Abstract: The present disclosure relates to a guide assembly including a guide having a body and a joint including at least one through hole, wherein the joint is configured for sliding along a length of the body, and a first surgical device. The guide is coupled to the first surgical device and a longitudinal axis of the through hole is co-radial with an end of the first surgical device. Other guide assemblies and methods of creating multiple portals during surgery are also disclosed.

Abstract: A therapy program may be modified based on information indicative of a change in a therapy field, which may represent a region of a patient's tissue to which therapy is delivered. Upon receiving information indicative of a therapy field change, an algorithmic model of a present therapy field may be generated and compared to an algorithmic model of a baseline therapy field, which indicates a therapy field that provides efficacious therapy to the patient. If a characteristic of the present therapy field differs from the baseline therapy field model, the current therapy program may be modified. In another example, upon receiving information indicative of a therapy field change, the current therapy program may be modified, and an algorithmic model of a therapy field based on the modified therapy program may be compared to a baseline therapy field model to determine whether the modified therapy program is a suitable alternative.

Abstract: An endoscope includes a substantially rigid shaft having a distal end and a proximal portion, the shaft having a first lumen and a second lumen separate from the first lumen, the second lumen containing one or more objective lenses disposed at the distal end thereof. A housing is mounted on the proximal portion of the shaft, the housing including an eyepiece mount and a light input port. An image fiber bundle is disposed in the second lumen, the image fiber bundle extending proximally from adjacent the one or more objective lenses to the eyepiece mount. An illumination fiber bundle is disposed in the second lumen, the illumination fiber bundle extending proximally from the distal end of the shaft to the light input port.

Abstract: A flexible or rigid sheath guiding mechanism, comprises: a splitter (101), a guiding sleeve tube (102), a flexible sheath (103), a rigid sheath (104) and a handle (105). A first end of the guiding sleeve tube (102) is mounted on an outlet of the splitter (101), the guiding sleeve tube (102) and provided coaxially with the outlet of the splitter (101). A second end of the guiding sleeve tube is inserted in the rigid sheath (104). The guiding sleeve tube (102) fits the rigid sheath (104). The handle (105) comprises a handle head (106) and a handle sleeve (107) which are fitted with each other. The splitter (101) is mounted in the handle head (106). The rigid sheath (104) is mounted on the handle sleeve (107). The flexible sheath (103) goes through the guiding sleeve tube (102) and the rigid sheath (104), and an end of the flexible sheath (103) is mounted on the outlet of the splitter (101).

Abstract: A flexible surgical instrument employs sheaths around tendons that actuate an end effector or other mechanisms in a distal tip of the instrument. A liquid lubricant can be introduced in the sheaths to reduce friction, and the sheaths can be porous or non-porous. The lubricant can be confined, for example, with an o-ring or a bellow seal, to keep lubricant from leaking where the tendons extend out of the sheaths. More generally, the distal end of the instrument is sealed to prevent leakage of lubricant into a patient. To further reduce risks, a non-toxic water-based lubricant can be used.

Abstract: A rotary self-advancing endoscope system which produces propulsion by rotating, with a motor, a rotating cylindrical body provided on an outer periphery side of an insertion portion main body and causes the insertion portion main body to move forward into an examinee's body, wherein the system is configured to periodically repeating a combination of a state in which the rotating cylindrical body forward-rotates at a predetermined RPM and a state in which the rotating cylindrical body is stopped from rotating and releases accumulated elastic energy and, when a drive current to the motor has reached a predetermined threshold value, reverse-rotate the motor.

Abstract: Endoscopic images and virtual endoscopic images are obtained. Then, an endoscopic image captured at a predetermined position of the anatomical structure is extracted from the obtained endoscopic images, and a comparative virtual endoscopic image virtually generated as if it is captured at a position corresponding to the predetermined position is extracted from the obtained virtual endoscopic images, and the extracted images are associated with each other. A three-dimensional position corresponding to each pixel forming the endoscopic image captured at the predetermined position is calculated based on a three-dimensional position of each pixel forming the comparative virtual endoscopic image. Then, volume data is generated from the endoscopic image captured at the predetermined position based on a pixel value of each pixel forming the endoscopic image and the three-dimensional position calculated for each pixel.

