Abstract: An endoscope may include a shaft having a longitudinal axis, a first image sensor facing a distal direction, and a second image sensor facing a lateral direction. The endoscope may further include a tubular member having a lumen, the lumen having a distal-end opening and defining a longitudinal axis through a center of the lumen. The tubular member may be movable between a first configuration and a second configuration. In the first configuration of the tubular member, the longitudinal axis of the lumen may be parallel to the longitudinal axis of the shaft. In the second configuration of the tubular member, the longitudinal axis of the lumen may extend through a lateral opening in a wall of the shaft.

Abstract: In one aspect of the present disclosure, a device may include a shaft having a distal end, and a tip at the distal end of the shaft. The tip may include an opening defined by a surface of the tip. An instrument inserted through the shaft may extend distally out of the opening. The device also may include an elevator for engaging the instrument. The elevator may include a proximal end fixed relative to the surface of the tip, a proximal portion extending distally from the proximal end, and a distal portion extending distally from the proximal portion. A force exerted on the elevator bends the proximal portion to deflect the distal portion without bending of the distal portion.

Abstract: A medical device, such as a guidewire with tactile feel, is disclosed. An example medical device may include an elongate shaft having a proximal end region and a distal end region. The proximal end region of the elongate shaft may include a grip section for grasping the medical device. The grip section may have a substantially circular cross-sectional shape, and may include a flat surface, a circular segment cutout and/or a projection. In some instances, the grip section may be a twisted or helical arrangement having a length extending along at least a portion of the proximal end region.

Abstract: In one aspect of the present disclosure, a device may include a shaft having a distal end, and a tip at the distal end of the shaft. The tip may include an opening defined by a surface of the tip. An instrument inserted through the shaft may extend distally out of the opening. The device also may include an elevator for engaging the instrument. The elevator may include a proximal end fixed relative to the surface of the tip, a proximal portion extending distally from the proximal end, and a distal portion extending distally from the proximal portion. A force exerted on the elevator bends the proximal portion to deflect the distal portion without bending of the distal portion.

Abstract: A method for coupling a first medical device component to a second medical device component comprising altering the first medical device component from a natural state to an altered state, by reducing a cross-sectional dimension of the first medical device, fitting a first portion of the first medical device component in the altered state into a first opening of the second medical device component, wherein the first medical device component includes second portions not within the first opening of the second medical device component, and allowing the second portions of the first medical device component to revert back to the natural state.

Abstract: A method for coupling a first medical device component to a second medical device component comprising altering the first medical device component from a natural state to an altered state, by reducing a cross-sectional dimension of the first medical device, fitting a first portion of the first medical device component in the altered state into a first opening of the second medical device component, wherein the first medical device component includes second portions not within the first opening of the second medical device component, and allowing the second portions of the first medical device component to revert back to the natural state.

Abstract: A steerable medical device includes a first wire and a second wire. The first wire includes a first portion having a first width and a second portion having a second width. The second width is smaller than the first width. A distal end of the first wire is fixed relative to a distal end the second wire. A proximal end of one or more of the first wire or the second wire is moveable distally or proximally with respect to the other of the first wire or the second wire in order to bend a distal portion of the steerable medical device.

Abstract: A method of testing a candidate perception setup for an autonomous vehicle, comprising: receiving ground truth of a driving scenario run; providing a time-sequence of ground truth snapshots of the driving scenario run, wherein a decision making component independent of the ego agent determines a first time-sequence of decisions for the ground truth snapshots; providing a time-sequence of ablated snapshots of the driving scenario run, each ablated snapshot generated so as to cause a perception error that is representative of the candidate perception setup, wherein the decision making component determines a second time-sequence of decisions for the ablated snapshots; and computing a similarity measure between the first and second time-sequences of decisions denoting an extent to which the candidate perception setup caused a change in one or more decisions points of the second time-sequence relative to the first time-sequence, a decision point occurring when a decision changes between adjacent timesteps.

Abstract: An endoscope may include a shaft having a longitudinal axis, a first image sensor facing a distal direction, and a second image sensor facing a lateral direction. The endoscope may further include a tubular member having a lumen, the lumen having a distal-end opening and defining a longitudinal axis through a center of the lumen. The tubular member may be movable between a first configuration and a second configuration. In the first configuration of the tubular member, the longitudinal axis of the lumen may be parallel to the longitudinal axis of the shaft. In the second configuration of the tubular member, the longitudinal axis of the lumen may extend through a lateral opening in a wall of the shaft.

Abstract: An endoscope may include a shaft having a longitudinal axis, a first image sensor facing a distal direction, and a second image sensor facing a lateral direction. The endoscope may further include a tubular member having a lumen, the lumen having a distal-end opening and defining a longitudinal axis through a center of the lumen. The tubular member may be movable between a first configuration and a second configuration. In the first configuration of the tubular member, the longitudinal axis of the lumen may be parallel to the longitudinal axis of the shaft. In the second configuration of the tubular member, the longitudinal axis of the lumen may extend through a lateral opening in a wall of the shaft.

