23 for driving to bend the bending portion 3B and a potentiometer 26 for detecting a bending state of the bending portion 3B, which are detachably coupled.

Abstract: An endoscopic surgical navigation system comprises a tracking subsystem to capture data representing positions and orientations of a flexible endoscope during an endoscopic procedure, to allow coregistration of live endoscopic video with intra-operative and/or pre-operative scan images. Positions and orientations of the endoscope are detected using one or more sensors and/or other signal-producing elements disposed on the endoscope. The sensors include optical curvature sensors located along the endoscope, where the length of each optical curvature sensor decreases with increasing proximity to the distal end of the endoscope. Output signals of the sensors can be routed to the tracking subsystem through the light channel in the endoscope. A hybrid approach can be used to separately track the position and orientation of the (rigid) base and the flexible portion of the endoscope.

Abstract: An endoscopic device including mechanisms to facilitate insertion of the device is disclosed. The device includes a sensing assembly configured for determining the position of the distal end of the device relative to a lumen. The device may further including a steering mechanism configured to direct the distal end of the device. A controller may be operably connected to the sensing assembly and the steering mechanism. The controller may be incorporated into the endoscopic device. Alternately, the controller may be positioned remote of the endoscopic device.

Abstract: An endoscope includes a bending section for bending a bending portion, a manipulating section for operating the bending portion to bend the bending portion, a drive section for bending the bending portion with the bending section, a brake instruction section and a brake release instruction section, and a bend amount detecting section. In response to a brake instruction, the bend amount at a point in time the brake instruction was given is detected, and the drive section is so controlled as to maintain the bend amount whereas in response to a brake release instruction, the drive force of the drive section for maintaining the bend amount is gradually reduced.

Abstract: An endoscope bending control apparatus includes: an image feature value calculating section for calculating, based on an endoscopic image, an image feature value related to a luminal dark part; a bending control section for performing bending control on a bending portion in either one of a first bending operation mode in which a position of the luminal dark part is set as an insertion target and a distal end of the insertion portion is directed to the position and a second bending operation mode in which the distal end of the insertion portion is directed in a direction of the position of the luminal dark part; an operation mode switching section for switching an operation mode from one bending operation mode to the other according to a first switching condition based on the calculated image feature value; and a switching condition changing section for changing the first switching condition.

Abstract: In an endoscope device 1 in accordance with the present invention, a navigation screen 51 is displayed. The navigation screen 51 includes: an endoscopic live image display area 52 in which a live image produced by a bronchoscope 2 is displayed; a VBS image display area 53 in which a VBS image is displayed; and a thumbnail VBS image area 54 in which images constructed by reducing VBS images that represent all branch points on a route are displayed as thumbnail VBS images representing branch points. Consequently, an endoscope can be reliably navigated to reach a target region using guide images that represent actual branch positions.

Abstract: The invention relates to a method for improving performance and life of a material adapted to contract when heated to a critical temperature such as shape memory alloy wire (SMA). The method includes the steps of measuring ambient temperature before activation, measuring voltage applied to the SMA wire and/or current flowing in the SMA wire, calculating power and energy required to heat the material from the ambient to the critical temperature and providing the calculated power and energy.

Abstract: A video endoscope system includes a reusable control cabinet and an endoscope that is connectable thereto. The endoscope may be used with a single patient and then disposed. The endoscope includes an illumination mechanism, an image sensor, and an elongate shaft having one or more lumens located therein. An articulation joint at the distal end of the endoscope allows the distal end to be oriented by the actuators in the control cabinet or actuators in a control handle of the endoscope. Fluidics, electrical, navigation, image, display and data entry controls are integrated into the system along with other accessories.

