Abstract: The present invention relates to a double steerable sheath, a delivery system comprising such a sheath and a method for deployment of a medical device, e.g. a replacement heart valve prosthesis, in a patient's heart.

Abstract: A robotic surgical instrument comprising a shaft, an articulated section and a drive mechanism. The articulated section extends from the shaft and terminates at its distal end in a tip. The tip has an attachment for an end effector. The drive mechanism drives the articulated section via flexible driving elements thereby altering the angular orientation of the tip relative to the shaft. The drive mechanism is controlled so as to always fully compress the articulated section along at least one extent by which the articulated section connects the tip and the shaft whilst driving the articulated section from any one configuration to any other configuration. The drive mechanism constrains movement of the articulated section so as to permit the tip to move with two degrees of rotational freedom and no degrees of translational freedom relative to the shaft.

Abstract: Endoscope systems with bending sections that can bend in four directions independent of the rotatable viewing configuration of the endoscope systems are provided. Methods of using the endoscope systems in a patient's body are further provided.

Abstract: An endoscope imaging system comprises a robotic controlled steerable catheter and an imaging device removably arranged in a tool channel of the catheter. One or more sensors or markers are configured to map a positional relation of the catheter with respect to an orientation of the imaging device. A controller drives the steerable catheter to manipulate the distal end thereof, while the imaging device acquires an image of a subject or sample. While the imaging device acquires the image, a processor calculates a change in positional relation of the catheter with respect to the orientation of the imaging device based on information provided by the one or more sensors or markers. An output unit provides an indication for remapping the orientation of the steerable catheter with respect to the orientation of the imaging device.

Abstract: A steerable device, such as a steerable catheter, may include a control handle and an insertion shaft extending outwardly therefrom. In use, the insertion shaft is navigated to an area of interest for examination and/or treatment thereof. The steerable device may include a steering system that controls the deflection angle of the distal end of the insertion shaft in two or more non-planar directions for navigating the insertion shaft to the area of interest. The steering system may also include a locking mechanism for arresting or partially arresting the movement of the distal end of the insertion shaft in a first direction independent of arresting or partially arresting the movement of the distal end in a second non-planar direction.

Abstract: A robotic electromechanical surgical instrument includes a housing, an elongated shaft that extends distally from the housing, a wrist assembly supported on the elongated shaft, an end effector coupled to the wrist assembly, a universal joint assembly supported within the wrist assembly, and cables coupled to the wrist assembly. The elongated shaft defines a longitudinal axis. The wrist assembly includes a first joint coupled to a second joint. The universal joint assembly is rotatable to actuate a function of the end effector. The plurality of cables is movable to manipulate the first and second joints to enable the universal joint assembly and the wrist assembly to articulate relative to the longitudinal axis.

Abstract: A steerable endoscope is provided with active steering control. An endoscope includes a flexible tubular body with first and second articulating segments, and a camera. In an embodiment, the endoscope includes an orientation sensor. A controller for the endoscope performs an automated analysis of an alignment between the motion axis of the endoscope and the viewing axis of the camera, and actively steers the endoscope to improve the alignment.

Abstract: An endoscope including a handle and an insertion tube connected to the handle and having a bending section with a first elongate bending section part and a second elongate bending section part. The first elongate bending section part includes first annular members arranged in a row and interconnected by first bridges so as to form a first comb-like structure. The second elongate bending section part includes second annular members arranged in a row and interconnected by second bridges so as to form a second comb-like structure. An outer circumferential surface includes a groove adapted to receive a first bridge and a groove adapted to receive a second bridge of the first bending section part.

Abstract: The invention relates to a method for manufacturing an endoscope insertion tube (2).The insertion tube (2) has a proximal passive flexible section (20) and a distal angled section (A). The entire insertion tube, including the passive flexible section (20) and the angled section (A), is formed from a single tube element. The invention further relates to an endoscope having such an insertion tube (2).

