Abstract: A contact portion, provided in an exposed surface of the treating section, treats a treated object by a transmitted ultrasonic vibration while intruding into the treated object toward an intruding direction from a state being in contact with the treated object. An index portion is disposed on an anti-intruding direction side with respect to the contact portion in the exposed surface. The index portion becomes an index indicating an intruding amount of the contact portion into the treated object toward the intruding direction. The index portion includes index surfaces arranged in the intruding direction, and each of the index surfaces has an angle relative to the intruding direction which is different from the angle of the adjacent index surface.

Abstract: In part, the invention relates to an image data collection system. The system can include an interferometer having a reference arm that includes a first optical fiber of length of L1 and a sample arm that includes a second optical fiber of length of L2 and a first rotary coupler configured to interface with an optical tomography imaging probe, wherein the rotary coupler is in optical communication with the sample arm. In one embodiment, L2 is greater than about 5 meters. The first optical fiber and the second optical fiber can both be disposed in a common protective sheath. In one embodiment, the system further includes an optical element configured to adjust the optical path length of the reference arm, wherein the optical element is in optical communication with the reference arm and wherein the optical element is transmissive or reflective.

Abstract: The exemplary embodiments illustrated provide the discovery of systems, methods, and apparatuses of endoscope stabilization devices for use with, for example, slim scopes, so as to provide, for example, a flexible outer structure capable of bending and holding a fixed position so as to provide, for example, support to make cannulation with a slim scope and target anatomy easier and more efficient.

Abstract: A method for cleaning an internal surface of a narrow diameter channel includes steps of: flowing a liquid cleaning medium and a gas through the narrow diameter channel under a flow regime that creates surface flow entities in contact with and sliding along the internal surface of the narrow diameter channel, the surface flow entities having three-phase contact lines and associated menisci, the surface flow entities detaching contaminants with which they come in contact from the internal surface of the narrow diameter internal surface of the narrow diameter channel; and rinsing the internal surface of the narrow diameter channel to remove residual liquid cleaning medium and detached contaminants from the channel.

Abstract: A control apparatus for use in endoscopes or the like is provided which allows a user to work without fatigue. The control apparatus includes a proximal and distal end sections, each of which has an articulation zone, and a central section arranged therebetween, an outer hollow-cylindrical shaft, an inner cylindrical shaft, and a control element arranged between the shafts and having two or more force-transmitting longitudinal elements extending substantially from the proximal to the distal end section for coupling movement of the distal end section with movement of the proximal articulation section. The longitudinal elements are arranged in spaced-apart relation to one another at substantially regular angular distances which, as measured in a circumferential direction, are selected such that the longitudinal elements are guided without contact in a circumferential direction and optionally guided in contact with the outer and/or the inner shaft in a radial direction.

Abstract: The invention generally relates to method and apparatus for crossing an obstruction in a tubular member, and more particularly to a medical device method for crossing of a chronic occlusion in a subintimal or interstitial space of an artery.

Abstract: An optical scanning probe comprises a handle to receive a light beam from a light guide; a cannula, extending from a distal end of the handle; a fiber, positioned partially inside the handle and partially inside the cannula, to guide the received light beam toward a distal end of the cannula; a rotating scanner, rotatably positioned at least partially inside the cannula and configured to house a proximal portion of the fiber; and a deflecting scanner, movably coupled to a distal end of the rotating scanner, configured to deflect a distal portion of the fiber, wherein the distal portion of the fiber is configured to emit and scan the guided light in a target region.

Abstract: An attachment unit includes a tube main body extended along a longitudinal axis in a state that a gap is provided between itself and an outer peripheral portion of an insertion section or a member on the outer peripheral portion of the insertion section, and a tube proximal end portion, provided to a proximal direction side of the tube main body, to which a proximal end of the attachment unit is placed. The tube proximal end portion includes a proximal side gap reducing portion eliminating or reducing the gap as compared with a part to an inner peripheral direction side of the tube main body between itself and the outer peripheral portion of the insertion section or the member, and is placed to a distal direction side of an insertion opening in a use situation.

