Abstract: Disclosed herein are catheter control handles that include various mechanisms for controlling the circumferential angle and radial magnitude of flexion of an attached catheter. Control handles can comprise a housing. Control wires extend from a distal end of the housing and into a steerable transluminal device. A flex control member is operable to control tension on the pull wires to adjust a magnitude of radial flexion of the steerable transluminal device. A position control member is operable to control tension on the pull wires to adjust a circumferential angle in which the radial flexion of the steerable transluminal device is directed.

Abstract: A method includes transmitting an instruction to a motive power supply of an elastically deformable device to drive the elastically deformable device in accordance with a drive setting; measuring a force exerted on the elastically deformable device with a sensor; outputting an observed value representative of the force; comparing the observed value with a reference value corresponding with a predetermined force to be exerted on the elastically deformable device; and adjusting the drive setting based on a determination that the observed value is outside of a predetermined range of the reference value. The method prevents slack in the elastically deformable device over time. Related apparatuses, systems, techniques and articles are also described.

Abstract: The present invention provides a steerable medical or surgical device, in particular a steerable catheter having one or more actuators which may be integrated into a catheter without the need for welding the actuator to the catheter, the device comprising a main shaft having a proximal end and a distal end, and at least one braided actuator coupled to the main shaft at or adjacent the distal end.

Abstract: A bending operation mechanism of an endoscope including: a first pulley configured to pull a first wire by being rotated in a first rotation direction; a second pulley, which is coaxial with the first pulley, configured to pull a second wire by being rotated in a second rotation direction opposite to the first rotation direction; and a rotation shaft member including a first protrusion that engages only with the first engagement portion of the first pulley when the rotation shaft member is rotated in the first rotation direction from a neutral position when a bending portion is not bent and a second protrusion that engages only with the second engagement portion of the second pulley when the rotation shaft member is rotated in the second rotation direction from the neutral position.

Abstract: A pulmonary access device comprises an elongated shaft having a proximal shaft section, a bendable shaft section, a distal shaft section, and a channel. The pulmonary access device further comprises a profiled stylet configured for being disposed in the working channel of the elongated shaft, the profiled stylet having a proximal stylet section with a first lateral stiffness profile, an intermediate stylet section having a second lateral stiffness profile less than the first lateral stiffness profile, a distal stylet section, wherein, when the profiled stylet is disposed in the working channel of the elongated shaft, the intermediate stylet section axially aligns with the bendable shaft section. The pulmonary access device further comprises a pull wire affixed to the distal shaft section, such that, when the pull wire is tensioned, the bendable shaft section bends, thereby deflecting the distal shaft section relative to the proximal shaft section.

Abstract: An endoscope aid is attachably and detachably attached to a treatment tool insertion channel of an endoscope where a suction tube joins. The endoscope aid includes a flexible tubular member having a length equal to or larger than a length ranging from at least an inlet-side end part of an outlet portion of the treatment tool insertion channel, which is maintained in the shape of a straight pipe regardless of bending of a bending part of the endoscope, to an inlet of the treatment tool insertion channel. The tubular member has a distal end part that has an outer periphery in sliding contact with an inner peripheral surface of the outlet portion of the treatment tool insertion channel and is disposed at the outlet portion, and a communication part that allows an outlet of the treatment tool insertion channel and the suction tube to communicate with each other.

Abstract: A spiral tube is provided rotatably around an insertion axis of the insertion portion by a driving force of a driving unit, and includes a first cylindrical member formed into a cylindrical shape, a second cylindrical member provided at another end, and formed into a cylindrical shape, an outer layer tube that has one end fixed to the first cylindrical member, and has an longitudinal axis, an inner layer tube that has one end fixed to the second cylindrical member, and is covered with the outer layer tube so that the outer layer tube is slidable in a direction along the longitudinal axis, and a holding member provided on the outer layer tube, and configured to restrict movement of the outer layer tube with respect to the inner layer tube to a predetermined range, and to hold the inner layer tube in the outer layer tube.

Abstract: Embodiments of the present disclosure can include a system for steering a guidewire comprising: a guidewire tip integrably connected to a guidewire, the guidewire tip comprising a hollow body having first joint and second joints comprising a plurality of asymmetric recesses in the hollow body; a plurality of tendons operably connected to the first and second joints; and a control unit operably connected to the tendons and configured to actuate the tendons to provide multiple degrees of freedom of movement to the guidewire tip.