Abstract: The present invention discloses an insertion unit, a bending section and an intubation system for use in a body lumen of a patient. The insertion unit comprises an inner elongated shaft structure being capable of torque transmission around its length axis and having spring-like and flexibility properties and an outer elongated shaft structure at least partially surrounding the inner elongated shaft structure and having spring-like properties and a continuous and flat outer surface. The inner elongated shaft structure has a distal end, and is capable of being connected to an optical head. The insertion unit is configured to transmit pushing and rotation forces along a length of the insertion unit. The integral insertion unit is configured and operable to bend the distal tip in all directions and to fully rotate the distal tip.

Abstract: An apparatus for guiding an elongated flexible instrument, includes a first plurality of linkages forming a first side of a channel of a variable-length support assembly, a second plurality of linkages forming a second side of the channel, opposite the first side, a third plurality of linkages disposed between the first and second plurality of linkages and forming a third side of the channel, and a fourth plurality of linkages disposed between the first and second plurality of linkages and forming a fourth side of the channel, opposite the third side. Each of the first, second, third, and fourth pluralities of linkages are separable from each other to transition the variable-length support assembly from an elongated configuration to a compact configuration.

Abstract: The present application provides an endoscopic device having at least one shaft, which has at least one portion deflectable in at least one plane, and having at least one deflection mechanism, which is configured to deflect the deflectable portion and includes, arranged in series, at least one first connection member and at least one second connection member interacting for a deflection with the first connection member. The first connection member is formed at least partially from a first material, and the second connection member is formed at least partially from a second material, of which the elasticity differs from that of the first material.

Abstract: A manipulator including joint mechanisms each including: first and second members extending along a central axis; the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis; a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis; wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.

Abstract: A bending neck for an articulating ultrasound probe has a variable configuration whereby different sections of the bending neck can be bent into different curvatures. In one implementation a rigid member is extended into the bending neck, setting the deflection point for a section of the bending neck at the end of the rigid member. In another implementation the links of the bending neck have different lengths, causing different sections to have different radii of maximum curvature. In another implementation the bending neck is encased in a sheath which exhibits regions of different durometer, thickness, or spacing of points of attachment to the bending neck.

Abstract: A tool for inserting into a cavity is provided. The tool includes a plurality of segments moveably coupled to one another, each segment moveable relative to an adjacent segment between a bent position and a coupled position, the plurality of segments including a first segment, the first segment including: a core formed of a first material; and a shell formed of a second material and comprising or defining a guide feature, a drive feature, a line guide, or a combination thereof; wherein the first material defines a greater stiffness than the second material.

Abstract: A medical manipulation assembly comprises a catheter including distal and proximal steerable portions with working channels. The assembly further comprises a steerable sheath through which the steerable portions extend. A distal steering mechanism, including a first lumen extending along a longitudinal axis of the catheter, bends the distal steerable portion. A proximal steering mechanism, including a second lumen extending along the axis and defined by a wall, bends the proximal steerable portion by rotational movement of the proximal steering mechanism independently of the distal steerable portion. The wall is rotatable about the axis. Distal pullwires extend between the distal steerable portion and the distal steering mechanism. Proximal pullwires extend between the proximal steerable portion and the proximal steering mechanism.

Abstract: An actively bendable sheath such as ureteral access sheath (UAS) and a method for delivering a medical instrument (e.g. a ureteroscope) therethrough are disclosed. The sheath's tubular wall includes a deflectable or bendable segment at or adjacent to the distal sheath end. Two pull/control wires are slidably disposed within two separate dedicated channels/lumens and attached to points distally beyond the deflectable segment. The bendable segment may be passively bended by force from a bending medical instrument within it or by the force of a surgeon pulling one of the two pull/control wires.

