Abstract: A continuum robot includes: a first wire; a second wire; a distal guide configured to hold the first wire and the second wire; a proximal guide slidable relative to the first wire and the second wire; a plurality of wire guides provided between the distal guide and the proximal guide; a driving unit configured to drive the first wire and the second wire; and a control unit configured to control the driving unit. The first wire is fixed to the plurality of wire guides, the second wire is slidable relative to the plurality of wire guides, and the control unit controls the driving unit so as to keep a distance between the proximal guide and a wire guide among the plurality of wire guides provided nearest to the proximal guide constant.

Abstract: The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Abstract: An improved drive shaft for controlling an end effector of surgical instrument having advantages over the prior art, specifically, the drive shaft includes two separate elongate elements, each including a flange at its proximal end for restricting the lateral movement of the drive shaft when installed within an outer shaft of the instrument. The dimensions of the flanges are such that they fit within the outer shaft with minimal clearance. This allows the drive shaft to be moved longitudinally within the outer shaft to actuate an end effector whilst minimizing any lateral movement. This consequently prevents the end effector from tilting as it is actuated. The drive members are arranged so that the flanges extend in opposite directions perpendicular to the length of the drive shaft. This helps to improve ease of assembly and provides space within the outer shaft for features such as connection wires and the like.

Abstract: A medical device includes a handle including a first slot, a first control device movable within the first slot in a proximal direction and a distal direction, and a sheath extending from the handle and having a longitudinal axis, the sheath defining a first lumen extending from the handle to a distal end of the sheath. A first tube extends within the first lumen, the first tube is connected to the first control device and moves between a first position, where a distalmost end of the first tube is flush with or proximal of a distalmost end of the sheath, and a second position, where the distalmost end of the first tube is positioned distal of the distalmost end of the sheath. The first slot extends parallel to the longitudinal direction of the sheath.

Abstract: This disclosure relates to the field of luminal surgery. Specifically, the present disclosure relates to medical devices that expand within a body lumen for accessing a target tissue. In an aspect, an expandable device for a body lumen may include a filament comprising a proximal end, a distal end, and a length. The device may include a plurality of segments. Each segment may comprise a middle portion comprising a longitudinal axis extending axially therethrough, a projection portion extending from an end of the middle portion along the longitudinal axis, and a receptive portion extending from an opposing end of the middle portion away from the longitudinal axis, the receptive portion configured to receive the projection portion of an adjacent one of the plurality of segments. An aperture may be disposed through the projection portion, the middle portion, and the receptive portion.

Abstract: Medical devices and instruments, particularly pericardial access systems and devices and related methods are disclosed. Some example pericardial access devices may include a distally located, expandable skirt configured to engage the pericardium. When extended, the skirt may be wider than the tubular body of the device. Some example pericardial access devices may include an at least partially transparent, repositionable tip.

Abstract: Systems and methods for performing, assessing, and adjusting neuromodulation therapy are disclosed herein. One method for assessing the likely efficacy of neuromodulation therapy includes positioning a neuromodulation catheter at a target site within a renal blood vessel of a human patient and obtaining a measurement related to a diameter of the renal blood vessel via the neuromodulation catheter. The method can further include determining a diameter of the renal blood vessel at or near the target site based on the measurement. In some embodiments, (i) one or more parameters of neuromodulation energy to be delivered to the renal blood vessel can be adjusted based on the determined diameter and/or (ii) the neuromodulation catheter may be repositioned within the renal blood vessel.

Abstract: An example medical device is disclosed. The example medical device includes a shaft having a proximal end region, a distal end region and an outer surface. The medical device also includes a hemostasis clip coupled to the outer surface of the distal end region of the shaft, wherein the hemostasis clip is configured to shift between an open position and a closed position. Further, the medical device includes a tension member coupled to the hemostasis clip, wherein actuation of the tension member shifts the hemostasis clip between the open position and the closed position.

Abstract: The present disclosure discloses an automated calibration system and calibration method for a flexible robot actuator. The calibration system includes a support frame. A visual positioning system, a pressure measuring system and a pneumatic pressure control system are respectively installed on the support frame. The visual positioning system is configured to measure a relative displacement and an angle between two ends of the flexible actuator. The pneumatic pressure control system is configured to charge air into an actuating end of the flexible actuator and measure an input pneumatic pressure of the flexible actuator. The pressure measuring system includes a pressure gauge installed on the support frame through a vertical axis motor system, and the flexible actuator to be calibrated installed on the support frame through a horizontal axis motor system and a rotating motor system.