Abstract: A detachable endoscope having a buffer function includes: an operation part for operating the front end of an insertion part having an illuminating photographing part to be bent and a detachable unit for detachably coupling the insertion part and the operation part, wherein the detachable unit includes: a first detachable module connected to the respective other ends of first, second, third, and fourth operation wires having the respective one ends connected to the front end inside the insertion part and provided on the rear end of the insertion part, and a second detachable module connected to first, second, third, and fourth connection wires of a direction conversion part for converting a rotational motion into a linear motion in the operation part and provided on the front end of the operation part.

Abstract: A detachable endoscope includes: an operation part for operating the front end of an insertion part having a lighting photographing part to be bent and a detachable unit for detachably coupling the operation part and the insertion part, wherein the detachable unit includes: a first detachable module connected to first, second, third, and fourth operation wires arranged parallel to each other so that the respective one ends are connected to the front end inside the insertion part and provided on the rear end of the insertion part, a second detachable module connected to first, second, third, and fourth connection wires of a direction conversion part for converting a rotational motion into a linear motion in the operation part and provided on the front end of the operation part, and a bending control part for adjusting an angle at which the front end of the insertion part is bent and displaced vertically or horizontally.

Abstract: A handle for endoscope including a handle housing, an operating member (7) accommodated in said handle housing, at least one guide tube (16) adapted for surrounding and supporting at least one pull wire (17), and an anchoring block (15). The anchoring block (15) comprises at least one bore (20) adapted for insertion of said at least one guide tube (16) and at least one inlet passage in fluid communication with said at least one bore.

Abstract: A detachable endoscope includes an insertion unit including an illuminating and image pickup unit, an operation unit configured to bendingly operate a front end of the insertion unit, and a detachable unit configured to detachably couple the insertion unit and the operation unit to each other, wherein the detachable unit includes: a first detachable module disposed at the insertion unit; and a second detachable module disposed at the operation unit, wherein the first detachable module includes: a first module main body disposed within a rear end of the insertion unit and having first, second, third and fourth rectilinear guide through-bores penetratingly formed longitudinally therein, and a central opening penetratingly formed at a center of the main body in a thickness direction of the main body.

Abstract: An external mechanism for endoscope includes a bending wheel, a motor, a housing case, a case detachably fixing member, and a mounting restricting member obstructing mounting of a housing case on a sub operation section by interfering with a second bending upward and downward fixing lever in a state where the second bending upward and downward fixing lever is at a position other than a release position.

Abstract: Embodiments of a steerable catheter control system and methods are disclosed. The steerable catheter control system comprises a housing which defines an inner housing and a slide assembly which linearly translates within the inner housing. At least two control wires are positioned through the slide assembly wherein one of the at least two controls wires are indirectly coupled to the slide assembly via the direction reversing element. The steerable catheter control system further comprises a slack limiting element, coupled to at least one of the at least two control wires. The slack limiting element allows for frictional engagement of the control wire to limit slack. The control system includes a control knob for linearly translating the slide assembly, enabling the slide assembly to manipulate the control wires which causes a change in deflection of the steerable catheter.

Abstract: An evoked potential monitoring system including a control unit having stimulator circuitry and a probe assembly coupled to the control unit. The probe assembly includes a stimulus probe and a stimulator handpiece selectively coupled to the stimulus probe. The handpiece includes a handle, control circuitry, and a switch. The control circuitry is electrically coupled to the stimulator circuitry. The switch is electrically coupled to the control circuitry and extends to an exterior portion of the handle. In this regard, movement of the switch remotely controls the stimulator circuitry to continuously increment or decrement a stimulation energy level delivered to the stimulus probe over a series of discrete, incremental steps.

Abstract: A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed state along at least a portion of an axial length of the shaft. The actuation element guide can be compressed between first and second blocks of the instrument. The instrument can include a flush tube configured to receive a cleaning fluid, with the actuation element guide being in flow communication with the flush tube to receive the cleaning fluid in the lumen of the actuation element guide.