Abstract: An articulated multi-link robotic tail (MLRT) system is provided comprising a rigid housing, an actuation unit coupled to the rigid housing, and an MLRT having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end. The MLRT comprises N segments, where N is a positive integer that is greater than or equal to one. Each segment comprises i links, where i is a positive integer that is greater than or equal to two. Each link is mechanically coupled to an actuator of the actuation unit and capable of being actuated by the actuator to which it is mechanically coupled to adjust a pitch, yaw and roll of the MLRT. The articulated MLRT system is well suited for being integrated with a mobile robot to assist in stabilizing and maneuvering the mobile robot.

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: A scope system is provided including an elongate tube with a distal portion and a lumen extending therethrough. The scope system also includes at least one accessory channel including a tubular structure with an accessory lumen extending therethrough, the at least one accessory channel movably disposed at least partially within the lumen of the elongate tube. The at least one accessory channel includes a distal section and a forward-viewing configuration and a side-viewing configuration. In the forward-viewing configuration, the distal section of the at least one accessory channel is substantially parallel to the distal portion of the elongate tube and in the side-viewing configuration, the distal section of the at least one accessory channel is arced at a radius greater than a radius of the distal portion of the elongate tube.

Abstract: A robotic surgical instrument comprising a shaft, an articulated section and a drive mechanism. The articulated section extends from the shaft and terminates at its distal end in a tip. The tip has an attachment for an end effector. The drive mechanism drives the articulated section via flexible driving elements thereby altering the angular orientation of the tip relative to the shaft. The drive mechanism is controlled so as to always fully compress the articulated section along at least one extent by which the articulated section connects the tip and the shaft whilst driving the articulated section from any one configuration to any other configuration. The drive mechanism constrains movement of the articulated section so as to permit the tip to move with two degrees of rotational freedom and no degrees of translational freedom relative to the shaft.

Abstract: A robot gripper includes two fingers of a grasper assembly configured to perform grasping motions via actuation of independent cable ends of a plurality of cables, and configured to move toward or away from each other to perform the grasping motion. Wherein each gripper finger is actuated by a pair of cables, a cable of the pair slides in a flexible sheath when actuated by a motor, moving the gripper finger in an opposite direction of another cable of the pair also in a flexible sheath, providing equal motions of each cable in the pair in opposite directions. A motor assembly including the motors is mounted at a location separate from the grasper assembly with the flexible sheathing extending between the assemblies. Such that the separate assembly mounting arrangement provides an improved ratio between a gripping force of the grippers versus the robot-lifted mass of the grasper assembly.

Abstract: In one embodiment, an injector includes a sleeve, a drive assembly, and a drive assembly housing. The sleeve is configured to receive a reservoir having a plunger therein. The drive assembly is configured to pressurize the reservoir and includes a tip, an actuator, and mechanical segments. The tip is configured to be secured to the plunger. The actuator is configured to supply a motive force to the tip for moving it between retracted and extended positions. The mechanical segments are configured to transmit motive force from the actuator to the tip. The drive assembly housing has a housing length in a direction parallel to a central longitudinal axis of the tip. The reservoir has a reservoir length L. A package length is defined by the housing length and the reservoir length L. The package length is less than 2L.

Abstract: A bendable backplate structure is configured to support a display panel and includes a supporting plate including at least a shaft channel extending to opposite sides of the supporting plate. A surface of the supporting plate is attached with the display panel. A bendable module disposed in the shaft channel includes a flexible covering portion and at least a magnet accommodated in and along the covering portion. The backplate structure and the display panel are foldable through the bendable module in a direction toward the display panel.

Abstract: A steerable introduction system for deploying an interventional tool (e.g., a replacement valve) within an anatomical object (e.g. a heart). The steerable introduction system employs a steerable introducer (20) including an end-effector for positioning the interventional tool within the anatomical object (e.g., the end-effector passively guides or actively steers the interventional tool within the anatomical object). The steerable introduction system further employs an image guidance workstation (120) controlling an actuation of a translation, a pivoting and/or a rotation of the end-effector within the anatomical object responsive to surgical image data illustrative of a position of the end-effector within the anatomical object (e.g., ultrasound or X-ray image data illustrative of a surgical position of the end-effector within a heart).

