Abstract: A surgical system includes a steerable instrument. The steerable instrument includes a first tube including a first serpentine beam formed in a tubular sidewall thereof, and a second tube including a second serpentine beam formed in a tubular sidewall thereof. The first and second tubes are concentrically nested and positioned so that the first and second serpentine beams are at least partially aligned with each other axially and face in radial directions that differ angularly from one another. The first and second tubes are connected to each other distally of the first and second serpentine beams. The first and second serpentine beams define a bending segment that is actuatable to form a bend in the nested tube structure in response to differential axial forces applied to the first and second tubes.

Abstract: The present disclosure provides for an endoscopic apparatus and methods. The apparatus may include a steerable sheath, a control wire disposed within the steerable sheath, and a basket disposed on the control wire. The steerable sheath may be actuated to form a bend, advancing movements of the control wire may cause the basket to project out of the steerable sheath and expand, and retreating movements of the control wire may cause the basket to retract into the steerable sheath and contract.

Abstract: The present disclosure provides an endoscopic apparatus and associated methods. The apparatus may include a steerable tool having a first flexible tube concentrically nested within a second flexible tube. The apparatus may include an end cap disposed on the steerable tool, an image sensor disposed on the end cap, and one or more light sources disposed on the end cap. The apparatus may be configured for accessing a region within a middle ear cavity of a patient. As such, the apparatus may further include a flexible tube, through which the steerable tool may extend, as well as a pre-curved rigid tube, through which the flexible tube may extend, thus allowing the apparatus to be deployed for middle ear access.

Abstract: A system includes an endcap configured to be fitted on a distal end of an endoscope having a forward-looking camera and a forward-facing working port. The endcap includes a body configured to fit onto the distal end of the endoscope and a reflective surface supported by the body. The reflective surface is configured so that the forward-looking camera visualizes a workspace that is lateral of both the endcap and the distal end of the endoscope.

Abstract: One aspect of the present disclosure includes a sheath configured to receive an ablation probe. The sheath includes a temperature-controlled anchor element thereon configured to attach the sheath to bodily tissue.

Abstract: A light-intensity-based forced sensor comprises a Sarrus linkage, a biasing mechanism, a light emitter, and a light detector includes a first plate, a second plate, and at least one collapsible linkage pivotably coupled to both the first and the second plates. The biasing mechanism biases the collapsible linkage toward an extended configuration. The light emitter is coupled with and displaceable with the first plate; and the light detector is coupled with and displaceable with the second plate and configured to receive light emitted from the light emitter and generate an electrical signal in response to light received from the light emitter, wherein the generated electrical signal provides an indication of the distance between the first plate and the second plate. The sensor can be distally mounted on, e.g., an endoscope to provide haptic feedback at the distal end of the endoscope.

Abstract: A light-intensity-based forced sensor comprises a Sarrus linkage, a biasing mechanism, a light emitter, and a light detector includes a first plate, a second plate, and at least one collapsible linkage pivotably coupled to both the first and the second plates. The biasing mechanism biases the collapsible linkage toward an extended configuration. The light emitter is coupled with and displaceable with the first plate; and the light detector is coupled with and displaceable with the second plate and configured to receive light emitted from the light emitter and generate an electrical signal in response to light received from the light emitter, wherein the generated electrical signal provides an indication of the distance between the first plate and the second plate. The sensor can be distally mounted on, e.g., an endoscope to provide haptic feedback at the distal end of the endoscope.