Abstract: A method and a device for use in conjunction with an imaging modality (202), for controlling the angular orientation of a needle-shaped object (212) while moving it along a path (214) from a given entry point to a given target point in a body during a percutaneous intervention. The device comprises a support unit (502, 602, 702, 802) for supporting a guiding unit (506, 706), which support unit provides a pair of parallel control planes (604, 606) which are at least partially detectable by the imaging modality. The guiding unit establishes a guiding axis (612, 818) substantially perpendicular to the pair of parallel control planes along which guiding axis the needle-shaped object is translatable. The angular orientation of an imaging plane (204) applied by the imaging modality determines a reference for the angular orientation of the pair of parallel control planes.

Abstract: An apparatus is presented for use with a biologically-compatible-fluid pressure source.

Abstract: An oral airway includes a first component having a first guiding surface and a second component having a second guiding surface. The first component and the second component are adapted to be removably coupled together such that the first guiding surface and the second guiding surface collectively define and encompass an interior passage through the oral airway that is dimensioned to direct, for example, a fiber-optic scope or an endotracheal tube extending through the interior passage for tracheal intubation. The first and second components are configured to be decoupled and independently removed from a patient's mouth without disrupting an endotracheal tube that has been extended through the conduit for tracheal intubation. The first and second components may be maintained in coupled disposition by an interlocking mechanical structure. The first and second components also may be maintained in coupled disposition by magnetism.

Abstract: Dilators with a threaded distal portion and direct visualization capability may be used for penetrating and dilating stiff tissues and bones. The threaded portion of a dilator engages the tissue between the insertion site and the target site, and may be rotated for advancing through the target tissue in a more controlled fashion. The direct visualization capability may be used to visualize the ligament as the threaded distal portion passes through the ligamentum flavum. The devices and methods described may be used in procedures, for example, where ligaments surrounding the epidural space need to be dilated in order to deliver one or more surgical instruments into the epidural space.

Abstract: Devices, tools and methods for performing minimally invasive surgical procedures. Methods of performing minimally invasive ablation procedures. Methods of performing rapid exchange of tools in a device while the device remains in a reduced-access surgical space.

Abstract: A video bougie 1 for use in inserting a medical tube 3 includes a bendable rod 10 with a camera unit 11 mounted at its forward end and connected by a cable 13 with an electrical connector 14 at the machine end of the bougie. A brass ferrule 30 has its forward end 32 attached to an external recess 24 around the machine end of the rod 10, the rear end 33 of the ferrule supporting the electrical connector 14.

Abstract: A medical treatment instrument includes an insertion tube configured to be inserted into a body of a patient; an image information acquisition device configured to be inserted in a withdrawable manner in the insertion tube; and a first conveyance path configured such that an object is conveyable into the insertion tube via the first conveyance path, the first conveyance path being located at an intermediate portion of the insertion tube so as to communicate with the insertion tube. The medical treatment instrument is configured such that the image information acquisition device is retractable to a retracted position proximal of the conveyance path when the object to be conveyed is conveyed through the insertion tube via the conveyance path.

Abstract: Endoscope sheaths and associated endoscopy data collection and analysis systems and methods are described. In one implementation an endoscope sheath include a body and one or more sensors disposed in the body. The sheath may further include a leak detection apparatus configured to detect leaks in the sheath body. In addition, the sheath may include actuator apparatus, such as a balloon catheter or other surgical instrument. Data from the endoscope and endoscope sheath may be collected, fused and displayed for use in medical procedures and/or analysis.

Abstract: A surgical device including a seal anchor that includes leading and trailing portions. A plurality of ports longitudinally extends between the leading and trailing portions. The ports are adapted and configured to receive surgical objects therein. At least one of the surgical objects is a viewing instrument including a viewing portion. During a surgical procedure, surgical objects inserted in the other ports are selectively positionable with respect to the viewing instrument.

Abstract: An endoscope and a surgical instrument are easily manipulated to desired positions and orientations independently while the state of treatment with the surgical instrument can be easily observed using an endoscopic image.