Abstract: A manually articulated stylet assembly for placing an endotracheal tube. The stylet assembly has a steering shaft that carries a flexible distal tip at one end and is attached to a handle at the other end. The distal tip is manipulated via sheathed cables controlled by a remote actuator in the handle. A biasing member inside the remote actuator maintains continuous tension on the cables to improve control. A video camera is carried in a recessed lens pocket in the steering shaft but spaced from the distal tip. The camera FOV captures movement of the distal tip with foreshortened perspective. A collar seat in the handle receives the collar connector of a standard endotracheal tube, providing quick disconnect when removing the stylet assembly upon placement.

Abstract: The present invention relates to mechanical transmission system (100, MTS) having a proximal (20) and distal end (40), for a longitudinal steerable tube (500), which MTS (100) comprises a set of longitudinal members, LM, (110) arranged in a longitudinal direction around a fictive tube (180) maintained at an essentially constant circumferential and radial position with respect to the fictive tube (180) and being slidable relative to the fictive tube (180), and has a transmission bendable proximal part (134, TBPP), transmission bendable distal part (130, TBDP), and transmission shaft region, TSR (132) between the TBDP (130) and TBPP (134) wherein movements of the TBPP (134) are transmitted to the TBDP (130) along the TSR (132) by the LMs (110), wherein the MTS (100) comprises a sub-region that is a transmission amplifier region, TAR, (135) in which the fictive tube (180) contains at least one plane-section (182) larger than that (184) of the TBDP (130).

Abstract: Systems for inserting and orienting a soft robotic probe into an apparatus and capturing images and methods of using the same are generally disclosed. For example, the system includes a cable, an actuation assembly, and a camera at the tip of the probe. The cable includes an adjustable sheath at an exterior of the cable defined around a probe centerline extending the length of the probe. The adjustable sheath extends and contracts the cable between a first length and a second length different from the first length and is defined within the adjustable sheath. The actuation assembly extends or contracts the cable between the first length and the second length and further adjusts an orientation of the cable, an orientation of the tip of the probe, or both along at least one axis. The camera captures images at least partially around a circumferential direction relative to a camera centerline.

Abstract: This invention may be directed to an endoscopic device. The endoscopic device comprising an elongate member having a distal end, and a cap positioned at the distal end. The cap may have a proximal end and a distal end. The proximal end may define at least one recess that does not extend through the cap to the distal end of the cap. The endoscopic device may further include at least one illumination device disposed in the at least one recess.

Abstract: An adaptive blade for a laryngoscope includes a proximal end, a distal end, a first chain arranged between the ends and composed of a plurality of chain links connected in pairs in an articulated manner, a second chain arranged between the ends and composed of a plurality of chain links connected in pairs in an articulated manner, and a spacer component, connected at a first end in an articulated manner to the first chain, and connected at a second end in an articulated manner to the second chain. One or more or all of the articulated connections between the chain links of the first chain, the chain links of the second chain and the spacer component are provided as a form-fit hinge.

Abstract: An articulation joint manufacturing process comprises cutting an elongated tube to form a multiplicity of links wherein adjacent links are connected by a bridge. The method comprises forming a fracturable portion on each bridge and connecting a multiplicity of springs to adjacentts links to form a workpiece. The method further comprises applying a torsional force to the workpiece about its longitudinal axis to fracture each bridge to form an articulation joint comprising a series of links wherein adjacent links are connected by at least one spring. Certain steps are formed by a laser. In one method, the springs are positioned on a mandrel and the springs are welded to the workpiece. The fracturable portion on the bridges may be produced by forming an indentation which may be a score, a perforation, an elongated indentation or an oval shaped indentation.