Abstract: Embodiments of the present disclosure include a medical device. The medical device may include an elongate member, a first control member and a second control member each coupled to a distal end of the elongate member, an actuator coupled to the first control member and the second control member and configured to selectively move the first control member and the second control member to steer the elongate member, and a holding mechanism deflecting a path of the first control member from the actuator to the distal end of the elongate member and a path of the second control member from the actuator to the distal end of the elongate member. The holding mechanism may be configured to apply tension on one of the first control member and the second control member as the other is moved to steer the elongate member.

Abstract: Disclosed herein are steerable catheter assemblies that utilize various mechanisms to accomplish independent control of catheter flex magnitude and catheter flex direction to provide improved steerability of an attached catheter. Some embodiments include a catheter with two or more pull wires that flex the catheter and a control handle coupled to the catheter. The control handle can include a direction control coupled to the two or more pull wires such that adjustment of the direction control adjusts a direction of catheter flex by the two or more pull wires, and the control handle can include a magnitude control coupled to the two or more pull wires such that adjustment of the magnitude control adjusts the magnitude of catheter flex.

Abstract: A tension transmission device as a control system for a probing portion of a three-dimensional mechanical probe is fitted to a support portion. The tension transmission device includes a driving shaft, a first tension member, and a second tension member. The driving shaft defines first and second fastening points. The first fastening point and the second fastening point are located at axially-distanced points of the driving shaft which are not diametrically opposite. The first and second tension members wind around a circumference of the driving shaft guided by a first pulley and a second pulley, to rotate and manipulate the driven shaft of the probing portion.

Abstract: A curved tube for an endoscope includes: a curved tube body including a locked portion provided on an inner peripheral surface of the curved tube body; an operation wire configured to perform a bending operation of the curved tube body; a pipe member which is press-fitted to the operation wire and is locked to the locked portion of the curved tube body; and particles interposed between an outer peripheral surface of the operation wire and an inner peripheral surface of the pipe member. The particles are higher in hardness than materials forming the operation wire and the pipe member and are buried to dig into the outer peripheral surface of the operation wire and the inner peripheral surface of the pipe member.

Abstract: Medical devices and methods for making and using medical devices are disclosed. An example delivery system for an implantable medical device includes an inner shaft having a proximal end region, a distal end region, a non-circular lumen extending therethrough. The delivery system also includes a tension resistance member extending at least partially between the proximal end region and the distal end region, a deployment catheter disposed along the outer surface of the shaft, and an actuation shaft disposed within the non-circular lumen. Further, the actuation shaft is coupled to the implantable medical device and translation of the actuation shaft shifts the implantable medical device from a first position to a second position.

Abstract: A hermetically sealed LED light is provided that includes a ceramic base with a plurality of LEDs and a metal cap soldered thereto and a channel for introducing an electrical, optical, or mechanical component.

Abstract: Embodiments of the present disclosure include a medical device. The medical device may include an elongate member, a first control member and a second control member each coupled to a distal end of the elongate member, an actuator coupled to the first control member and the second control member and configured to selectively move the first control member and the second control member to steer the elongate member, and a holding mechanism deflecting a path of the first control member from the actuator to the distal end of the elongate member and a path of the second control member from the actuator to the distal end of the elongate member. The holding mechanism may be configured to apply tension on one of the first control member and the second control member as the other is moved to steer the elongate member.

Abstract: A tunable mass-damping apparatus may include a housing having an interior surface, an interior volume containing a fluid, and an axis. The housing may be configured to be coupled to a wind tunnel model. The apparatus may further include a mass configured to move back and forth in the interior volume along the axis. The mass may be configured to make an airtight seal with the interior surface of the housing, thereby dividing the interior volume into an upper chamber and a lower chamber. The apparatus may include a passage fluidly connecting the upper chamber and the lower chamber and a spring configured to exert a position-dependent force upon the mass. The spring may be characterized by a variable spring constant chosen based on a variable natural frequency of a support structure of the wind tunnel model. The variable spring constant may be established with a nickel-titanium alloy spring heated to at least one calibrated temperature that corresponds to a predetermined spring constant.

Abstract: An insertion device includes an insertion section extending along a longitudinal axis, a rotor provided in the insertion section rotating around the longitudinal axis, and an assistance tool attached to the insertion section in a state to cover the rotor from an outer peripheral side. The assistance tool rotates around the longitudinal axis together with the rotor when press force is applied from a first projection of the rotor to a second projection of the assistance tool by a rotation of the rotor. An angular position of the second projection around the longitudinal axis can be recognized from an outside of the assistance tool.