Abstract: A system includes a robotic drive comprising a plurality of cassettes, each cassette to move an elongated medical device (EMD) loaded therein, and an input module to issue instructions to the robotic drive. The input module includes a first two or more selection buttons to select a first two or more EMDs loaded in respective ones of the plurality of cassettes, a first control actuatable to cause issuance of an instruction to the robotic drive to simultaneously move each of the first two or more EMDs linearly, and a second control actuatable to cause issuance of an instruction to the robotic drive to simultaneously rotate each of the first two or more EMDs.

Abstract: A device for treating tissue includes a capsule defining a channel extending therethrough and clip arms. Each of the arms includes a proximal part releasably coupled to a distal part, a proximal portion of the distal part configured to be received within the channel of the capsule so that the arms move proximally and distally relative to the capsule between a tissue receiving configuration, in which distal ends of the arms are separated from one another, and a tissue clipping configuration, in which distal ends of the arms are moved toward one another. The proximal portion of each of the arms is configured to release from the corresponding distal part to lock the distal part of each of the arms over a portion of target tissue to be clipped while the proximal parts of the arms are removed from the body.

Abstract: A method for operating a medical device includes measuring a configuration of a tube, receiving a desired configuration of the tube, determining an actuation input to bend the tube to the desired configuration, and transmitting the actuation input to at least one force transmission element that is actuatable to alter the tube between a flexible state and a stiffened state. Altering the tube from the flexible state to the stiffened state includes simultaneously applying first and second tension forces to first and second force transmission elements, respectively, to compress and shorten a length of the tube. The method further includes receiving a first command to place the tube in the flexible state, reducing longitudinal compression on the tube in response to the first command, receiving a second command to place the tube in the stiffened state, and longitudinally compressing the tube in response to the second command.

Abstract: Endoscopic image analysis, endoscopic procedure analysis, and/or component control systems, methods and techniques are disclosed that can analyze images of an endoscopic system and/or affect an endoscopic system to enhance operation, user and patient experience, and usability of image data and other case data.

Abstract: A guiding probe for identifying a location within an anatomical region of a patient. The guiding probe can optionally: a graspable portion, an insertion portion and an emitter. The insertion portion can be coupled to the graspable portion. The insertion portion can have an elongated extent and a longitudinal axis. The insertion portion can include a flexible section and a bending section. The bending section can be positioned distal of the flexible section. The emitter can be coupled to a distal end portion of the insertion portion. The emitter can be configured for use within the anatomical region to emit a signal that can be detectable extracorporeally of the patient whereby the signal enables the location within the anatomical region to be identified extracorporeally for therapy to be applied.

Abstract: A fastening system and a deployment system for controlling translation and rotation of a deployment device are presented. A fastening system may comprise one or more components configured for arresting or restricting translation of a delivery catheter of a medical device, including a mitral valve fixation device such as the MitraClip®. A deployment system may comprise one or more components configured for locking rotation of a crimping cam to a slider to control deployment of a mitral valve fixation device.

Abstract: A channel unit for an endoscope includes a conduit, a mounting member and a connection member having one end connected to the mounting member and another end connected to a distal end of the conduit, the connection member having flexibility and a variable length in a longitudinal direction, and a proximal end side fixing portion of the connection member is movable back and forth in the longitudinal direction with respect to a distal end side fixing portion of the connection member as the conduit moves back and forth in the longitudinal direction.

Abstract: The present disclosure describes a fast-scanning optical-resolution photoacoustic (fsOR-PAE) endoscope for imaging vasculature within tissues in vivo that includes an ultrasonic transducer and a scanning mirror within a lumen of an elongate casing. The scanning mirror is configured to direct the laser pulses from the pulsed laser source to a focal spot outside the casing in a scanning pattern via an imaging window formed in the casing. The scanning mirror is further configured to direct a plurality of photoacoustic signals from the focal spot to the ultrasonic transducer via the imaging window.