Abstract: Forward and backward movement of a wire guide member in an axial direction of the wire guide member is restricted, by the wire guide member abuts on a distal end portion holding member and a proximal end portion holding member. The wire guide member is held by an intermediate holding member, the distal end portion holding member, and the proximal end portion holding member to allow insertion and forward and backward movement in the intermediate holding member, the distal end portion holding member, and the proximal end portion holding member. The wire guide member has elasticity.

Abstract: A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.

Abstract: A torque-transmitting, variably-flexible device, comprising a hollow body having a proximal end and a distal end, a torque-transmitting element operable to transmit torque from the proximal end towards the distal end of the hollow body, and a steering element operable to steer the distal end of the hollow body.

Abstract: In a laser welding method for an endoscope, when the thickness of the plate of an outer cylindrical member is set as h, the thickness of the plate of an inner coil-shaped member is set as hc, the maximum welding energy of laser welding that does not change the inner and outer diameters of the outer cylindrical member in the place where the inner coil-shaped member is not placed inside the outer cylindrical member is set as E1, and the minimum welding energy that enables the outer cylindrical member to be fixed by welding to the inner coil-shaped member is set as E2, the spiral weld beads do not overlap, the welding depth H from the outer cylindrical member to the inner coil-shaped member holds true h<H<h+hc, the welding energy E satisfies the expression of E2?E?E1.

Abstract: An optical medical tube and control unit assembly and methods of using the same are provided. The optical medical tube may include a steering mechanism and an imaging device which provides the user a visual aid when placing a tube in the body of a patient. The optical medical tube may be coupled to a coupling adaptor to enable quick and easy connecting of the imaging device and steering mechanism of the tube with a control unit such that a single control unit may be used to place multiple feeding tubes or confirm that a feeding tube remains in its proper position without the need for lengthy sterilization procedures between uses.

Abstract: Various embodiments for providing removable and pluggable opto-electronic modules for illumination and imaging for endoscopy or borescopy are provided for use with portable display devices. Generally, various medical or industrial devices can include one or more solid state or other compact electro-optic illuminating elements located thereon. Additionally, such opto-electronic modules may include illuminating optics, imaging optics, and/or image capture devices. The illuminating elements may have different wavelengths and can be time-synchronized with an image sensor to illuminate an object for imaging or detecting purpose or other conditioning purpose. The removable opto-electronic modules may be plugged in on the exterior surface of a device, inside the device, deployably coupled to the distal end of the device, or otherwise disposed on the device.

Abstract: A medical apparatus includes a distal end portion provided at a distal end of an insertion portion that has functions of performing inspection, treatment or observation, a bending portion provided with first and second ends and configured so as to bend in two or more directions by connecting the first end to the distal end portion and connecting a plurality of bending pieces, a bending portion operation unit provided in an operation section connected to a proximal end of the insertion portion that causes the bending portion to perform bending operation and a neutral position restoring elastic member fixed to the first end side and the second end side that generates elasticity for causing the bending portion to restore to a neutral position.

Abstract: An endoscope has a bending portion operation apparatus at an operation portion, the bending portion operation apparatus being for bending and operating a bending portion, and the bending portion operation apparatus includes a dial for bending operation which bends the bending portion by pivoting about a shaft, a portion of the dial for bending operation provided at the operation portion being protruded at a position where the dial for bending operation is operated with a thumb grasping the operation portion, and an auxiliary dial for bending operation which has a meshing portion meshing with the dial for bending operation and a protruding portion protruding at a position where the auxiliary dial for bending operation is operable with a finger other than the thumb, an operation input entered at the protruding portion with the finger other than the thumb being transmitted to the bending operation dial via the meshing portion.

Abstract: A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.

Abstract: Included are a bending tube; slits; wire guides; an outer coat member; and hole portions that are formed between particular slits in a distal end region that is forward from a central region on an outer circumference of a cylindrical member, each of the hole portions being communicated with any one of the slits, the wire guides covered by the outer coat member being respectively fixed to the hole portions while being attached to the cylindrical member from an outside thereof.

