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

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

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

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

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

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