Abstract: An endoscope. One or more image sensors are designed to capture image data in visible light. One or more image sensors are designed to capture image data in a nonvisible portion of the electromagnetic spectrum. An insertion shaft is designed to support the visible and nonvisible image sensors at or near a distal tip with sufficient rigidity to permit guidance to a surgical site in a human body. Image processing software is trained through machine learning to enhance image quality of at least the nonvisible portion of the image, and to present the enhanced nonvisible image as a real-time, visible presentation to a surgeon. A handle has electronics for drive of illumination circuitry and to receive imaging signal from the imaging circuitry. A joint between the proximal handle portion and the insertion shaft is designed to separably connect the insertion shaft to the proximal handle portion. When separated, the joint permits removal of the insertion shaft for disposal and replacement.

Abstract: A method of manufacturing an ultrasonic transducer module, the ultrasonic transducer module including an ultrasonic transducer, a cable electrically connecting the ultrasonic transducer and a board connectable to an ultrasonic observation device, and a relay board relaying electrical connection between the ultrasonic transducer and the cable, the method including: performing a first molding to form a first part of a casing by molding a single type of resin having an insulation property through a stereo lithographic molding method; and performing a second molding to form a second part of the casing in a state where the ultrasonic transducer, the relay board, and the cable are provided in the first part of the casing, the second part being manufactured by further molding the resin in a side of the first part, in which the ultrasonic transducer, the relay board, and the cable are arranged, through the stereo lithographic molding method.

Abstract: An extravascular access system includes a tubular stent configured to be deployed in a blood vessel, the stent having a sidewall and a proximal end opening and an internal scaffolding comprising one or more structural members, and an elongate access catheter having a distal end portion configured to access the blood vessel wherein when the stent is deployed in the blood vessel, and the distal end portion of the catheter is inserted into the proximal end opening of the stent, the one or more internal structural members of the stent deflect the distal end portion of the catheter towards a wall of the blood vessel.

Abstract: A device for treating tissue includes a capsule extending longitudinally from a proximal end to a distal end and including a channel extending therethrough, the capsule releasably coupled to a proximal portion of the device and clip jaws, proximal ends of which are slidably received within the channel of the capsule so that the clip jaws are movable between an open configuration and a closed configuration. Clip jaws are configured so that a distance between the distal ends of the clip jaws in an open configuration is between 15 and 18 millimeters. Clip jaws further include barbs extending from a distal portion thereof.

Abstract: Methods, systems, and devices are disclosed for fabricating 3D piezoelectric materials. In one aspect, a method includes photopolymerizing a selected portion of a two dimensional plane in a sample of a photolabile polymer solution containing piezoelectric nanoparticles to form a layer of a piezoelectric material, the photopolymerizing including directing light from a light source based on a pattern design in the selected portion of the photolabile polymer solution; and moving one or both of the sample and the directed light to photopolymerize another selected portion of another two dimensional plane in the sample to form another layer of the piezoelectric material.

Abstract: A photodynamic therapy apparatus for local targeting in cancer treatment capable of treating various types of cancers or tumors. An endoscope is placed in the center of an end portion of a probe used in photodynamic therapy and a plurality of optical fibers are arranged along the edge thereof, so that a lesion site is irradiated with a plurality of lights while the plurality of optical fibers of the probe receive lights from individual light sources, respectively, to perform light irradiation individually. An apparatus is disclosed, wherein unnecessary damage to normal tissues is minimized by controlling light irradiation regions, for instance, by defining light irradiation regions encompassing a lesion site from an image provided in real time through an endoscope disposed at an end portion of a probe and allowing only individual light sources irradiating the defined light irradiation regions to emit lights to achieve local light irradiation.

Abstract: The present disclosure relates to an apparatus for mounting on a guide member for insertion into an anatomical cavity, the apparatus comprising a body defining a cavity for receiving a guide member therethrough, a drive arrangement for moving the body along a guide member disposed through the body, a probe secured to the body for, in use, obtaining a measurement from, taking a sample of, applying a substance to, or applying a therapy to, an environment of the body, and a measurement arrangement for measuring a position relative to the guide member disposed through the body.

Abstract: The devices and methods generally relate to treatment of occluded body lumens. In particular, the present devices and method relate to removal of the occluding material from the blood vessels as well as other body lumens.