Abstract: A path-following robot, such as for creating a path to a target surgical site, includes a series of interconnected elements including a lead element at one end thereof, and a plurality of actuators each operably coupled to one of the plurality of elements. Each actuator is capable of effecting rotational and spherical motion of one element with respect to another element. The actuators are arranged to receive commands which individually control the relative position of one element compared with another element, where a position of the lead element determines a path and corresponding positions for all subsequent elements to create a path-following motion.

Abstract: In a bending tube including: multiple first slots for bending provided at set intervals, respectively, along a direction of a direction of a longitudinal axis O of a cylindrical bending tube body, the multiple first slots for bending extending in a circumferential direction of the bending tube body; slots for forming wire guide (a first slot for bending) paired and provided on arrangement of the multiple first slots for bending, the slots for forming wire guide extending in the circumferential direction of the bending tube body; and a wire guide formed by deforming a circumferential part of the bending tube body between the paired slots for forming wire guide, in an inner diameter direction; a width of a slot for bending adjacent to the wire guide is set relatively narrower than a width of other slots for bending.

Abstract: A joint-ring for an endoscope-bending-tube that fits with and is fixed to a rigid-member on a distal end side, the joint-ring being formed by plastically deforming a tube-material, the joint-ring including a joint-ring-convex portion provided in the tube-material before the plastic deformation, configured to fit with distal end rigid concave portions of the distal end rigid-member to perform positioning, and protrudingly provided to the distal end side, a plastically deformed shape portion provided in the joint-ring such that an axial direction position thereof overlaps the joint-ring-convex-portion and formed by force of stretching along a circumferential surface in the plastic deformation, and joint-ring-convex-portions provided in the tube-material before the plastic deformation near both sides in the circumferential direction of the joint-ring-convex-portion to interrupt the force of stretching along the circumferential surface to keep the force from reaching the joint-ring-convex-portion to thereby preve

Abstract: An endoscope includes an insertion portion, a bending portion bendable in an up-down direction and a left-right direction, a traction member for bending the bending portion, an operation portion provided at a proximal end of the insertion portion, an operation input portion provided in the operation portion, tiltable with respect to a first direction for bending the bending portion in the up-down direction and a second direction for bending the bending portion in the left-right direction, and for performing an operation input for acting on the traction member according to tilting operation and bending the bending portion, and an operation force amount adjusting portion configured to adjust an operation force amount for tilting the operation input portion in the first direction and an operation force amount for tilting the operation input portion in the second direction to be different.

Abstract: A flexible tubular portion for an endoscope having a central axis includes a spiral tube, an outer layer covering the outside of the spiral tube, and an inhibiting portion. The spiral tube includes, along the longitudinal direction of the central axis, a closely wound portion to which an initial tension is applied, and sparsely wound portions provided on the distal side and the proximal side of the closely wound portion. The inhibiting portion inhibits the movement of at least a part of the sparsely wound portions relative to the outer layer in the longitudinal direction of the spiral tube.

Abstract: Each of the first hinge portions includes a first central planar portion, and first both-sides planar portion, and each of second hinge portions includes a second central planar portion, and second both-sides planar portion which is arranged on the same plane as the first both-sides planar portion. At least one of each first hinge portion and each second hinge portion includes/include an axial step portion which is provided between the first central planar portion and the first both-sides planar portion and/or between the second central planar portion and the second both-sides planar portion over the entire length of the nodal ring in the longitudinal direction and allows/allow the first central planar portion to be arranged to an outer peripheral side than the second central planar portion by a distance corresponding to a wall thickness of the nodal ring.

Abstract: A channel tube inserted into an insertion portion of an endoscope includes: a rear side tube including, on a part of an outer surface thereof, a helical-shaped groove; and a front side tube including, on a part of an outer surface thereof, a helical-shaped groove; a connecting pipe for connecting one end of the rear side tube and one end of the front side tube; and a coil wound on the groove of the rear side tube. The rear side tube is connected to the connecting pipe at a part where the groove is formed and the coil is not wound, and the front side tube is connected to the connecting pipe at a part where a coil is not wound.