Abstract: A medical instrument includes a guide (102) having an interlocking structure. A tool (104) is enclosed within the guide and has an interlocking feature configured to engage the interlocking structure of the guide. The tool has a stored position and a deployed position such that in transitioning between the stored position and the deployed position, motion of the tool relative to the guide is controlled in accordance with the interlocking structure.

Abstract: A removable, resilient atraumatic sheath for arthroscopic instruments. The sheath covers sharp edges on the arthroscopic instrument, particularly the distal tip of the rigid cannula, and thereby protects tissue and objects near a surgical site from accidental trauma. The sheath may be provided in the form of an inflow/outflow sheath that allows a surgeon to irrigate and drain a surgical field without the use of a separate irrigation instrument.

Abstract: An endoscope holding device includes an insertion part that is long and holds the distal end part of an endoscope so as to freely protrude and retract; a distal end face that specifies a protruding direction of the endoscope, and is formed at the distal end of the insertion part, a displacement part which has a displacement face that is curved from the distal end toward a proximal end and provided at a position apart from the distal end face in order to displace living body tissue in front of the insertion part to secure a space for operating the distal end part of the endoscope protruded from the distal end face to curve; and a fixing portion that fixes the displacement part and the insertion part such that the distal end side of the displacement face intersects a direction orthogonal to the distal end face.

Abstract: A guide sheath includes: an elongated member extending along a longitudinal axis; a manipulation wire extending along the longitudinal axis of the elongated member so as to be capable of advancing and retracting; a bent section formed of a thermoplastic resin in a tubular shape and configured to be bent in accordance with advance or retraction of the manipulation wire; and a first hard section provided at a distal end surface of the bent section and formed by cross-linking the thermoplastic resin to which a distal end section of the manipulation wire is fixed.

Abstract: An ophthalmology microscopy system for observing fluorescence comprises an imaging system and an illumination system. The imaging system provides at least one optical imaging path producing a magnified multi-dimensional image of an object disposable in a focal plane of the imaging system, and comprises at least one optical observation filter. The illumination system provides an illumination beam path intersecting the focal plane of the imaging system at a variable angle of less than 90°. The microscopy system comprises first and second operating states. In the first operating state, radiation passing through the illumination beam path has at least in a section along the illumination beam path a spectrum free of a pass band of the observation filter. In the second operating state, radiation passing through the illumination beam path has a spectrum having a bandwidth of at least 200 nm in a range from 380 nm to 780 nm.

Abstract: An imaging device for in vivo medical applications that enables minimally invasive surgical procedures. The imaging device includes an elongated frame having a base, a module housing, and an optional helical member interposed between the base and module housing. The imaging device further includes an actuation unit positioned within the frame that engages the module housing causing the frame to bend at the optional helical member. The module housing includes an imaging module and may include other modules including tools used for laparoscopic surgery.

Abstract: The endoscope apparatus of the present invention includes: an insertion portion having a bending portion; an observation device that is provided at the insertion portion; an illumination unit that is provided at the insertion portion, and that illuminates a visual field of the observation device; a main body unit that is formed having a size that enables it to be held and operated by one hand of a user; an operating section that is used to operate the bending portion; a display unit that is connected to the insertion portion, and that displays images acquired by the observation device; a light emitting component that is provided in the main body unit, and that is connected via a light guide to the illumination unit; a heat discharge unit that is provided at the main body unit such that at least a portion thereof is exposed, and that is thermally connected to the light emitting component; and a shielding portion that is provided at the main body unit, and that covers at least a portion of the periphery of the

Abstract: An arthroscopic inflow and outflow sheath providing an improved inflow and outflow system reducing the diameter of a continuous flow system while providing fluid management during arthroscopy. The improved arthroscopic inflow and outflow sheath comprises an elongated atraumatic sheath having an inner surface, outer surface, proximal end, and distal end. The atraumatic sheath further comprises plurality of ribs or webs extending from the inner surface of the sheath and designed to contact an outer surface of the arthroscope thereby creating outer lumens facilitating the inflow and outflow of fluid to a surgical site.

Abstract: An insertion device includes a channel defining portion extended through an inside of an insertion section up to a base portion toward a distal direction and defining a channel that is open to an outside of the insertion section in an opening of an outer peripheral portion of the base portion, and a driving unit extended through an inside of the channel with a driving axis being an axial center and being rotatable in directions around the driving axis when driven. The insertion device includes a driving force receiving portion connected to a gear portion in the opening of the channel, and a support unit supporting the driving unit so that the driving axis is parallel to the longitudinal axis in the gear portion.