Abstract: A medical system includes an insertion device including a handle, an insertion portion with at least one lumen, a port fluidly coupled to the lumen, and a connection portion. The medical system also includes a medical device including a handle, an insertion portion, and a connection portion configured to be coupled to the connection portion of the insertion device. The connection portion of the medical device is configured to be coupled to the connection portion of the insertion device to form an electronic and physical connection between the insertion device and the medical device.

Abstract: A sheath includes a sheath body, an inflow port at a proximal end of the sheath body, an outflow port at the proximal end of the sheath body, and a plurality of radially expandable flexible members which extend along a length of the sheath body. The plurality of radially expandable flexible members are attached to the sheath body at a plurality of anchor points along the length of the sheath body. The plurality of radially expandable flexible members expand during active fluid inflow. The radially expandable flexible members are spaced apart along the sheath body to define one or more isolated spaces that extend between adjacent radially expandable flexible members when the radially expandable flexible members are inflated within a body passage.

Abstract: A surgical stapling apparatus includes a cartridge assembly, an anvil assembly, and a camera assembly. The cartridge assembly supports an array of fasteners therein. The anvil assembly is movably positioned relative to the cartridge assembly between an unclamped position and a clamped position for forming the array of fasteners. The camera assembly is coupled to the anvil assembly and positioned to collect and transmit image data of a fastened tissue site.

Abstract: A working channel device is mountable on the outer circumference of an endoscope, such as an endoscope of the flexible shaft design. The device has a tubular or hose-like working channel and a distal fixing element that can be fixed to the working channel. The distal fixing element can engage around the endoscope in a clamping manner at the endoscope head of the endoscope. A proximal fixing element can be fixed to the working channel, which can engage around the endoscope, preferably at the endoscope grip of the endoscope. A preferably sleeve-like adapter can be mounted at the proximal end of the working channel of the working channel device. The adapter has or forms the proximal fixing element and additionally forms a connection point/interface for the connection of medical devices.

Abstract: A surgical retractor for retracting body tissue in a therapeutic procedure includes a blade having a body portion and a plurality of elongate elements extending from the body portion. The plurality of elongate elements is separated a distance from one another along a length of the body portion and form one or more gaps therebetween. The plurality of elongate elements is connected by one or more cross connectors transverse to the plurality of elongate elements. The retractor blade is configured to permit movement of a lung being retracted.

Abstract: A tunable implant, system, and method enables a tunable implant to be adjusted within a patient. The tunable implant includes a securing mechanism to secure the implant in the patient, a actuation portion that enables the implant to move and an adjustment portion that permits adjustment of the implant after the implant has been positioned within the patient. The method of adjusting the tunable implant includes analyzing the operation of the implant, determining if any adjustments are necessary and adjusting the implant to improve implant performance. The implant system includes both the tunable implant and a telemetric system that is operable to telemetrically receive data from the tunable implant where the data is used to determine if adjustment of the tunable implant is necessary. The system also includes an instrument assembly that is used for performing spinal surgery where the instrument assembly includes a mounting platform and a jig.

Abstract: A guide wire gripping device is provided that includes: a sheath; an advanceable and retractable part extending along the longitudinal axis of the sheath; an operation control that moves the advanceable and retractable part along the longitudinal axis; a grasping portion having a contact surface having a peripheral edge surrounded by a distal end, a proximal end, and a pair of side ends; and a support part connected to the advanceable and retractable part and fixed to one of the pair of side ends.

Abstract: In various aspects, a microsurgical apparatus disclosed herein includes a shaft having a shaft distal end, a shaft proximal end with a handle mounted to shaft proximal end. The microsurgical apparatus includes a tool package having an actuator at a tool package proximal end of the tool package and a tool at a tool package distal end of the tool package. The actuator cooperates mechanically with the tool. A sleeve lumen disposed within the tool package slidably receives the shaft for releasable lockable engagement of the tool package proximal end with the handle and with the shaft distal end being generally coextensive with the tool package distal end. Light source(s) and image sensor(s) located proximate the shaft distal end allow viewing of the tool when the tool package is mounted to the shaft. Exemplary methods of use of the microsurgical apparatus are also disclosed herein.

Abstract: A visualization device for a robotic surgery apparatus includes a housing configured to be removably attached to a mounting interface of the apparatus and be positioned adjacent an insertion device of the apparatus. The housing includes first and second openings positioned on an exterior of the housing. The housing includes a substantially flexible camera tube with a first end attached to the housing and a second end including at least one camera. The second end is inserted through the first opening in the housing, pass through interior of the housing, and exit the housing through the second opening in the housing. The second end extends away from the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing. The camera tube forms a loop around a portion of the housing.

