Abstract: Complex steerable catheter visualization and tissue manipulation systems and their methods of use are disclosed herein. The deployment catheter is articulated using various steering mechanisms. Tissue visualization is accomplished from the visualization hood at the distal end of the deployment catheter, the hood having an ability to expand and other features to facilitate visualization and articulation at the tissue surface.

Abstract: An endoscopic imaging system includes a reusable control cabinet having a number of actuators that control the orientation of a lightweight endoscope that is connectable thereto. The endoscope is used with a single patient and is then disposed. The endoscope includes an illumination mechanism, an image sensor and an elongate shaft having one or more lumens located therein. A polymeric articulation joint at the distal end of the endoscope allows the distal end to be oriented by the control cabinet. The endoscope is coated with a hydrophilic coating that reduces its coefficient of friction and because it is lightweight, requires less force to advance it to a desired location within a patient.

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: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. 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 surgical instruments and the guide tube are telemanipulatively controlled.

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.

Abstract: An endoscope cleaning sheath includes a flexible tube body that is mounted to an insertion portion having a bending portion included in an endoscope, and that has a plurality of through-holes parallel to a longitudinal axis; and a cylindrical distal end nozzle that is provided at a distal end portion of the flexible tube body and that sprays at least one of a gas and a liquid at least at an observation window provided at a distal end portion of the insertion portion of the endoscope. The through-holes are a hole for an endoscope insertion portion through which the insertion portion of the endoscope is inserted, and at least a first fluid conduit that supplies gas and a second fluid conduit that supplies liquid. The first fluid conduit and the second fluid conduit are provided at positions in a direction that is different from a bending direction of the bending portion of the insertion portion that is inserted and disposed in the hole for an endoscope insertion portion.

Abstract: A positioning device includes a magnetometer configured to detect and provide heading information, a motion sensor configured to detect and provide motion information, a microcontroller coupled to the magnetometer and the motion sensor and configured to generate position data based on the heading information and the motion information, a transmitter coupled to the microcontroller and configured to wirelessly transmit a signal including the position data, and a piezoelectric power source configured to supply power to at least one of the microcontroller, the magnetometer, the motion sensor and the transmitter.

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.

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

Abstract: An endoscopy apparatus having high degree of motion freedom and the operating method thereof are disclosed. The endoscopy apparatus having high degree of motion freedom includes a multi-stage endoscopy module and a control module. The multi-stage endoscopy module includes at least a first endoscopy unit and a second endoscopy unit. The first endoscopy unit and the second endoscopy unit can provide a first bending and a second bending respectively. The second bending is larger than the first bending. When the multi-stage endoscopy module moves to a region near a target observing position, the control module will control the second endoscopy unit to generate slight deformation to observe a real-time state of the target observing position.

Abstract: An endoscopic imaging system includes a reusable control cabinet having a number of actuators that control the orientation of a lightweight endoscope that is connectable thereto. The endoscope is used with a single patient and is then disposed. The endoscope includes an illumination mechanism, an image sensor and an elongate shaft having one or more lumens located therein. A polymeric articulation joint at the distal end of the endoscope allows the distal end to be oriented by the control cabinet. The endoscope is coated with a hydrophilic coating that reduces its coefficient of friction and because it is lightweight, requires less force to advance it to a desired location within a patient.

Abstract: The medical treatment endoscope according to the present invention includes a sheath having a flexibility; at least one arm member having a bending part that projects out from a front end of the sheath and performs bending actions; an open/close mechanism which directs the arm member from a direction along a central axis of the sheath to a direction deviated from the central axis of the sheath, and from a direction deviated from the central axis of the sheath to a direction along the central axis of the sheath; and a viewing device and an illuminating member that are disposed to the front end side of the sheath.

Abstract: A video endoscope system includes a reusable control cabinet and an endoscope that is connectable thereto. The endoscope may be used with a single patient and then disposed. The endoscope includes an illumination mechanism, an image sensor, and an elongate shaft having one or more lumens located therein. An articulation joint at the distal end of the endoscope allows the distal end to be oriented by the actuators in the control cabinet or actuators in a control handle of the endoscope. Fluidics, electrical, navigation, image, display and data entry controls are integrated into the system along with other accessories.

Abstract: Systems and methods for articulating an elongate articulatable body which is adapted to be delivered within a body cavity. Particularly, systems and methods for enhancing an articulating force on the elongate body without increasing an actuation force applied by an actuator.