Abstract: A method for coupling a first medical device component to a second medical device component comprising altering the first medical device component from a natural state to an altered state, by reducing a cross-sectional dimension of the first medical device, fitting a first portion of the first medical device component in the altered state into a first opening of the second medical device component, wherein the first medical device component includes second portions not within the first opening of the second medical device component, and allowing the second portions of the first medical device component to revert back to the natural state.

Abstract: A method for coupling a first medical device component to a second medical device component includes altering the first medical device component from a natural state to an altered state, by reducing a cross-sectional dimension of the first medical device. The method further includes fitting a first portion of the first medical device component in the altered state into a first opening of the second medical device component. The first medical device component includes second portions not within the first opening of the second medical device component. The method further includes allowing the second portions of the first medical device component to revert back to the natural state.

Abstract: In one aspect of the present disclosure, a device may include a shaft having a distal end, and a tip at the distal end of the shaft. The tip may include an opening defined by a surface of the tip. An instrument inserted through the shaft may extend distally out of the opening. The device also may include an elevator for engaging the instrument. The elevator may include a proximal end fixed relative to the surface of the tip, a proximal portion extending distally from the proximal end, and a distal portion extending distally from the proximal portion. A force exerted on the elevator bends the proximal portion to deflect the distal portion without bending of the distal portion.

Abstract: Polypectomy devices and methods for making and using polypectomy devices are disclosed. An example polypectomy device may include an elongate sheath having a proximal end region and a distal end region. A shaft may be slidably disposed within the sheath. A handle may be coupled to the proximal end region of the sheath. The handle may be designed to axially shift the shaft relative to the sheath. A snare may be coupled to the shaft. The snare may include a first region, a traction region, and a distal tip region. The first region may have a non-circular cross-sectional shape. The traction region may include a plurality of traction members. At a position between two adjacent traction members the snare may have a reduced cross-sectional area relative to the first region. The distal tip region may have a circular cross-sectional shape.

Abstract: Aspects of articulating devices and methods are disclosed. An exemplary articulating device may comprise an interior core with a reinforcing extending along a central axis, an exterior layer bonded to the interior core by an interface, and a lumen extending through the exterior layer, exterior of the reinforcing element, and parallel to the central axis. A steering wire may be moveable in the lumen to articulate a distal end of the device relative to the central axis in response to a force applied to the steering wire. Related methods of manufacturing an articulating device are also described.

Abstract: In one aspect of the present disclosure, a device may include a shaft having a distal end, and a tip at the distal end of the shaft. The tip may include an opening defined by a surface of the tip. An instrument inserted through the shaft may extend distally out of the opening. The device also may include an elevator for engaging the instrument. The elevator may include a proximal end fixed relative to the surface of the tip, a proximal portion extending distally from the proximal end, and a distal portion extending distally from the proximal portion. A force exerted on the elevator bends the proximal portion to deflect the distal portion without bending of the distal portion.

Abstract: Exemplary medical devices may include a snare device. The snare device may include a first leg having a proximalmost end and a second leg having a proximalmost end. The first leg and the second leg may form a distal loop. The proximalmost end of first leg may be independently moveable relative to the proximalmost end of the second leg.

Abstract: In one aspect of the present disclosure, a device may include a shaft having a distal end, and a tip at the distal end of the shaft. The tip may include an opening defined by a surface of the tip. An instrument inserted through the shaft may extend distally out of the opening. The device also may include an elevator for engaging the instrument. The elevator may include a proximal end fixed relative to the surface of the tip, a proximal portion extending distally from the proximal end, and a distal portion extending distally from the proximal portion. A force exerted on the elevator bends the proximal portion to deflect the distal portion without bending of the distal portion.

Abstract: In one aspect of the present disclosure, a device may include a shaft having a distal end, and a tip at the distal end of the shaft. The tip may include an opening defined by a surface of the tip. An instrument inserted through the shaft may extend distally out of the opening. The device also may include an elevator for engaging the instrument. The elevator may include a proximal end fixed relative to the surface of the tip, a proximal portion extending distally from the proximal end, and a distal portion extending distally from the proximal portion. A force exerted on the elevator bends the proximal portion to deflect the distal portion without bending of the distal portion.

Abstract: An endoscope may include a shaft having a longitudinal axis, a first image sensor facing a distal direction, and a second image sensor facing a lateral direction. The endoscope may further include a tubular member having a lumen, the lumen having a distal-end opening and defining a longitudinal axis through a center of the lumen. The tubular member may be movable between a first configuration and a second configuration. In the first configuration of the tubular member, the longitudinal axis of the lumen may be parallel to the longitudinal axis of the shaft. In the second configuration of the tubular member, the longitudinal axis of the lumen may extend through a lateral opening in a wall of the shaft.