Abstract: A surgical cutting and fastening instrument comprises an end effector, a shaft connected to the end effector, and a handle connected to the shaft. The handle comprises an electric, DC motor connected to a drive train for powering the drive train and a plurality of series-connected DC power source connected to the motor for supplying electrical power to the motor. The handle also comprises a power source selection switch for connecting, when in a first state, all of the DC power sources to the motor, and, when in a second state, a subset of the DC power sources to the motor. Also disclosed are control systems for actuating a RF electrode in the end effector and for indicating actuation of the RF electrode.

Abstract: A medical device may comprise a handle portion; an insertion portion having a proximal end portion at the handle portion, wherein the insertion portion includes a lumen therein and a distal end having a distal opening in communication with the lumen; and a member disposed within the lumen, the member having a distal end portion with an imaging device. The member may be configured to transition between a first configuration and a second configuration. In the first configuration, the imaging device may face distally, and, in the second configuration, the imaging device may face proximally. Extending the distal end portion of the member distally past the distal opening may cause the member to transition from the first configuration to the second configuration.

Abstract: A basket apparatus is described that assists in removing objects from within a patient. The apparatus includes a number of pull wires, each pull wire physically coupled to a different capstan that individually actuates one of the pull wires. The apparatus also includes an outer support shaft itself including a number of channels through which the pull wires traverse. The portions of the pull wires extending out of the outer support shaft form a basket of adjustable size, shape, and position. The pull wires are attached together at a tip located at a distal end of the basket apparatus. By controlling the actuation of the various pull wires, the basket's shape, position size can be manipulated to reposition the basket around an object located within a patient, independent of or in conjunction with motion of the remainder of the apparatus or an associated endoscope.

Abstract: Virtual reality (VR) surgical systems with haptic feedback are described herein that can be used to simulate several instruments and surgeries. The instruments can include a tool assembly; first and second brackets each having first shafts that are rotatably coupled at first and second end regions of the tool assembly and second shafts that are rotatably coupled to first and second robotic arms; a surgical tool assembly coupled to an end portion of the tool assembly and having an elongated member that extends within the tool assembly; an elongated member position sensor assembly configured to provide position information of a position of the elongated member to a computing unit; and an elongated member force feedback assembly housed within the cavity and coupled to the elongated member. The elongated member force feedback assembly is configured to provide haptic feedback to the user of the instrument.

Abstract: An endoscope for removing tissue at a surgical site includes an elongated tubular body insertable within a mammalian cavity of a patient. An instrument channel extends between a first opening at a distal end and a second opening at a proximal end of the tubular body and is sized and configured to receive a surgical cutting assembly that includes an aspiration channel configured to remove material entering the endoscope via a distal end of the surgical cutting assembly. A torque generation component configured to generate torque is positioned within the distal end and configured to provide the generated torque to a coupling component. The coupling component is positioned at the distal end of the elongated tubular member and configured to actuate a cutting component of the surgical cutting assembly responsive to actuation of the torque generation component.

Abstract: A medical device deployment system includes a main body (101) and a guidewire (103) capable of being passed through the main body and including a lumen. An optical shape sensing (OSS) system (104) is configured to pass through the lumen in the guidewire. The OSS system is configured to measure shape, position or orientation of an endograft (102) relative to a blood vessel for placement of the endograft.

Abstract: An optical bulb for a medical device includes first and second bodies. The first body has a substantially hemispherical distal side. The second body extends from the first body and includes a mechanical connection point at or near the proximal side of the second body. An instrument channel extends through the optical bulb from the proximal side of the second body to the distal side of the first body. An imaging channel extends an aperture defined in the proximal side of the second body and terminates between the proximal and substantially hemispherical distal sides of the first body. The distal end of the imaging channel is substantially hemispherical. The first body is configured and arranged to provide a substantially uniform image path within a field of view of a camera disposed in the imaging channel.