Abstract: An endoscope includes: a first lens located at a distal-most position, a part of the first lens being exposed outside; a movable lens barrel configured to be able to move, and configured to hold a movable lens disposed on a proximal end side with respect to the first lens; an actuator unit including a coil that drives the movable lens barrel and generates heat by receiving a supply of electric power; and a control section that outputs first electric power to the coil when holding the movable lens barrel at a predetermined position, and outputs second electric power larger than the first electric power to the coil when conducting heat generated from the coil to the first lens at the predetermined position.

Abstract: A shank for a flexible endoscope or for a flexible endoscopic instrument includes a first shank portion and, a second shank portion, angled relative to a distal end region of the first shank portion by a longitudinal adjustment of at least one tensioning means which is guided in a longitudinally displaceable manner inside the second shank portion and connected to a distal end region of the second shank portion. The longitudinal adjustment by least one threaded drive, which can be driven by at least one torsion shaft extending inside the first shank portion. The invention also relates to a flexible endoscope and a flexible endoscopic instrument.

Abstract: An insertion apparatus according to an aspect of the present invention includes: an insertion portion to be inserted into a subject; a bending operation apparatus to be moved by an operator to input an operation instruction; a bending drive section that generates a drive force based on the movement of the bending operation apparatus; a pulling member to be pulled by the drive force from the bending drive section; a bending portion provided in the insertion portion, the bending portion being connected to the pulling member and being bent upon the pulling member being pulled; and a haptic section that connects the pulling member and the bending operation apparatus via an elastic portion.

Abstract: An articulating digital endoscope or borescope which can be bent up to 180 degrees and has a small bending radius, simple structure, and can be operated with one hand. The front end of the bending part is connected to a digital camera, the rear end of the bending part is connected to the main body and the handle of the endoscope. The bending part comprises the upper and lower connecting segments, a number of joint plates and in-between discs connected in sequence. There are concave and convex structures on both sides of the joint plates so that the joint plates can fit to each other and be rotated. A mechanical shutter release cable is used to connect the bending part, the endoscope main body and the handle. When the shutter button is pressed, the inner spring of the shutter pushes forward to bend the bending part.

Abstract: A surgical instrument is described that includes a surgical effector moving with N degrees of freedom for manipulation of objects at a surgical site during surgical procedures. The N degrees of freedom are manipulated by N+1 input controllers and a plurality of cables, the controllers and cables coupled to the surgical effector and configured to change the orientation of the surgical effector about the N degrees of freedom when actuated. In some embodiments, the N+1 input controllers and plurality of cables are further coupled to a pantograph, the pantograph configured to move in a reciprocal manner to the surgical effector when the input controllers and cables are actuated.

Abstract: Drive systems and methods of use are disclosed herein for performing medical procedures on a patient. The drive systems include various handle types and triggers for controlling catheters and end effectors. The various handle types include a flexible handle and ambidextrous handles that can alter the handedness of the handle for particularized use. The handles drive articulation sections of the catheter and end effectors with various degrees of freedom, and include locks for holding the catheter and/or end effector in place. The catheter systems include structures for allowing degrees of freedom, such as notches, mechanical interlocks, and articulation joints. In addition, the catheters articulate via cables or fluids.

Abstract: A bending angle adjustment mechanism includes a rod member that is disposed along a traveling path of a long member that is connected to a bending portion that is bendable and has a threaded portion formed thereon, an adjustment piece that is disposed in a predetermined position of the rod member by being engaged with the threaded portion, and restricts movement of the long member, a head portion that is provided at an end portion of the rod member to rotate the rod member, a support member that is provided at both ends of the rod member and rotatably supports the rod member, and a convex portion that protrudes to be higher than a lower edge position of an outer circumferential edge portion of the head portion while keeping the head portion of the rod member which is supported by the support member, in a rotatable state.

