Abstract: Embodiments disclosed herein relate to an endoscopic device and a method to provide dynamic visualization of the middle ear. The endoscopic device includes a handle and a shaft extending therefrom. The shaft includes a rigid portion distal the handle and an articulating portion distal the rigid portion. The articulating portion is configured to articulate with respect to the rigid portion. The articulating portion includes an imaging sensor coupled thereto. The handle can include one or more actuators configured to cause the articulating portion to articulate.

Abstract: A self-propelled semi- or fully-autonomous robotic colonoscope device is provided that includes multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include a flexible rotary shaft that transmits power to a distal tip device and ultimately outputs locomotion at the distal tip with reduced complex maneuverability from the physician. In one particular implementation, a flexible metal rotary shaft may be utilized to deliver power from an off-board motor to the distal tip device. The flexible rotary shaft may be included in a tether that connects the rotary shaft from a handle to the distal tip device. The flexible shaft may be selected to provide a particular torque, directional operation, minimum bend radius, deflection, and speed. The flexible rotary shaft provides transmission of rotary motion through bends and curves of the flexible tether without sacrificing efficiency.

Abstract: Implementations include herein are visual navigation strategies and systems for lumen center tracking comprising a high-level state machine for gross (i.e., left/right/center) region prediction and curvature estimation and multiple state-dependent controllers for center tracking, wall-avoidance and curve following. This structure allows a navigation system to navigate even under the presence of significant occlusion that occurs during turn navigation and to robustly recover from mistakes and disturbances that may occur while attempting to track the lumen center. This system comprises a high-level state machine for gross region prediction, a turn estimator for anticipating sharp turns, and several lower level controllers for heading adjustment.

Abstract: Implementations include herein are visual navigation strategies and systems for lumen center tracking comprising a high-level state machine for gross (i.e., left/right/center) region prediction and curvature estimation and multiple state-dependent controllers for center tracking, wall-avoidance and curve following. This structure allows a navigation system to navigate even under the presence of significant occlusion that occurs during turn navigation and to robustly recover from mistakes and disturbances that may occur while attempting to track the lumen center. This system comprises a high-level state machine for gross region prediction, a turn estimator for anticipating sharp turns, and several lower level controllers for heading adjustment.

Abstract: A medical device includes an elongate body and an inflatable balloon attached to and partially surrounding at least a section of the elongate body. The inflatable balloon is selectively inflatable between a deflated state and an inflated state. Engagement between the balloon and a physiological lumen is provided, in part, by multiple protrusions extending from the inflatable balloon and having various physical and functional characteristics. In certain implementations, the balloon may be configured to exhibit various separation forces by applying different strains to the balloon, such as by varying the degree to which the balloon is inflated or deflated.

Abstract: A medical device is provided. The medical device includes a selectively strainable surface and a plurality of protrusions extending from the selectively strainable surface. One or more protrusions of the plurality of protrusions are configured to undergo a transformation including at least one of deformation and migration in response to a change in strain of the selectively strainable surface.

Abstract: A self-propelled semi- or fully-autonomous robotic endoscope device is provided that include multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include two independently controlled motors configured to drive micro-pillared treads above and below the device, allowing for 2-degrees of freedom (DOF) skid-steering even in a collapsed lumen. The robotic device contains similar functionality of a traditional endoscope, such as a camera, adjustable LEDs, channels for insufflation and irrigation, and a tool port for common endoscopy instruments (e.g., forceps, snares, etc.).

Abstract: An overtube assembly for use with an elongate medical tool includes an overtube including a flexible tubular body having a proximal end and distal end. The flexible tubular body includes a split extending from the proximal end to the distal end. The overtube assembly further includes an inflatable balloon coupled to a distal portion of the flexible tubular body. The flexible tubular body is disposable over a section of the elongate medical tool by inserting the elongate medical tool through the split.

Abstract: Medical devices including balloons and balloons are provided that include an elongate body and an inflatable balloon defining a longitudinal axis, the inflatable balloon being attached to and partially surrounding at least a section of the elongate body. The medical device further includes a plurality of protrusions extending from the inflatable balloon. When the inflatable balloon is in an unstrained state, each of the plurality of protrusions extends in a first transverse direction relative to the longitudinal axis. In certain implementations, the inflatable balloon may also be configured to collapse such that, when in a collapsed state, an untextured portion of the inflatable balloon extends to a radius and the plurality of protrusions does not extend beyond the radius.