Abstract: In accordance with various exemplary embodiments of the present teachings, a surgical device can include a first pair of articulably coupled links, a second pair of articulably coupled links, and a tension member coupled to the first pair of links and the second pair of links such that altering tension in the tension member exerts a force tending to articulate the first pair of links and the second pair of links so as to bend the first pair of links and the second pair of links. The surgical device can be configured such that the first pair of links has a lower resistance to bending than the second pair of links upon altering the tension in the tension member.

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: A method of constructing an articulation joint includes forming a metallic tube with a number of rings formed therein. Springs may be secured to the inside surface or outside surface of the rings to allow the joint to bend in directions transverse to the axis of the springs. A fixture may be used to hold the springs at the correct position within the tube and the springs may be urged toward the rings or vice versa to obtain a good bond between the springs and the rings.

Abstract: Methods and devices are provided for performing minimally invasive surgical procedures. In one embodiment, a surgical device is provided that include an elongate shaft having a distal portion configured to be movable between a first configuration in which the distal portion of the shaft is substantially straight or linear and a second configuration in which the distal portion of the shaft is articulated at a compound angle. The shaft's distal portion can include two articulation joints to facilitate formation of the compound angle.

Abstract: A rotational force transmission mechanism has: a rotation-inputting member freely rotative and driven in a predetermined first direction and a second direction opposite the first direction by a predetermined operating member; a first rotation-transmitting member for receiving a rotational driving force supplied from the rotation-inputting member in the first direction; a second rotation-transmitting member, disposed to face the first rotation-transmitting member, for receiving a rotational driving force supplied from the rotation-inputting member in the second direction; a connection section disposed so that the rotational force acts in the direction in which the first rotation-transmitting member and the second rotation-transmitting member face each other, the connection section in the facing position transfers the rotational driving force received by the first rotation-transmitting member in the first direction to the second rotation-transmitting member and transfers the rotational driving force received by

Abstract: The endoscope apparatus includes a heat exchanger, a first tube, and a second tube. The front-end portion is cooled down by repeating alternately, the other operation which is opposite an one operation, which is an operation of generating a flow of the cooling liquid from the other end of the first tube to the one end of the first tube, and a flow of the cooling liquid from the one end of the second tube to the other end of the second tube, and the one operation which is an operation of generating a flow of the cooling liquid from the other end of the second tube to the one end of the second tube, and a flow of the cooling liquid from the one end of the first tube to the other end of the first tube.

Abstract: A clip device 1 that has a coil-shaped tubular body 6 that is inserted through a curvable treatment instrument insertion channel of an endoscope, the tubular body 6 includes a proximal side coil (first coil) 10 that has a spring constant per unit length of 15 N/mm to 500 N/mm and is disposed on the proximal end side of the tubular body 6; and a distal end side coil 11 that is connected to the distal end of the proximal side coil 10, has a greater inner diameter than the inner diameter of the proximal side coil 10, has a spring constant per unit length of 15 N/mm to 500 N/mm, and has a spring constant that differs from the spring constant of the proximal side coil 10, with the ratio of the spring constants of the proximal side coil 10 and the distal end side coil 11 is greater than 1.0 and less than or equal to 2.0.

Abstract: A surgical tool having proximal and distal ends and adapted to transverse a curved passageway comprises an end effector disposed on the distal end of the surgical tool, the end effector having a first body section and a second body section and a releasable connector joining the end effector first body section with the end effector second body section. The connector is operable to reversibly engage the first and second end effector body sections in a first fixed position and in a second movable position. The surgical tool further comprises an actuation device for moving the first and second end effector body sections from the first fixed position to the second movable position. The end effector is adapted to maneuver through a larger radius of curvature in the second movable position than in the first fixed position.

Abstract: A controller includes a servo controller that performs attitude control of the bending portion. A point lock computing section is provided at the servo controller. Based on supplied distal end command value information and position feedback information, the point lock computing section performs computational processing by a distal end link root coordinate position calculating section and an inverse kinematics computing section in order to obtain a servo position command signal for a distal end-side link member and a servo position command signal for a link member other than the link member, and outputs the same to a driving section. Accordingly, point lock is enabled at two locations, namely, the distal end-side link member and an arbitrary link member, while other link members are controlled so as to assume attitudes having redundancy.