Abstract: A medical tube includes: a tube main body through which a conduit, through which an insertion portion of a cholangioscope is insertable, is pierced from a distal end to a rear end; a side hole that is formed between the distal end and the rear end of the tube main body and causes an outer circumferential side of the insertion portion and the conduit to communicate with each other; and a hardness changing portion that can change the hardness of at least a part of the tube main body including the side hole according to operation by an operator.

Abstract: A method for advancing a device positioned coaxially with respect to a cannula comprises rigidizing a portion of the cannula and advancing the device until a first preestablished limit of relative displacement between the cannula and the device is reached. The method further comprises relaxing the portion of the cannula and advancing the cannula until a second preestablished limit of relative displacement between the cannula and the device is reached.

Abstract: A system for positioning an interchangeable tool in a body cavity includes a channel having a lumen in direct communication with the body cavity; a tool introducer having a longitudinal axis and a distal end, the tool introducer capable of traveling through the channel lumen; and a tool holder covering at least a portion of the interchangeable tool that is pivotally connected to the tool introducer allowing angular positioning of the interchangeable tool after the tool holder emerges from the channel into the body cavity. A method for engaging an interchangeable tool with a distal portion of a tool manipulator in a body cavity includes inserting a tool introducer into a channel, orienting the distal portion of the tool manipulator in the body cavity; emerging the interchangeable tool from the channel into the body cavity; and positioning the interchangeable tool eccentrically to the lumen of the channel.

Abstract: A medical device, for example, an endoscope or catheter, includes local drug delivery capabilities for selectively delivering at least one drug in vivo. The local drug delivery may occur as the medical device is advanced through tortuous passageways of the patient's body or may occur after the medical device has reached its targeted destination. The medical device includes a drug agent, for example, carried in or on a hydrophilic or hydrogel coating disposed on the outside thereof. When the hydrogel or drug agent receives an appropriate signal, e.g., solution containing a triggering agent or triggering condition, e.g., heat or light, the hydrogel contracts or expands to squeeze out the drug from hydrogel. If electric current is provided as the signal, and the drug agent is charged, the drug agent is released by electrophoretic forces.

Abstract: Retractor cannula systems may be used for accessing and visualizing the spine and related methods of treatment, including a forward-looking retractor cannula system for creating a working space and the retractor cannula system having atraumatic dissection capability to allow visualization in spine. The devices and methods described may be used, for example, to perform annulus repair, herniated disc excision, and denervation of neurological tissue; to dispense pharmacological agents and/or cell or tissue therapy agents; to diagnose disc degeneration and bony degeneration, spinal stenosis, and nucleus decompression, and to perform disc augmentation.

Abstract: In a living body introduction apparatus, an inner rotating cylinder is covered with a stretchable cover having an inner circumferential length shorter than an outer circumferential length of the inner rotating cylinder. A portion of the cover pushed out in a protruding form by a roller disposed on an outer circumferential surface of the inner rotating cylinder enters a circular groove formed inside an outer rotating cylinder. Rotation of the inner rotating cylinder circularly moves the protruding portion on the outer circumferential surface. The protruding cover portion pushes the circular groove to rotate the outer rotating cylinder.

Abstract: A rotary self-propelled endoscope, including: a tubular outer shaft having an elongated insertion section main body with a distal end portion which is rotatable around a longitudinal axis and has at least partially a surface formed to have a helical configuration; an inner shaft which is rotatably inserted through the outer shaft and is coupled to the distal end portion of the insertion section main body; and a motor unit which causes the inner shaft to rotate around the longitudinal axis from the proximal end side.

Abstract: A fistulectomy method of forming a fistula between a first duct and a second duct is provided. The method including: inserting an insertion portion of an endoscope having a channel into the first duct; inserting a treatment instrument into the channel; feeding a distal end of the treatment instrument into the second duct through the first duct; discharging a first magnet from the distal end of the treatment instrument to the second duct; pulling the treatment instrument from the second duct; discharging a second magnet to the first duct; and attaching the first magnet and the second magnet magnetically when the first and second ducts are between the first and second magnets.