Abstract: An endoscope having a handle with a handle housing arranged at a proximal end of the endoscope and an insertion tube extending from said handle and terminating in a tip part of a bending section at the distal end of the endoscope, the bending section comprises a distal tubular end segment and a plurality of articulated bending segments, the bending section comprises an intermediate segment between the proximal distal end segment and the plurality of articulated bending segments, wherein the intermediate segment is longer than a bending segment and the distal end segment.

Abstract: An endoscopic instrument with a shank which includes at least two segments which are connected to one another via diametrically opposite joints. Between axial face edges of the opposite joints facing one another a gap is present. The gap runs with at least one angular bend.

Abstract: An actuating member for making a flexible elongated member perform a predetermined action includes a push/pull member having a tip side and a base end side, the push/pull member including: a first moving portion and a second moving portion that are located on the base end side of the push/pull member and are movable relative to one another along an axis of the push/pull member, a first extending portion that extends from the first moving portion towards the tip side of the push/pull member, and a second extending portion that extends from the second moving portion towards the tip side of the push/pull member; an operating member that is rotatable about an axis that intersects an axis of the push/pull member, the operating member being configured such that rotation of the operating member causes movement of the first moving portion and the second moving portion.

Abstract: An endoscopic surgical instrument may include: two surgical instrument modules, each of which is provided with a surgical instrument portion; and/or an endoscopic module configured to form a triangular shape with the two surgical instrument modules and configured to capture operations of the surgical instrument modules at different angles using a plurality of joints. Wires connecting respective members coupled by the plurality of joints may be configured to amplify drive forces of a drive portion applied to the plurality of joints. The plurality of joints may include rolling joints at which teeth of gears engage and rotate with each other. The plurality of joints may provide three or more degrees of freedom to the endoscopic module.

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: The traction balance adjustment mechanism 1 includes a movable part 2 that goes into operation through at least one degree of freedom, wires 7 connected to the movable part 2, and a traction part 6 that pulls one of the wires 7 and pushes out the other, wherein the length of the one wire 7 pulled by the traction part 6 is longer than the length of the other wire 7 pushed out.

Abstract: An illumination system for variable direction of view instruments is disclosed generally comprising an endoscope having a longitudinal axis and a variable view vector that pivots about a pivot axis angularly offset from the longitudinal axis. The view vector has an attendant viewing field that travels along a path as the view vector pivots, defining a viewing range. A source of illumination is arranged in a plane offset from the plane in which the view vector pivots and provides an annular, solid angle of illumination that covers the viewing range. In certain embodiments, the pivot axis is perpendicular to the longitudinal axis and the illumination plane is parallel to the pivot plane. In some embodiments, the source of illumination is a plurality of light emitting diodes arranged around the pivot axis.

Abstract: A flexible tool comprising: a plurality of rigid members spaced along a longitudinal axis; a plurality of flexible members extending between the plurality of rigid members and being arranged to enable the plurality of rigid members to diverge from the longitudinal axis and define a work volume for the flexible tool, at least some of the plurality of flexible members being unevenly spaced around the longitudinal axis, and/or a physical characteristic of at least some of the plurality of flexible members varying along the longitudinal axis, to cause the work volume and/or stiffness of the flexible tool to be asymmetric relative to the longitudinal axis.

Abstract: In a first aspect the invention is a video camera head comprising an objective lens assembly and a solid state imager (SSI) comprised of a solid state pick up device and integrated circuitry adapted to produce an output video signal. The SSI is configured to allow video signals to be sent from the SSI and power to be supplied to the SSI by means of four or less electrically connecting pads. In a second aspect the invention is a video camera head comprising a 0.7 mm×0.7 mm sensor and an integral 1.4 mm inner diameter light ring. In a third aspect the invention is a visualization probe comprising illumination means and a video camera head of the first aspect. The visualization probe has a maximum outer diameter of 2.8 mm or less. In a fourth aspect the invention is a medical device comprising a visualization probe of the third aspect. The medical device has a maximum outer diameter of 3.2 mm or less.