Abstract: A surgical instrument includes a housing, and a shaft including a proximal end, a deflectable portion and a distal tip. A handle is movable between first and second positions on the housing, and an actuator is movably coupled to the handle, such that movement of the handle between its first and second positions causes a corresponding movement of the actuator between first and second positions in the housing. A deflection wire includes proximal and distal portions, the distal portion being fixed to the shaft, and the proximal portion being affixed to the housing so as to provide a path length for the deflection wire within the housing. The movement of the handle causes the actuator to move to its second position, the second position of the actuator causing an increase in the path length for the deflection wire so as cause a deflection of the distal tip of the shaft.

Abstract: An endoscope includes an insertion portion including a bending portion configured to bend in four directions, and a flexible tube portion provided so as to be continuous with the bending portion, wherein the bending portion includes a first bending region and a second bending region, and wherein the flexible tube portion comprises inside, four first guide pipes each including a distal end fixed to a distal end of the first bending region and a proximal end fixed to a bending portion operation device, and three second guide pipes each including a distal end fixed to a distal end of the second bending region and a proximal end fixed to a bending portion bent shape switching device.

Abstract: A medical catheter instrument has a shaft portion, a distal portion bendable in a controlled manner in at least one direction relative to the shaft portion, and a control element extending in an axially movable manner through the shaft portion to the distal portion. The axial movement of the control element controls a corresponding bending movement of the distal portion. The catheter instrument includes a bending assembly having at least one elongated, elastically bendable stiffening element and at least one elongated, bendable and axially length-adjustable bending element, the elements being provided in an axial sub-region of the distal portion and extending therein with an axial main component, wherein the stiffening element forms an element restoring bending movement and has a higher flexural stiffness than the bending element, and the bending element is coupled to the control element or forms part of the same.

Abstract: An endoscope including a bending portion in an insertion portion comprises multiple pulling members, an operation device, a driving force transfer mechanism and a biasing mechanism. The multiple pulling members are mounted on the bending portion. The operation device generates a driving force for pulling the pulling members in conjunction with a turning operation. The bending portion is bent by the operation device between an approximately straight state and a bending state. The driving force transfer mechanism transfers the driving force generated in conjunction with the turning operation of the operation device to the pulling members. The biasing mechanism provides the driving force transfer mechanism with a biasing force for turning the operation device in a reverse direction to the turning operation direction in a state where the bending portion is bent by turning the operation device.

Abstract: A steerable laser probe may include a handle, an actuation lever, an optic fiber, and a housing tube. The housing tube may have a first housing tube portion having a first stiffness and a second housing tube portion having a second stiffness. The second stiffness may be greater than the first stiffness. The optic fiber may be disposed within the housing tube and within an inner bore of the handle. An actuation of the actuation lever about a pivot pin of the handle may gradually curve the optic fiber. An actuation of the actuation lever about the pivot pin of the handle may gradually straighten the optic fiber.

Abstract: A medical instrument includes an operated section having a deformable portion and an operating section configured to deform the deformable portion. The operated section and the operating section are attachable to and detachable from each other. The operated section includes a wire 1 configured to penetrate the deformable portion. The operating section includes moving parts 11 to 13 configured to move to move the wire 1, and a connecting part 101 configured to contain the moving parts 11 to 13 movably and to be connected to the operated section. The moving parts 11 to 13 deform the deformable portion by moving the wire 1 with a connecting surface included in the connecting part 101 being disposed therebetween.

Abstract: The present invention provides a decoupling and coupling type medical instrument which includes a bending deformation portion and a manipulation unit. The medical instrument is excellent in operability while preventing removal, cutting and the like of a wire of the bending deformation portion. A medical instrument which satisfies 0<T1<T2 in which tension in a wire is T1 in a decoupled state and is T2 in a coupled state.

Abstract: A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.

Abstract: Provided is an endoscope device and a method of operating the endoscope device. The endoscope device includes: a knob driving part configured to be driven in a mode selected by an operator from either of an automatic mode and a manual mode; a bending part connected to the knob driving part and configured to change a position of a distal end of the endoscope device by driving of the knob driving part, a power generating part configured to provide power to the knob driving part; and a power transmitting part configured to drive the power generating part according to a manipulation of the knob driving part.