Abstract: Catheter device, comprising a catheter (2) for introduction into a hollow organ, especially a vessel, with a number of bending elements (12, 12a-12f, 12a?-12e?) arranged around the longitudinal axis of the catheter and distributed over at least a part of the catheter length, which can be activated separately for a specified change of shape via a control device (5), as well as a number of bending sensors (15, 15a-15e, 15a?-15e?) arranged around the longitudinal axis of the catheter and distributed over at least a part of the catheter length communicating with a control device (5), with the control device (5) being embodied to determine the given geometrical shape of the catheter (2) on the basis of the bending sensor signals and to determine the change of shape of the bending elements (12, 12a-12f, 12a?-12e?) necessary for a movement of the catheter (2) by a forward movement length preferably specifiable on the user side to enable the catheter (2) to move by itself at least in part, by explicit bend-dependent

Abstract: A robotized laparoscopic system capable of executing commands of an operating surgeon is provided. The laparoscopic system includes a cylindrical tube inserted through an incision. A small-sized camera is attached to one end of the tube to capture the images of the surgical site. A bending portion is adapted to bend the tip of the tube in any direction. A driving unit controls a bending direction and a bending angle of the bending portion. A movement device moves the tube forward or backward in a longitudinal direction. A control unit independently controls the driving unit and the movement device. An input unit receives commands from the surgeon. A conversion unit converts the command input from the surgeon into digital signals and transmits the digital signals to the control unit. A support unit supports the weight of the movement device by being connected to an operating table or the floor.

Abstract: A flexible endoscopic dip applier includes a flexible coil with a manual actuator coupled to one end and a jaw assembly coupled to the other end. A store of clips is arranged adjacent to the jaw assembly and a clip pusher is arranged adjacent to the store of clips. The actuator includes a lever for opening and closing the jaws, a knob for rotating the jaw assembly, and a crank for dispensing clips. The knob and the lever are coupled to a single control member which extends through the coil to a joiner where it is joined to a pair of pull wires coupled to the jaws. The crank is coupled to a second control member which is threaded along a distal portion. The threaded portion engages a threaded member near the pusher and is coupled to the pusher such that rotation of the threaded control member by the crank causes the pusher to be moved distally.

Abstract: An endoscopic device includes ultrasonic emitters, receivers, and reflectors for the precise alignment of parts of an endoscope relative to each other. The methods for determining the relative position of two parts of the endoscope are based on measuring the distance between them based on the use of one or more transducers or arrays of transducers functioning as transmitters of ultrasonic signals and one or more transducers or arrays of transducers functioning as receivers of the ultrasonic signals. In preferred embodiments of the invention, at least one of the receivers is replaced by a reflector and at least one of the transmitters also functions as a receiver.

Abstract: An electric bending endoscope apparatus includes an electric bending endoscope, a bending control device for controlling a bending direction and the amount of bending of a bending portion based on a bending instructing signal outputted from a portion for instructing a bending operation in the electric bending endoscope, an image processing device for generating an observing image captured by the electric bending endoscope to a video signal, and a display device for displaying the video signal generated by the image processing device as an endoscope image, wherein the electric bending endoscope includes a bending driving portion for bending the bending portion arranged at an inserting portion, a bending motive portion for driving the bending driving portion, a portion for restoring transmission and disconnection of driving force that reversibly switches a status for transmitting the driving force by transmitting the driving force of the bending motive portion to the bending driving portion and a status for dis

Abstract: The present invention relates, generally, to reporting the approximate three-dimensional orientation of the steerable distal portion of an endoscope to the user of the endoscope. More particularly, the present invention relates to a system and method for providing the endoscope-user a display from which to more easily determine the approximate three-dimensional orientation of the steerable distal portion of the endoscope, thereby facilitating navigation of the endoscope. The present invention also relates to a system and method for limiting the amount the steerable distal portion can bend overall to reduce or eliminate the user's ability to over-retroflex the steerable distal portion of the endoscope.