Abstract: An endoscopic treatment system 1 of the present invention includes an overtube 2 that is inserted into the body of a patient. An endoscope 7 and a suturing device 8 are inserted into the overtube 2. The overtube 2 has a long and flexible tube main body 3, and a chamber 4 is provided at the distal end of the tube main body 3. The chamber 4 has a lateral hole 10 formed on the lateral surface thereof. The width of the lateral hole 10 is set such that a lesion can be drawn into the lateral hole 10 while preventing other organs on the periphery of the lesion from being drawn into the lateral hole 10.

Abstract: Apparatuses of the type broadly applicable to numerous medical applications in which it is desirable to insert one or more steerable or non-steerable catheters or similar devices into a working channel of an associated device, such as an endoscope, catheter, etc., or passageway of a patient, are disclosed. The apparatuses may include catheters having a dedicated guide wire channel and one or more of the following: viewing capabilities, a working channel, and auxiliary channels, such as insufflation/irrigation channels. The catheters may include a guide wire channel that is configured to provide the catheter or other device with rapid exchange capabilities.

Abstract: An endoscopy device for facilitating the use of an endoscope, comprising at least one airway tube and a mask carried at one end of the at least one airway rube, the mask having a distal end and a proximal end and a peripheral formation capable of conforming to, and of fitting within, the actual and potential space behind the larynx of the patient so as to form a seal around the circumference of the laryngeal inlet, the peripheral formation surrounding a hollow interior space or lumen of the mask and the at least one airway tube opening into the lumen of the mask, the device further comprising a conduit adapted for passage of an endoscope into the oesophagus of a patient when the mask is in place.

Abstract: A cylindrical rotation unit attachable to an elongated insertion unit which includes a base in which a central axis is defined, and a rotation member provided on an outer circumference of the base movably in an axial direction of the central axis relative to the base and rotatably around the central axis in response to the rotation of a rotation force transmission portion which is rotatable around a longitudinal axis parallel with the central axis of the base includes: an engagement portion attachable to and detachable from an outer circumferential surface of the base; and a contact portion which is provided to contact on the rotation member away from the engagement portion and which disposes the rotation member on an outer circumference of the rotation force transmission portion while the engagement portion is engaged with the outer circumferential surface of the base.

Abstract: A reinforced arthroscope comprising external ribs to provide for a number of separate fluid channels, such as inflow, outflow and interstitial tissue drainage, when the arthroscope is slipped into a disposable external sheath. The arthroscope is constructed to be sufficiently rigid so as to penetrate and move within a joint without damaging the rod optics inside. The externality of the arthroscope channels allow for cleaning and sterilizing the scope between uses.

Abstract: An access and positioning arrangement for use during an endoscopic surgical procedure in which a pair of surgical tools are utilized, such as an endoscopic imaging device for providing an image of the surgical site and a surgical instrument for manipulating tissue at the surgical site. The arrangement includes a housing for positioning over a surgical portal defined in the patient through which the surgical site is accessed, which housing defines first and second channels which receive the respective surgical tools so that the tools can be maintained in a fixed orientation relative to one another within the surgical site and so that the tools can be readily positioned in the correct positions relative to one another at the surgical site.

Abstract: The present invention generally provides methods and devices for removing fluid from a surgical instrument. Surgical access devices and seal systems are generally provided having one or more valves or seal assemblies to create a closed system between the outside environment and the environment in which the surgical access device is being inserted. In one embodiment, a seal assembly is provided and can include a seal having an opening configured to receive a surgical instrument therethrough and a fluid remover in the form of an absorbent element, a scraper element, a wicking element, or any combination thereof can be associated with the seal and configured to remove fluid from the opening and/or a surgical instrument.

Abstract: An optical trocar assembly has an elongated tubular member for receiving an endoscope which defines a longitudinal axis and has an open proximal end and a closed, optically clear distal end which is adapted for penetrating body tissue. The optical trocar assembly has a handle releasably connected to the elongated tubular member and which defines a passage which is coaxial with the longitudinal axis and which has a distal portion and proximal portion. The distal portion receives the open proximal end and the proximal portion defines a tapering opening. A locking collet is positioned within the tapering opening having a through bore which is coaxial with the longitudinal axis and the tapering external surface.