Abstract: An end effector (60) comprises a base (63), a first gripper (64) connected with the base (63) so as to swivel around a gripper axis (68), and a positioning element (66) which is guided on the base displaceably along an end effector axis (76) and interacts with the gripper (64) via a guide slot system. The gripper axis (68) extends outside of a guide slot (70) of the guide slot system.

Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

Abstract: An actuating member includes: a first movement member and a second movement member which are located at a proximal side of the elongated member and are configured to be relatively movable toward and away from each other along an axial direction of the elongated member; a push-pull member that includes a first connection portion configured to be connected to the first movement member, a first extension portion extending from the first connection portion toward a distal side in the axial direction of the elongated member, a second connection portion configured to be connected to the second movement member, and a second extension portion extending from the second connection portion toward the distal side in the axial direction of the elongated member; and an operation member configured to operate the movement of the first movement member and the second movement member.

Abstract: An apparatus for imparting a tensile force to deflect a distal portion of a catheter while maintaining its exterior dimensions may include a handle grip including a cross-section of generally predetermined exterior dimensions, and a longitudinal axis. A flexible elongate member may include proximal and distal end portions, with the proximal end portion being coupled to the handle grip. An adjustment knob may include a cross-section of generally predetermined exterior dimensions, and is rotatably coupled to the handle grip around the longitudinal axis. An elongate deflection member may be operably coupled to the adjustment knob and to the distal end portion of the elongate member. Rotation of the adjustment knob may impart a tensile force to the deflection member thereby causing the distal end portion of the elongate member to deflect from a prior configuration while maintaining the generally predetermined exterior dimensions of the handle grip and the adjustment knob.

Abstract: Articles and procedures for preventing or treating vaginal prolapse, urinary incontinence, and other disorders of the pelvic floor.

Abstract: The present disclosure relates to a tube continuum robot and a robot system for operation using the same, and the tube continuum robot includes a basic tube body including a basic straight section extending straight, and a basic curved section extending in front of the basic straight section and bent to a predetermined curvature, and a connection tube body having a connection flexible section which is flexibly bendable, the connection tube body formed to be inserted into the basic tube body or to surround an exterior of the basic tube body, the connection tube body being connected to the basic tube body.

Abstract: A system for performing a medical procedure is provided comprising at least one tool and a tool support for supporting a distal portion of the tool. An operator manipulates a human interface device and produces control signals sent to a controller. The controller manipulates the tool support based on the received control signals.

Abstract: An articulation mechanism for a surgical instrument includes an articulation assembly, a plurality of cables, and a trigger. The cables are coupled to the articulation assembly at a proximal end thereof and extend distally therefrom. The cables are configured to engage an end effector assembly of the surgical instrument at a distal end thereof. The trigger is coupled to the articulation assembly and is selectively moveable from a shipping position to a use position. In the shipping position, the cables are substantially un-tensioned. In the use position, the cables are disposed in an initial tensioned position. In the use position, the trigger is moveable between an unlocked position and a locked position. In the unlocked position, the cables are selectively tensionable to articulate the end effector assembly. In the locked position, the tensions on the cables are maintained to lock the end effector assembly in position.

Abstract: A device for searching for defects on parts that are masked, such as turbine engine blades, the device including a tubular sheath, a light-guide guiding light, an image-transmission mechanism transmitting images housed inside the sheath, an examination head at a distal end of the sheath including an illumination mechanism and an image-taking mechanism connected to the light-guide and to the image-transmission mechanism housed in the sheath, a mechanism spraying a succession of penetrant test materials on the part for inspection including a capillary slidably guided in a duct housed in the sheath, and a mechanism adjusting orientation of the examination head at the distal end of the sheath.

Abstract: Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.