Abstract: The present disclosure concerns a delivery system for delivering a medically useful payload through the vasculature to a site of interest in the patient's body. The medically useful payload may be a therapeutic device, such as a stent, and it may be a diagnostic tool, such as an imaging device. Owing to its structural attributes, the presently-inventive delivery system is well suited for carrying medical payload to and through vessel curvature and to branched regions (i.e., bifurcations) in same. Also, the device is well-suited to traveling through a vessel over a guiding element, such as a guidewire, which itself exhibits curvature.

Abstract: A video endoscope system includes a reusable control cabinet and an endoscope that is connectable thereto. The endoscope may be used with a single patient and then disposed. The endoscope includes an illumination mechanism, an image sensor, and an elongate shaft having one or more lumens located therein. An articulation joint at the distal end of the endoscope allows the distal end to be oriented by the actuators in the control cabinet or actuators in a control handle of the endoscope. Fluidics, electrical, navigation, image, display and data entry controls are integrated into the system along with other accessories.

Abstract: The present invention discloses a two-way endoscope steering mechanism and four-way endoscope steering mechanism, and the two-way endoscope steering mechanism includes a hollow steering member, a two-way flexible plastic member and a guiding wire member. The hollow steering member has a hollow positioning portion and a connecting portion. The guiding wire member is passed and installed in the hollow positioning portion. The densely wound coil is coupled to an end of a steering module, and the steering module is formed by arranging and coupling the two-way flexible plastic member to the hollow steering member, and the densely wound coil is sheathed on the guiding wire member, such that the guiding wire member can be pulled to drive the steering module to turn in a direction.

Abstract: An articulating mechanism for use in a medical device, such as an endoscope or a catheter, includes a series of stacked links disposed adjacent to one another and movable with respect to each other. Each link includes a front face tapered to a pair of pivot points and a rear face defining a wedge shaped recess for receiving the pivot points of the adjacent link. Pull-wires provide tension and hold the staked links together while also allowing for controlled bending of the distal portion by movement of one or more of the pull-wires.

Abstract: A system for releasably attaching a steerable disposable multi-linked device to a durable device may include a disposable portion and a durable portion. The disposable portion may include a connecting member connected to the disposable portion and the durable portion and a steerable multi-linked device. The steerable multi-linked device may include a first link, a plurality of intermediate links, a second link movably coupled to a second one of the intermediate links, and a cable which passes through the first link and intermediate links and extends beyond a first end of the first link. A first one of the intermediate links may be movably coupled to the first link. The durable portion may include an axial member which defines an opening therethrough and a feeder mechanism.

Abstract: An endoscope includes a manipulation unit, and an insertion unit which is disposed in continuation to the manipulation unit. The insertion unit contains a bending portion which has a plurality of articulation wheels coupled in succession, two adjacent ones of the articulation wheels being coupled by a shaft member so as to be relatively turnable around the shaft member which crosses the center axis of the bending portion, the bending portion being bent in such a way that a wire which leads to the manipulation unit via the plurality of articulation wheels is tractively manipulated. The shaft member has a guide part formed with an insertional hole through which the wire is inserted, and at least the guide part of the shaft member is turnable around the center axis of the shaft member, to both the two articulation wheels coupled by the shaft member.

Abstract: A video endoscope system includes a reusable control cabinet and an endoscope that is connectable thereto. The endoscope may be used with a single patient and then disposed. The endoscope includes an illumination mechanism, an image sensor, and an elongate shaft having one or more lumens located therein. An articulation joint at the distal end of the endoscope allows the distal end to be oriented by the actuators in the control cabinet or actuators in a control handle of the endoscope. Fluidics, electrical, navigation, image, display and data entry controls are integrated into the system along with other accessories.

Abstract: An endoscope insertion portion includes an image pick-up assembly including an image pick-up unit and an image pick-up cable provided in order from the distal end portion to the proximal end side wherein the outer diameter of the image pick-up unit is larger than the outer diameter of the image pick-up cable, and a channel assembly arranged side by side with the image pick-up assembly and including a thin outer diameter portion and a thick outer diameter portion provided in order from the distal end portion to the proximal end side wherein a distal end portion of the thick outer diameter portion is arranged on more proximal end side than a proximal end portion of the image pick-up unit.

Abstract: An atrial septal occluder device for repairing an atrial septal defect in a human heart includes an elongated catheter for insertion into and moved along a blood vessel and into the heart of a patient. The catheter includes a head portion, a tail portion and a neck portion between the head and tail portions. The neck portion is about 1 cm in length and 2 to 4 mm in diameter. The device also includes an Amplatzer ASO removably fixed to the head of the device and a moveable neck portion for positioning the ASO with respect to the ASD and an activator for closing the ASO over the ASD from outside of the patient's body.