Abstract: A method is provided for simulating a flexible tube in an environment. The method comprises determining a model of the flexible tube according to a plurality of internal constraints of the flexible tube and a plurality of external constraints of the flexible tube, determining a workspace of the flexible tube according to a model of the flexible tube, and determining a model of an active bending behavior of a tip of the flexible tube.

Abstract: The invention provides a fiber-optic sensing system for measuring a curvature in a small and elongated cavity of an object. The system includes a light source, an optical fiber and a light signal reflecting device disposed at a distal end of the optical fiber. The optical source emits a light signal into the optical fiber. The distal section of the optical fiber is inserted into the cavity of the object which curvature is to be measured. The curvature of the cavity bends the distal section of the optical fiber so that attenuation of light signal transmitting through the distal section occurs. This attenuated signal is reflected by a reflecting device and coupled into a measuring device. Thereby the curvature is deduced in accordance with the amount of energy attenuation in the reflected light signal.

Abstract: A flexible instrument includes a flexible member having a proximal portion, an intermediate portion, and a distal portion. At least one optical sensor positioned proximate the proximal portion of the flexible member provides a proximal end position signal indicative of the position of the proximal portion of the flexible member. At least one flexible member sensor positioned proximate one of the other portions of the flexible member provides a second position signal indicative of the position of the other portion of the flexible member.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.

Abstract: Driving force of a bending motor is transmitted to a sprocket via a clutch mechanism portion. The operation of a switching operation lever switches the clutch mechanism portion to a disconnecting/restoring status. A bending control device includes a bending angle calculating portion which calculates information on a bending status based on an output signal of a potentiometer, a motor driving signal generating portion which generates a driving signal for bending a bending portion, a JS-motor driving signal generating portion which calculates a position for an instructing status of a stick portion based on the information on the bending status and generates the driving signal for moving the stick portion to the position, and a calibration instructing portion which receives a position signal from a status detecting switch and which sends an instruction for outputting to a JS motor, the driving signal generated by the JS-motor driving signal generating portion.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

Abstract: An endoscope system is provided, including an endoscope having a flexible inserting tube to be inserted into a human body and a plurality of bending sensors distributed over the flexible inserting tube along the longitudinal direction thereof. Each of the bending sensors detects the local bending state of the flexible inserting tube at the location the bending sensor are provided. A computer adapted to receive data on the local bending state from each of the plurality of bending sensors is also provided. The computer generates a graphical image representing the geometrical configuration of the flexible inserting tube from the data on the local bending states. A monitor connected to the computer to display the graphical image generated by the computer.

Abstract: An endoscope is provided which comprises an elongated body adapted for insertion into a body lumen, and a plurality of electrically controlled actuators associated with the body which are controllable to impart an orientation to the body that is complimentary to the natural orientation of the lumen into which the endoscope is inserted.

Abstract: An electric bending endoscope includes a temperature sensor that detects the temperature of a motor as a state value indicating the driving state of a bending drive unit. A bending control device comprises: a temperature detection unit that receives the data of the temperature detected by the temperature sensor; a record unit in which the limits of motor temperature inputted in advance are recorded; a comparison unit that compares the data of the temperature sent from the temperature detection unit with the limits of motor temperature recorded in the record unit; and a notification unit that notifies that the driving state of a motor is approaching the limit.

Abstract: An endoscope apparatus and method of operating the same. The endoscope apparatus comprises an endoscope portion and a control and display unit. The endoscope portion preferably comprises: (i) a sensor disposed at a distal end of the endoscope portion and providing endoscope data; (ii) one or more electronically controlled actuators (e.g., electroactive polymer actuators) controlling the operation of the endoscope portion based on received control signals; (iii) a first wireless transceiver coupled to the sensor and the one or more electronically controlled actuators, transmitting received endoscope data from the sensor and forwarding received control signals to the one or more electronically controlled actuators; and (iv) a portable power source (e.g., a battery) coupled to the sensor, the first wireless transceiver, and the one or more electronically controller actuators.