Abstract: A delivery system assembly includes an outer tube, an inner member, extending within a lumen of the outer tube, and a deflectable shaft, extending within the outer tube lumen and around the inner member; the tube and inner member are longitudinally moveable with respect to the shaft, and a distal end of the inner member is located distal to the shaft within the tube lumen. A medical device can be loaded into the tube lumen, along a distal-most portion of the tube, and contained between the inner member and a distal opening of the tube lumen. Deflecting the shaft orients the distal-most portion for navigation of the assembly, and, when the distal end of the inner member is engaged within the tube lumen, distal movement of the tube, with respect to the shaft, causes similar distal movement of the inner member and the loaded medical device toward an implant site.

Abstract: An endoscopic system includes an insertion-section, a wire, an adjustment-unit, a memory, a shape-acquiring-unit and a controller. The insertion-section includes a tubular-section and a bending-section. The wire is inserted in the insertion-section and pulled and loosened to bend the bending-section. The adjustment-unit adjusts tensile force applied to the wire. The memory stores correspondent information including a relationship between increase/decrease information indicative of increase/decrease in the tensile force due to a shape of the tubular-section and shape information indicative of the shape of the tubular-section. The shape-acquiring-unit acquires the shape of the tubular-section.

Abstract: An endoscope including a bending operation apparatus including a bending operation mechanism section and a bending portion braking mechanism section in an operation section, the bending operation mechanism section includes a bending lever, a first bearing member transmitting a force of the lever, and a cylindrical member rotated with an operation of the lever, and the bending portion braking mechanism section includes a bending state keeping lever, a braking shaft body transmitting a force of the lever, a second bearing member pivotally supporting the braking shaft body, a rotation pressing member rotating around an axis of the second bearing member, and having inclined projection portions, a slide pressing member having inclined projection portions opposed to the projection portions, a friction member abutting on the cylindrical member, a regulation member regulating a gap where the friction member is disposed, and positioning members regulating a braking force of the friction.

Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

Abstract: A wire-operated selective compliance mobile platform (100), in particular for endoscopic surgery devices, obtains a perfect and precise mobility and thus it allows to handle, in the most effective way, the supported instruments, and comprises a mobile surface (1), a connecting base (2) apt to be connected to a flexible tubular duct (4) for endoscopic uses, a plurality of supporting elements (3), apt to permit the motion of said mobile surface (1) relative to said base (2), characterized in that said supporting elements (3) have at least a selective compliance turning pair (31) and a number of joints (32, 34) so as to provide a predetermined number of degrees of freedom to said platform (100), neither determining any over-constraining, nor forcing the system to be deformed in unselected directions, each supporting element (3) being operated by moving means (51, 52) so as to move said mobile surface (1).

Abstract: An endoscopic device having a one-handed, either-handed steering mechanism is presented. The endoscopic device includes some components that are sterile and used on only a single patient. The single-use components are medically disposed of after exposure to a non-sterile environment such as an internal body cavity of a patient. The endoscopic device also includes some reusable components that are not exposed to a non-sterile environment.

Abstract: A steering mechanism is used as part of a medical device such as a catheter or an endoscope to allow movement of a steerable distal portion of the catheter or endoscope. The mechanism can include a elongate housing adapted to be coupled to the steerable portion of the medical device and an actuation system including an actuator, a first cam, and a second cam. The actuator can move the first cam between a first position and a second position along a first axis (or about a second axis different than the first axis) to move the steerable portion of the medical device along a first plane. The actuator can move the second cam between a first position and a second position along the second axis (or about the first axis) to move the steerable portion of the medical device along a second plane different than the first plane.

Abstract: An endoscope includes a curving operation portion which performs a curving operation of a curving portion by rotating around a pivot shaft in a first rotation direction and in a second rotation direction opposite to the first rotation direction from a neutral position where the curving portion is in a non-curved neutral state, a first operation wire which is pulled by the curving operation in the curving operation portion to curve the curving portion in the second curving direction, and a second operation wire which is pulled by the curving operation in the curving operation portion to curve the curving portion in the first curving direction. The endoscope includes a wire crossing portion in which the second operation wire crosses the first operation wire, and a movement regulating portion which regulates the movement of the wire crossing portion from within the operation portion into the insertion portion.

Abstract: A multijointed bending mechanism having a first bending piece, a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft, a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft, at least two first wires connected to the first bending piece to rotate the first bending piece and at least two second wires connected to the second bending piece to rotate the second bending piece. The second wires are disposed inwards of the first wires with respect to a vertical direction of the first and second rotation shafts.