Abstract: An instrument guide device comprises an elongated guide shaft having proximal and distal ends and including an instrument lumen for receiving therethrough a manually operated instrument having an instrument shaft. A distal bendable member is disposed at the distal end of the guide shaft and a proximal bendable member is disposed at the proximal end of the guide shaft. Actuation means extends between the distal and proximal bendable members and provides a bending of the distal bendable member controlled from the proximal bendable member. The proximal bendable member is controlled from the manually operated instrument to cause a corresponding bending of said distal bendable member. A locking mechanism has locked and unlocked positions and includes a ball and socket arrangement disposed about the proximal bendable member and a cinch member for locking the ball and socket arrangement.

Abstract: A surgical instrument includes a housing, an end effector and an elongated shaft extending therebetween. The shaft includes a distal portion movable between aligned and articulated configurations. First and second drive cables are coupled to the distal portion such that reciprocal longitudinal motion of the drive cables induces movement of the distal portion between the aligned and articulated configurations. An articulation drive mechanism is operable to induce reciprocal longitudinal motion of the drive cables. The drive mechanism includes an actuator and a pair pulleys operatively coupled to the actuator to rotate about an axle. The first and second drive cables are coupled to the pulleys such that the drive cables extend on opposite lateral sides of the axle. A biasing mechanism is configured to bias the first and second pulleys to at least one discrete orientation to maintain the distal portion of the elongated shaft in a discrete articulated position.

Abstract: Methods and devices are provided for controlling an endoscope in a body cavity. In one exemplary embodiment, a stiffening element for an endoscopic surgical system includes an elongate member having a diameter configured for insertion and use in a channel of an endoscope. The elongate member can be movable between an unlocked position in which the elongate member is freely movable to assume a desired configuration, and a locked position in which the elongate member is maintained in a desired configuration. In one embodiment, the elongate member is formed from a plurality of links that are pivotally coupled to one another. Methods for controlling a surgical device in a body cavity, as well as systems for use in endoscopic surgeries, are also provided herein.

Abstract: An articulating optical surgical probe includes a handle sized to fit in a single hand and a single rigid cannula extending from the handle having a diameter of 20 Ga or less. The probe further includes a slotted tip at a distal end of the cannula and at least one optical fiber extending through the handle, the single rigid cannula and the slotted tip, and a pull-wire secured to the slotted tip. When the pull-wire exerts tension on the slotted tip, the slotted tip will deviate from straight to a bend angle controlled by the tension in the pull-wire. The slotted tip is formed from a resilient material that will restore to the straight position when the tension exerted by the pull-wire is released.

Abstract: Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.

Abstract: Methods and devices are provided for controlling movement of a working end of a surgical device configured to be introduced into a body. In one embodiment, a surgical device is provided including a cannulated elongate shaft having a distal working end with a flexible steering platform. The flexible steering platform can includes a plurality of axially aligned links and a plurality of flexible connector elements. Adjacent links can be connected using at least two of the connector elements such that flexing one or more connector elements can bend the steering platform in one or more directions. The surgical device's shaft can be configured to receive a flexible surgical instrument therein such that a working end of the surgical instrument can be received within the steering platform, thereby allowing movement of the surgical instrument's working end to be controlled through movement of the steering platform.

Abstract: With a method for manufacturing a bendable tube, which is preferably envisaged for an endoscopic instrument, first a tube is separated into several tube sections in a manner such that adjacent tube sections engage into one another with a positive fit in the axis direction of the tube. After the separation of the tube into several tube sections, one envisages peripherally arranging means for providing a positive fit transversely to the axis direction of the tube, on the regions of the tube sections, which are situated in engagement with one another.

Abstract: Disclosed herein is a bidirectional moving micro-robot system. The bidirectional moving micro-robot system has a first body having a plurality of legs foldably/unfoldably connected thereto, a second body having a plurality of legs foldably/unfoldably connected thereto and a connection member having both end portions respectively connected to the first and second bodies. In the bidirectional moving micro-robot system, the length of the connection member exposed between the first and second bodies is extended or contracted.

Abstract: The present invention relates to a flexible-tubed structure of an endoscope comprising a plurality of cylindrical units, a first wire, a second wire, a first flexible unit, and a second flexible unit. The wires respectively pass through the cylindrical units. The flexible units are continuously disposed at the recesses of the cylindrical units. The cylindrical units are used to form a tubular unit by the flexible units. The tubular unit is bent by the tension of the first wire or the second wire to control the turning-direction of the camera apparatus.