Abstract: An endoscope includes a distal rigid portion, a bending portion comprising a first bending portion and a second bending portion and a flexible tube portion. The endoscope further includes an operation wire, a wire guide member, a bending operation portion. The endoscope further includes a regulation wire, the regulation wire being longer than the bending portion, the regulation wire being inserted through the first bending portion and the second bending portion, the regulation wire being provided to face the operation wire in the diametrical direction of the bending portion, the regulation wire regulating the bending of the bending portion so that the second bending portion is bent in a direction opposite to the bending direction of the first bending portion and the bending portion is bent in an S-shape when the first bending portion is bent.

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 robotic manipulator controller and system for use in flexible endoscopy, the manipulator comprising a flexible member configured to be coupled to an endoscope, and an arm connected to and movable by the flexible member, wherein the flexible member has a first end connected to the arm and a second end connectable to the controller to allow a physical movement of the arm to be controllable by a physical movement of the controller.

Abstract: An endoscope including a shaft having a deflectable distal end; a main section at a proximal end of the shaft, where the main section forms a handle of the endoscope; and a deflection control connected to the distal end. The deflection control includes a combined lock and deflection control member at the main section comprising a control lever pivotably connected to the main section at a pivot and extending away from the pivot in a general cantilever fashion, and a lock lever pivotably connected to the control lever. A first end of the lock lever is configured to contact the main section. A second end of the lock lever is configured to be pressed inward on the control lever towards the main section to pivot the first end out of contact with the main section.

Abstract: Apparatus and methods are described allow the techniques of endoscopic and laparoscopic surgery to be combined into a minimally invasive hybrid surgical technique called NOTES-assisted laparoscopic surgery. Manual and robotic-controlled versions of a modular laparoscopic tool are described having a small diameter shaft that is delivered laparoscopically to a surgical site. Larger diameter working tips are delivered through a NOTES delivery tube inserted to the surgical site through a natural orifice and joined to the shaft of the modular laparoscopic tool. Larger diameter working tips improve the effectiveness of the modular laparoscopic tools and the number and size of laparoscopic ports used can also be reduced.

Abstract: A wire-operated selective compliance mobile platform (100), in particular for endoscopic surgery devices, obtains a perfect and precise mobility and thus it allows to handle, in the most effective way, the supported instruments, and comprises a mobile surface (1), a connecting base (2) apt to be connected to a flexible tubular duct (4) for endoscopic uses, a plurality of supporting elements (3), apt to permit the motion of said mobile surface (1) relative to said base (2), characterized in that said supporting elements (3) have at least a selective compliance turning pair (31) and a number of joints (32, 34) so as to provide a predetermined number of degrees of freedom to said platform (100), neither determining any over-constraining, nor forcing the system to be deformed in unselected directions, each supporting element (3) being operated by moving means (51, 52) so as to move said mobile surface (1).

Abstract: An endoscope cleaning sheath includes a sheath main body, a distal-side fixing portion fixed to a distal portion of the sheath main body, and a proximal-side fixing portion fixed to a proximal portion of the sheath main body. The endoscope cleaning sheath includes a linear portion having a distal end fixed to the distal-side fixing portion at a distal-side connecting position and a proximal end fixed to the proximal-side fixing portion at a proximal-side connecting position, extended along a linear core axis between the distal-side connecting position and the proximal-side connecting position, and having a higher tensile strength in directions parallel to the longitudinal axis than the sheath main body.

Abstract: An endoscope deflection section frame including a plurality of rings and rivets. Each ring has front ears and rear ears with rivet holes through the ears. The rivets are located in the rivet holes to thereby pivotably connect the rings to one another. Each rivet includes a head at an interior side of an inner one of the ears and an opposite end at an exterior side of an outer one of the ears. The opposite end is welded to the outer ear.