Abstract: A multicatheter subsystem is provided for a steerable catheter robotic system. The subsystem includes a flexible output sheath, a plurality of flexible multi-lumen assemblies and a plurality of robotic instruments for performing a surgical procedure. The plurality of flexible multi-lumen assemblies extends through the outer sheath. Each of the multi-lumen assemblies has a proximal end and a distal end. Each of the robotic instruments is operatively and removably attachable to the distal end of one of the multi-lumen assemblies such that each instrument is teleoperable independently of every other robotic instrument. At least a first of the robotic instruments includes a plurality of interconnected articulating segments. Each of the articulating segments is operatively and removably attachable to a different one of the multi-lumen assemblies.

Abstract: A surgical device comprises an elongate shaft (12) which extends from a proximal end region to a distal end region thereof, the shaft (12) defining a first lumen (14) for receiving an elongate camera device therein, a second lumen (16) for receiving a tissue manipulation device therein, and a third lumen (18) for receiving a tissue retrieval device therein, the first, second and third lumens (14, 16, 18) extending from the proximal end region to the distal end region of the elongate shaft, and having respective open ends at the distal end region of the elongate shaft. The surgical device further comprises an elongate camera device which extends along the first lumen, a tissue manipulation device which extends along the second lumen, and a tissue retrieval device which extends along the third lumen.

Abstract: A device for conveying a biological material includes a body including an aperture configured to enable connection with an outside of the body and a chamber configured to store a biological material, a plurality of conveyors accommodated in the body and configured to convey the material, and a driver configured to select one of the plurality of conveyors, align the selected conveyor with the aperture, and move the selected conveyor to the outside of the body through the aperture.

Abstract: A system for visualizing an anatomical target includes an imaging device (105) configured to collect real-time images of an anatomical target. A three-dimensional model (136) is generated from pre- or intra-operative images and includes images of structures below a surface of the anatomical target not visible in the images from the scope. An image processing module (148) is configured to generate an overlay (107) registered to the real-time images and to indicate the structures below the surface and a depth of the structures below the surface. A display device (118) is configured to concurrently display the real-time images and the overlay.

Abstract: The present disclosure involves a system and method of use for delivering an interventional instrument, such as an artificial chordae tendineae (ACT) delivery instrument, into a beating heart. By delivering interventional instruments in a beating heart via the system described here, complex and invasive open heart procedures as well as cardiopulmonary bypass can be avoided, significantly reducing patient trauma and recovery time as well as operation time and complexity. The system disclosed includes an optical imaging system to provide the practitioner with visual imagery from the end of the system, and allow for real-time or near real-time imaging of tissue inside the beating heart (e.g., leaflet tissue). This provides for accurate verification of placement of the interventional instrument. In addition, the system includes a grasping mechanism, which allows the practitioner to hold tissue in position prior to placing the interventional instrument.

Abstract: An endoscope system is provided, which comprises an endoscope having a hollow tube formed therein, a flexible elongate member having a first end for operational control and a second distal end for operation of robotic members, one or more actuators coupleable to the flexible elongate member at the first end thereof, and an anti-buckling tube arranged with respect to the hollow tube at the first end of the endoscope to prevent buckling of the flexible elongate member during translation of the one or more actuators.

Abstract: A robotic surgical system comprises an instrument chassis assembly including an elongated member extending along a chassis axis, a proximal mounting section, a distal mounting section, and an instrument interface coupled to the proximal mounting section. The robotic surgical system further comprises an actuation system coupled to the proximal mounting section. The robotic surgical system further comprises a linkage system operably coupled between the actuation system and the distal mounting section. The linkage system includes an instrument guide. The robotic surgical system further comprises a surgical instrument including a proximal portion coupled with the instrument interface and a distal portion coupled with the instrument guide. The surgical instrument is pivotable via the instrument guide relative to the chassis axis.

Abstract: The disclosure relates to a locking apparatus, and more particularly, to a locking apparatus with improved locking performance as a locking unit is stuck between different members capable of moving relative to each other and in which locking is released as an unlocking unit pushes the locking unit.

Abstract: A surgical instrument includes a steering unit capable of articulation and a locking device connected to the steering unit and configured to lock or unlock at least any one of a pitch motion or a yaw motion of the steering unit, in which the locking device includes a first body part coupled to the steering unit, a second body part coupled to the steering unit and capable of moving relative to the first body part, and a locking unit capable of moving between the first body part and the second body part and simultaneously contacting the first body part and the second body part.