Abstract: A surgical instrument includes a housing, an end effector and an elongated shaft extending therebetween. The elongated shaft includes a distal portion that is movable between aligned and articulated configurations. A pair of drive cables extends through the elongated shaft and is coupled to the distal portion such that reciprocal longitudinal motion of the drive cables induces movement of the distal portion between the aligned and articulated configurations. An articulation drive mechanism is operable to induce reciprocal longitudinal motion of the drive cables. The drive mechanism includes an actuator and a pair of torsion members that are rotatable about two distinct axes in response to movement of the actuator. A respective follower is operatively coupled to each torsion member to translate in a respective longitudinal direction in response to rotation of the torsion members, and each follower is coupled to a respective drive cable to impart translational motion thereto.

Abstract: A flexible segment system including: a first link; a first flexible hinge integral to the first link; and a second link integral to and continuing from the first flexible hinge.

Abstract: An insertion part of an endoscope includes at least a bending portion and two portions connected to one and the other ends of the bending portion. A bending structure of the bending portion is connected at its other end adjoining area overlapping with an adjoining area of at least one of the two portions to the adjoining area of the at least one of the two portions by a fixing member. A thread member wound on an end portion of a flexible covering member covering the bending structure, the end portion corresponding to the fixing member, has a pulled-in part arranged between the outer peripheral surface of that end portion of the cover member and a winding portion formed by the wound thread member, and the pulled-in part is arranged in a side of the fixing member. The winding portion of the thread member is covered by a resin layer.

Abstract: An apparatus having an elongate hollow metal body extending along a longitudinal axis is disclosed. The hollow body defines a central opening and has a predetermined wall thickness. A pattern of laser cut slits is formed into the body. The slits define a plurality of articulatable elements. The plurality of articulatable elements enable active articulation of the body in a first plane and passive deflection in planes orthogonal to the first plane.

Abstract: A flexible interlocking structure for a handheld endoscope includes a flexible rod having an interlocking unit connected to its one end. The interlocking unit includes front, middle and rear joints each having a hollow portion. Each joint is formed with at least two guiding holes, locking tabs and locking notches. The engagement between the locking tabs and the locking notches of the adjacent joints constitutes the interlocking unit. Both ends of the flexible rod are connected to a handle portion and an inspection module respectively. A transmission cable and driving wires are disposed through the hollow portions and the guiding holes in such a manner that they are located between the inspection module and the handle portion. By operating a steering device of the handle portion, the driving wires pulls the front joints to cause the interlocking unit to bend accordingly, thereby controlling the rotation of the inspection module.

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.

Abstract: An endoscopic imaging system includes a reusable control cabinet having a number of actuators that control the orientation of a lightweight endoscope that is connectable thereto. The endoscope is used with a single patient and is then disposed. The endoscope includes an illumination mechanism, an image sensor and an elongate shaft having one or more lumens located therein. A polymeric articulation joint at the distal end of the endoscope allows the distal end to be oriented by the control cabinet. The endoscope is coated with a hydrophilic coating that reduces its coefficient of friction and because it is lightweight, requires less force to advance it to a desired location within a patient.

Abstract: A flexible tube for an endoscope and an endoscope device are provided. According to the present invention, a flexible tube for an endoscope is included in an insertion portion of the endoscope to be inserted into a body cavity and the flexible tube for the endoscope includes a bending portion provided at a distal end side and configured to perform a bending operation corresponding to an operation of an operator, and a flexible tube portion having a distal end and a proximal end and the distal end is connected to a proximal end side of the bending portion. The bending portion has a region that is bent at a first curvature radius when the bending portion is maximally bent, and at the distal end side of the flexible tube portion, a region that is set to be bent at a second curvature radius smaller than the first curvature radius when the bending portion is passively bent by a predetermined force quantity is provided.

Abstract: Embodiments of the invention provide methods for inserting a non-metallic multi-strand braid through a coil tube. Techniques for bonding one end of a lead line to one end of a multi-strand non-metallic braid are provided. There are also embodiments of steerable instruments described having a plurality of hinged segments; a multi-strand non-metallic braid connected distally to one segment of the plurality of segments and proximally to an actuator; and a steering controller adapted to control the actuator to move the hinged segment using the multi-strand non-metallic braid.