Abstract: An endoscope includes a curving operation portion which performs a curving operation of a curving portion by rotating around a pivot shaft in a first rotation direction and in a second rotation direction opposite to the first rotation direction from a neutral position where the curving portion is in a non-curved neutral state, a first operation wire which is pulled by the curving operation in the curving operation portion to curve the curving portion in the second curving direction, and a second operation wire which is pulled by the curving operation in the curving operation portion to curve the curving portion in the first curving direction. The endoscope includes a wire crossing portion in which the second operation wire crosses the first operation wire, and a movement regulating portion which regulates the movement of the wire crossing portion from within the operation portion into the insertion portion.

Abstract: Medical devices and methods for making and using the same. An example medical device may include an elongate core member and a tubular member disposed about a portion of the core member. The tubular member may have a plurality of slots formed therein. The medical devices may be configured to have a preferential bending direction.

Abstract: An endoscope includes an endoscope insertion portion having a bendable bending portion and a bending mechanism configured to bend the bending portion. The bending mechanism includes a pulley, at least one annular member, a pulling member, and a pulling operation member. The pulley is rotatably driven. The annular member is formed into a C-shape with a cut-out, and can be elastically deformed. The annular member is externally fitted to the pulley with a gap. The pulling member has an intermediate portion wound around the annular member. The distal end portion of the pulling member is connected to the bending portion, and the proximal end portion of the pulling member is connected to the pulling operation member which pulls the pulling member. The width direction position at the winding start position of the pulling member wound around the annular member is made different from the width direction position at the winding end position of the pulling member.

Abstract: This endoscope apparatus includes: an insertion portion; a bending portion; an operation portion; and a pull member. The operation portion includes: an operation lever; a bearing that supports the operation lever in a state of being freely inclinable around a swinging center; a friction member that is fixed to the operation lever; a press portion configured to contact a contact surface; and a switching device that is connected to the press portion and presses the press portion against the contact surface when rotated in a first rotational direction with a predetermined rotation axis as a rotation center thereof and also so as to cause the press portion to be spaced away from the contact surface when rotated in a second direction.

Abstract: An endoscope includes a flexible portion extended to a part on a proximal direction side of an insertion main body along a longitudinal axis, and a passive bending portion provided to a distal direction side of the flexible portion in the insertion main body, being more flexible than the flexible portion, and configured to passively bend when external force acts thereon. The endoscope includes an attachment unit which includes a fin portion spirally extended along the longitudinal axis, and through which the insertion section is inserted, and a holding portion provided to the insertion main body, and configured to hold the attachment unit in a state that the attachment unit covers the passive bending portion and that the attachment unit is rotatable about the longitudinal axis with respect to the insertion main body.

Abstract: The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor.

Abstract: An endoscope includes: an insertion portion; an operation portion provided on a proximal end side of the insertion portion, and including a first and a second sheath bodies; a fluid tube, a light guide fiber bundle, and a signal cable extended from a distal end portion and guided into an internal space of the operation portion; a main board provided in the internal space of the operation portion, wherein the fluid tube, the light guide fiber bundle, and the signal cable are provided on a surface of the main board; and an position regulating member attachable/detachable to/from a predetermined position of the main board, and in a state of being attached to the main board, regulates insertion states of the fluid tubes, the light guide fiber bundle, and the signal cable extended from the insertion portion toward the main board into a predetermined insertion state.

Abstract: In at least one embodiment of the present invention, an access sheath for positioning in a patient's body is provided. The access sheath comprises an elongated member having a proximal portion extending to a distal portion and a plurality of lumens formed therethrough including a working lumen and a first additional lumen. The first additional lumen is configured to receive an optical system or an irrigation system. The proximal portion has a stiffening section that includes a first coil and one of a braiding and a second coil which are disposed about the working lumen in concentric relationship with each other. The distal portion has a tip and a first deflection section and a second deflection section. The first deflection section is proximal to the tip and distal to the second deflection section. The first deflection section is configured to be actuated to bend at a first angle to position the tip. The second deflection section is configured to bend at a second angle to reposition the tip.