Abstract: An overtube assembly for use with an elongate medical includes a flexible tubular body having a proximal end and a distal end, the flexible tubular body including a tube split extending longitudinally from the proximal end to the distal end. The flexible tubular body defines each of a primary lumen extending from the proximal end to the distal end and accessible through the tube split and a secondary lumen separate from the primary lumen.

Abstract: Implementations include herein are visual navigation strategies and systems for lumen center tracking comprising a high-level state machine for gross (i.e., left/right/center) region prediction and curvature estimation and multiple state-dependent controllers for center tracking, wall-avoidance and curve following. This structure allows a navigation system to navigate even under the presence of significant occlusion that occurs during turn navigation and to robustly recover from mistakes and disturbances that may occur while attempting to track the lumen center. This system comprises a high-level state machine for gross region prediction, a turn estimator for anticipating sharp turns, and several lower level controllers for heading adjustment.

Abstract: A medical device includes an elongate body and an inflatable balloon attached to and partially surrounding at least a section of the elongate body. The inflatable balloon is selectively inflatable between a deflated state and an inflated state. Engagement between the balloon and a physiological lumen is provided, in part, by multiple protrusions extending from the inflatable balloon and having various physical and functional characteristics. In certain implementations, the balloon may be configured to exhibit various separation forces by applying different strains to the balloon, such as by varying the degree to which the balloon is inflated or deflated.

Abstract: A medical device includes an elongate body and an inflatable balloon attached to and partially surrounding at least a section of the elongate body. The inflatable balloon is selectively inflatable between a deflated state and an inflated state. Engagement between the balloon and a physiological lumen is provided, in part, by multiple protrusions extending from the inflatable balloon and having various physical and functional characteristics. In certain implementations, the balloon may be configured to exhibit various separation forces by applying different strains to the balloon, such as by varying the degree to which the balloon is inflated or deflated.

Abstract: A self-propelled semi- or fully-autonomous robotic endoscope device is provided that include multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include two independently controlled motors configured to drive micro-pillared treads above and below the device, allowing for 2-degrees of freedom (DOF) skid-steering even in a collapsed lumen. The robotic device contains similar functionality of a traditional endoscope, such as a camera, adjustable LEDs, channels for insufflation and irrigation, and a tool port for common endoscopy instruments (e.g., forceps, snares, etc.).

Abstract: An overtube assembly for use with an elongate medical tool includes an overtube including a flexible tubular body having a proximal end and distal end. The flexible tubular body includes a split extending from the proximal end to the distal end. The overtube assembly further includes an inflatable balloon coupled to a distal portion of the flexible tubular body. The flexible tubular body is disposable over a section of the elongate medical tool by inserting the elongate medical tool through the split.

Abstract: Medical devices including balloons and balloons are provided that include an elongate body and an inflatable balloon defining a longitudinal axis, the inflatable balloon being attached to and partially surrounding at least a section of the elongate body. The medical device further includes a plurality of protrusions extending from the inflatable balloon. When the inflatable balloon is in an unstrained state, each of the plurality of protrusions extends in a first transverse direction relative to the longitudinal axis. In certain implementations, the inflatable balloon may also be configured to collapse such that, when in a collapsed state, an untextured portion of the inflatable balloon extends to a radius and the plurality of protrusions does not extend beyond the radius.

Abstract: A medical device includes an elongate body and an inflatable balloon attached to and partially surrounding at least a section of the elongate body. The inflatable balloon is selectively inflatable between a deflated state and an inflated state. Engagement between the balloon and a physiological lumen is provided, in part, by multiple protrusions extending from the inflatable balloon and having various physical and functional characteristics. In certain implementations, the balloon may be configured to exhibit various separation forces by applying different strains to the balloon, such as by varying the degree to which the balloon is inflated or deflated.

Abstract: The present invention is a miniature camera robot which can be placed entirely within an open space such as an abdominal cavity. The instant camera robot has pan and tilt capabilities, an adjustable focus camera, and a support component for supporting the robot body. In particular embodiments, the camera robot further contains a light source for illumination and a handle to position the camera robot. A system and method for using the instant camera robot are also provided.

Abstract: A road safety marker assembly having a road safety marker and a drive wheel supporting at least a portion of the road safety marker above a road surface to permit movement of the road safety marker assembly relative to the road surface. A motor is drivingly connected to the drive wheel for driving the drive wheel to self-propel the assembly relative to the road surface. In one embodiment, the road safety marker assembly includes a receiver for receiving a control signal. The motor is electrically connected to the receiver and is responsive to the signal to drive rotation of the drive wheel to move the assembly relative to the road surface.