Abstract: An insertion apparatus includes a first drive control section controlling a drive state of a drive member in such a manner that a rotary unit rotates toward a first periaxial direction with a first rotation amount during a reference time. The insertion apparatus includes a second drive control section controlling the drive state of the drive member in such a manner that the rotary unit rotates toward a second periaxial direction with a second rotation amount smaller than the first rotation amount during the reference time.

Abstract: The present invention provides an endoscopic apparatus reversibly insertable into a curved lumen of a patient, comprising: a. a flexible sleeve characterized by a proximal end and a distal end; said distal end of said flexible sleeve comprising: i. a flexible folded sleeve part comprising a portion of said flexible sleeve in a compact and folded arrangement; said compact and folded sleeve portion unfolds and evert; said folded sleeve part is characterized by a predetermined length Lfold; ii.

Abstract: An insertion assist device in an insertion apparatus, the insertion assist device provided outside an insertion body including a first flexible tube, a second flexible tube different from the first flexible tube, and a base including a small-diameter portion coupled to the first flexible tube and a large-diameter portion coupled to the second flexible tube and being larger in diameter than the small-diameter portion and in which a rotation force transmission portion disposed and rotated when rotation force of the rotation force transmission unit is transmitted to the rotation force transmission portion, includes: an inner cylindrical body meshing with the rotation force transmission portion and rotatable around the base while the rotation force transmission portion is disposed in the base; and a tube supporting the inner cylindrical body and configured to cover at least part of the first flexible tube while the inner cylindrical body is in mesh with the rotation force transmission portion.

Abstract: Apparatus and methods for attaching and forming enclosed inflatable members on an endoscope assembly with a disposable sheath are disclosed. In one embodiment, an apparatus includes a flexible and resilient cuff member that is positioned on the outer surface of the disposable sheath and sealably and fixedly bonded to the sheath cover material at the cuff edges to form an annular space capable of being inflated. The inflatable member formed thereby is inflated through a lumen internal to the sheath that has an opening into the interior annular space. The inflatable member may be inflated to exert a longitudinal force on the insertion tube, thereby moving the endoscope assembly along a body passage. Alternately, a sheath may include a plurality of inflatable cuffs that may be inflated to create an isolated space therebetween within the body passage.

Abstract: A surgical device including a seal anchor that includes leading and trailing portions. A plurality of ports longitudinally extends between the leading and trailing portions. The ports are adapted and configured to receive surgical objects therein. At least one of the surgical objects is a viewing instrument including a viewing portion. During a surgical procedure, surgical objects inserted in the other ports are selectively positionable with respect to the viewing instrument.

Abstract: A conscious sedation airway, CSA, useable during conscious or unconscious sedation. The CSA includes an elongate body with an anterior flange depending therefrom. The body includes a central portion with superior and inferior plates extending a distance beyond a distal end of the body in an inferiorly curved arrangement. A midline opening and two lateral openings extend through the length of the central portion and are configured to receive apparatus, like endoscopes, cannula, and catheters. The superior and inferior plates aid to maintain a position of the tongue and to guide apparatus inserted through the midline opening toward the posterior oropharynx. The anterior flange prevents swallowing the CSA. The body does not extend into the pharynx to enable use in conscious patients and/or those with intact gag reflexes. And a nasopharyngeal airway can be placed without removing the CSA to allow bag ventilation of the patient.

Abstract: An apparatus comprises a guidewire body and a light source. The guidewire body includes an optically transmissive element. The guidewire body is sized for insertion in a sinus ostium of a patient. The light source is in optical communication with the optically transmissive element of the guidewire body. The light source is operable to transmit infrared light or narrowband visible light through the optically transmissive element. A detector may be used to detect light transmitted by the optically transmissive element through the patient. The detector may include a camera or a photodetector. Glasses may be used to provide an overlay of a camera image or to filter out light to enable focusing on light of a specific wavelength. A beam processing element may be used to provide a beam waist with an average irradiance of more than 10 W/cm2 within the acceptance angle of the optically transmissive element.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.