Abstract: Included are a bending tube; slits; wire guides; an outer coat member; and hole portions that are formed between particular slits in a distal end region that is forward from a central region on an outer circumference of a cylindrical member, each of the hole portions being communicated with any one of the slits, the wire guides covered by the outer coat member being respectively fixed to the hole portions while being attached to the cylindrical member from an outside thereof.

Abstract: A flexible tubular portion of an endoscope includes a spiral tube portion. The spiral tube portion includes a closely wound portion to at least a part of which an initial tension is applied, and a sparsely wound portion provided at least at one end of the closely wound portion.

Abstract: An endoscope is provided and includes a flexible insertion tube; a distal end assembly provided at an end of the insertion tube; and a cooling medium tube provided in the inside of the insertion tube, and connected to the distal end assembly. A cooling medium for cooling the distal end assembly is introduced through one of the insertion tube and the cooling medium tube, and discharged through the other of the insertion tube and the cooling medium tube. Since the endoscope is configured such that the cooling medium directly contacts with a heating element or a conductor through which the heat of the heating element is conducted, the cooling effect of the front end portion of the endoscope is improved.

Abstract: A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.

Abstract: A method of examining a hollow body cavity using an endoscope to achieve receiving two images in two opposite directions inside the hollow cavity is provided. The endoscope comprises a shaft extending along a longitudinal axis, having distal and proximal ends, and defining a hollow channel therethrough, and a first lens positioned adjacent to the distal end for receiving a first image in a first direction along the longitudinal axis. The method comprises interposing the shaft within the hollow cavity, inserting a catheter into the hollow channel, extending the catheter inside the hollow channel to advance a distal section thereof and a coupled second lens to a position adjacent to the distal end, actuating a bending section thereof to achieve retroflexion of the distal section such that the second lens is positioned to receive a second image in a second direction generally opposite to the first direction.

Abstract: The flexible endoscope 20 has a flexible insertion portion 22 to be inserted in an observation zone 11 of a MRI apparatus 10. The insertion portion 22 has an inner tube 71 made of resin, triple helical tubes 72 covering the inner tube 71 and an outer tube 73 made of resin and covering the triple helical tubes 72. The triple helical tubes 72 include a first helical band 721 helically wound around an outer peripheral surface of the inner tube 71, a second helical band 722 helically wound around an outer periphery of the first helical band 721 in a direction opposite to a winding direction of the first helical band 721 and a third helical band 723 helically wound around an outer periphery of the second helical band 722 in a direction opposite to the winding direction of the second helical band 722. The first to third helical bands 721, 722, 723 are made of phosphor bronze or copper-silver alloy, which are materials having low magnetic susceptibility.

Abstract: An instrument for confirming the position of an indwelling gastrostomy catheter, and a method of confirming the indwelling position thereof, with which it is possible to reduce cleaning costs, and which does not cause any discomfort to a patient. An instrument for confirming the indwelling position of a gastrostomy catheter which is indwelling in a hole formed between the surface of the skin of the patient and the inner surface of the stomach wall comprising a fiberscope and a protective cover. Furthermore, the tip end of the protective cover comprises a light-transmissive window part and a wire that is linked to the outer periphery at the tip end of the protective cover.

Abstract: An endoscopic device capable of autonomous locomotion through a body cavity in a pre-established direction of displacement is described. The endoscopic device comprises a tubular body that extends between a front end portion and a rear end portion and a reinforcement structure distributed along the length of the tubular body. Each end portion includes an anchoring means for temporarily and alternately attaching the end portions to a wall of the body cavity.

Abstract: A flexible steerable device comprising a plurality of interconnected segments configured to pivot relative to each other, each of the plurality of segments having a cavity disposed therein. The device also includes a flexible tube disposed within the cavities of the plurality of segments. The flexible tube includes at least one rigidizing chamber having fusible material disposed therein, wherein upon varying temperature of the fusible material, the fusible material shifts between a first state in which the flexible steerable device is flexible and a second state in which the flexible steerable device is rigidized.