Abstract: In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest.

Abstract: A surgical instrument comprises a steering mechanism. The steering mechanism comprises a handle at a proximal end of the surgical instrument. The handle includes a plurality of controls for controlling a movement of the surgical instrument. The steering mechanism also comprises a hub that rotatably mates with the handle and a housing positioned about the hub. The handle, the housing, and the hub communicate with each other to provide at least a first degree of freedom and a second degree of freedom. An articulation region is at a distal end of the surgical instrument. A movement of the steering mechanism handle in one and only one of the first or second degrees of freedom relative to at least one of the housing or the hub translates to a movement of the articulation region in a single plane of motion.

Abstract: In an articulating probe system, an articulating probe is constructed and arranged to articulate in at least one degree of motion and to transition between a flexible state and a rigid state, the articulating probe comprising a plurality of links between a proximal link and a distal link The distal link of the articulating probe includes a side port constructed and arranged to receive a distal end of an elongate tool. A tool support is in communication with the articulating probe for supporting the elongate tool, the tool support including a tool tube that extends from the tool support at an intermediate portion to the side port of the distal link at a distal portion, the tool tube having a first flexibility in the intermediate portion and having a second flexibility in the distal portion; the second flexibility being greater in flexibility than the first flexibility.

Abstract: An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link.

Abstract: An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

Abstract: A surgical instrument comprises a steering mechanism. The steering mechanism comprises a handle at a proximal end of the surgical instrument. The handle includes a plurality of controls for controlling a movement of the surgical instrument. The steering mechanism also comprises a hub that rotatably mates with the handle and a housing positioned about the hub. The handle, the housing, and the hub communicate with each other to provide at least a first degree of freedom and a second degree of freedom. An articulation region is at a distal end of the surgical instrument. A movement of the steering mechanism handle in one and only one of the first or second degrees of freedom relative to at least one of the housing or the hub translates to a movement of the articulation region in a single plane of motion.

Abstract: An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link.

Abstract: An articulated probe assembly comprises a base, an outer support rod extending through the base, an articulating control portion at a proximal end of the outer support rod, and a steerable portion comprising a plurality of outer links coupled to a distal end of the outer support rod. The steerable portion is manipulated in response to the articulating control portion.

Abstract: An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

Abstract: A surgical instrument comprises a steering mechanism. The steering mechanism comprises a handle at a proximal end of the surgical instrument. The handle includes a plurality of controls for controlling a movement of the surgical instrument. The steering mechanism also comprises a hub that rotatably mates with the handle and a housing positioned about the hub. The handle, the housing, and the hub communicate with each other to provide at least a first degree of freedom and a second degree of freedom. An articulation region is at a distal end of the surgical instrument. A movement of the steering mechanism handle in one and only one of the first or second degrees of freedom relative to at least one of the housing or the hub translates to a movement of the articulation region in a single plane of motion.

Abstract: A system for performing a medical procedure includes an articulating probe including inner and outer sleeves, and a surgical tool including a functional element positioned at a distal end of a tool shaft, the tool shaft having an articulation region. The articulating probe and the surgical tool are independently controllable.

Abstract: A system and method for performing a medical procedure includes a first multi-linked mechanism comprising a plurality of first links, and a lumen therethrough; a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism, and where the first and second multi-linked mechanisms are configured to transition from a limp state to a rigid state; a set of proximal cables comprising at least a first proximal cable and a second proximal cable; a set of distal cables comprising at least a first distal cable and a second distal cable; a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first

Abstract: A system for performing a medical procedure includes an articulating probe including inner and outer sleeves, and a surgical tool including a functional element positioned at a distal end of a tool shaft, the tool shaft having an articulation region. The articulating probe and the surgical tool are independently controllable.

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: Described is a tool positioning system comprising an introduction device, a first tool support and a second tool support. The introduction device is constructed and arranged to slidingly receive an articulating probe. The first tool support comprises at least one guide element constructed and arranged to slidingly receive a first tool. The first tool support is oriented toward a first operator location. The second tool support comprises at least one guide element constructed and arranged to slidingly receive a second tool. The second tool support is oriented toward a second operator location.

Abstract: A surgical tool comprises an elongated first assembly and an elongated second assembly. The second assembly comprises an elongated support element, an elongated activation element moveable relative to the support element, and a functional mechanism coupled to the activation element. A movement of the functional mechanism is in response to a movement of the activation element. A force imparted by the movement of the activation element is isolated from the first assembly by the support element.

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: An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link.

Abstract: A system includes an articulating probe, a surgical tool, and a controller. The controller is constructed and arranged to manipulate at least one of the articulating probe and the surgical tool. The system further includes a human interface device (HID) configured to generate a first control signal and a second control signal. The articulating probe is manipulated in response to the first control signal and the surgical tool is manipulated in response to the second control signal.

Abstract: A system for performing a medical procedure includes an articulating probe including inner and outer sleeves, and a surgical tool including a functional element positioned at a distal end of a tool shaft, the tool shaft having an articulation region. The articulating probe and the surgical tool are independently controllable.