Abstract: A catheter unit comprising an elbowed catheter having an insert section capable of being inserted into the body cavity and an elbow section and a winged catheter capable of being attached to the elbowed catheter so as to cover the insert section of the elbowed catheter. The two catheters are introduced into the body cavity by utilizing the bending function and fixed in the body cavity by means of a wing portion attached to the winged catheter.

Abstract: An endoscope apparatus comprises an endoscope having a treatment tool passage channel in at least an insertion portion, an adaptor for endoscope forceps opening, which can be detachably attached to a treatment tool insertion opening which is at one end of the treatment tool passage channel, an insertion shape detection probe provided with a plurality of shape detection elements which are to be passed and arranged in the treatment tool passage channel via the adaptor for endoscope forceps opening, an insertion shape detection unit for detecting magnetic field emitted from the shape detection elements of the insertion shape detection probe, an insertion shape detection device which drives the insertion shape detection probe and outputs video signals for visualizing the insertion shape from the signals corresponding to the magnetic field detected by the insertion shape detection unit, and a display device for displaying the insertion shape of the insertion portion based on the video signals output from the inser

Abstract: An endoscope is provided with a centering control section and a centering button. The centering control section is configured to control a bending mechanism in such a manner as to return a bendable portion to a neutral position where the bendable portion is substantially linear. The centering button is used for entering an instruction for controlling the centering control section. The endoscope is also provided with a personal computer configured to change the bend the bendable portion should have when the bendable portion is returned to the neutral position. The bend is changed in accordance with a bending characteristic variance the bendable portion may undergo in each bending direction.

Abstract: An electric bending endoscope apparatus includes an electric bending endoscope, a bending control device for controlling a bending direction and the amount of bending of a bending portion based on a bending instructing signal outputted from a track ball in the electric bending endoscope, an image processing device for generating an observing image captured by the electric bending endoscope to a video signal, and a display device for displaying the video signal generated by the image processing device as an endoscope image, wherein the electric bending endoscope includes a bending driving portion for bending the bending portion arranged at an inserting portion, a bending motive portion for driving the bending driving portion, a portion for restoring transmission and disconnection of driving force that reversibly switches a status for transmitting the driving force by transmitting the driving force of the bending motive portion to the bending driving portion and a status for disconnecting the driving force, a p

Abstract: The endoscope system comprises a endoscope in which a bendable portion is motor bendable; an operation switch for giving an instruction as to a bending amount; a motor for bending the bendable portion in accordance with a bending instruction signal; a detection portion for detecting the bent state of the bendable portion; a first driving power generating portion which generates power for driving the motor in accordance with a difference between an instructed bending amount fed via the operation switch and a value representing the bending state of the bending portion and given by the detection portion; a second driving power generating portion for generating a pulse driving power having a predetermined magnitude; and a control portion whose control includes selecting one of the first and second driving power generating means depending on said difference, and causing the thus selected means to drive motor so as to bend the bendable portion.

Abstract: A method and apparatus for generating a controlled torque of a desired direction and magnitude in an object within a body, particularly in order to steer the object through the body, such as a catheter through a blood vessel in a living body, by producing an external magnetic field of known magnitude and direction within the body, applying to the object a coil assembly including preferably three coils of known orientation with respect to each other, preferably orthogonal to each other, and controlling the electrical current through the coils to cause the coil assembly to generate a resultant magnetic dipole interacting with the external magnetic field to produce a torque of the desired direction and magnitude.

Abstract: The present invention relates to methods and apparatuses for performing surgery, and in particular to devices employing magnetic fields to position and orient medical instruments inside a human body. To provide for greater flexibility of endoscopic viewing and instrument usage and to reduce morbidity, the inventors have developed of a novel laparoscopic system that allows for intra-abdominal movement of an endoscopic camera and surgical instruments without additional port sites. A set of one or more magnets located external to the patient's body are used to position, orient, and/or secure instruments located internal to the patient's body.