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: A component-based system for assembling articulating mechanisms that generally includes a variety of link, joint, central and spacer components together with connecting cables of varying lengths.

Abstract: A two-part bending endoscope includes: a first bending part which configures one side of a bending portion; a second bending part which configures the other end side of the bending portion; and a bending portion operation apparatus including a first operation device for causing the first bending part to perform a bending action and a second operation device for causing the second bending part to perform a bending action, wherein the bending portion operation apparatus includes a selective power-transmitting mechanism section which enables at least a bending action of the first bending part by the first operation device, and an interlocking operation of the second bending part and the first bending part by the second operation device.

Abstract: An endoscopic surgical instrument is provided that includes a handle portion, an elongated middle portion, an articulating portion and a tool portion. The tool portion is steerable by control mechanisms disposed on the handle portion which are accessible to a single hand of a user of the endoscopic surgical instrument. The endoscopic surgical instrument is advantageously employed in a variety of endoscopic surgical techniques, including transgastric or transluminal surgery.

Abstract: An insertion instrument which is connected to a manipulating head grip is composed of an elongated flexible tube section, an articular section and a rigid tip end section in series from a proximal end which is connected to the manipulating head grip. The articular section can be flexed in an arbitrary direction by way of a flexion control means which is provided on the manipulating head grip. A flexible tube straightening means is provided internally of the flexible tube section to straighten the same into a rectilinear form. The flexible tube straightening means is activated into a straightening action in interlinked relation with a flexing operation of the flexion control means.

Abstract: A steerable multi-linked device may include a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first multi-linked mechanism and the second multi-linked mechanism 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 reinforcing member. A first one of the intermediate links may be movably coupled to the first link, and the reinforcing member may extend from a first end of a third one of the intermediate links toward a second end of the third one of the intermediate links.

Abstract: The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator.

Abstract: One embodiment of present invention is a segmented instrument having braking capabilities that includes an elongate body having a plurality of links and a hinge connecting a pair of adjacent links in the plurality of links. There is also brake assembly coupled to each link in the pair of adjacent links and positioned to span the distance between the pair of adjacent links. Another embodiment of the present invention is a segmented instrument having a plurality of links and at least one lockable and articulatable joint positioned to connect a pair of adjacent links in the plurality of links. In addition, the at least one lockable and articulatable joint is adapted and configured to increase the number of frictional surfaces available between the pair of adjacent links. There are also provided methods for controlling a segmented instrument.

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: The present invention is directed to a novel shape-transferring cannula system, which provides access to tortuous and unsupported paths. The shape-transferring cannula system and method enables exploration of hollow body structures, and creates a custom-contoured access port for insertion and removal of, for example, diagnostic, surgical, or interventional instruments to and from a site within the body to which the physician does not have line-of-sight access.

Abstract: In one aspect, the present invention is an articulation joint for use in a low cost medical device such as an endoscope intended for a single use. In one embodiment, the articulation joint comprises a plurality of interconnected segments. In another embodiment, the articulation joint comprises an elongated tubular body. In another aspect, the present invention provides methods of manufacturing an articulation joint for use in a medical device.

Abstract: A controllable sheath for optimizing the control of surgical instruments at the operation site includes a flexible sheath surrounding an endoscope and including a lumen extending along the walls of the sheath and adjacent to the endoscope. The lumen permits the passage of surgical instruments from the proximal end of the endoscopic device to the operation site. The lumen extends beyond the distal end of the endoscope and deflects at the distal end as desired by the operator's manipulation of a controller device. This distal end deflection may occur through various different techniques where the ability to deflect the lumen gives the operator increased control and maneuverability over the surgical implements located in the lumen. Depending upon the particular requirements of the surgical procedure, the controllable sheath may include any number of lumens capable of distal end deflection.

Abstract: A medical device shaft with varying flexibility along its length is provided. The shaft includes at least first and second elongate shaft portions that have differing geometries and differing flexibilities. The elongate shaft portions can be made of different materials.

Abstract: An articulate probe device includes a first mechanism, a second mechanism, and an overtube mechanism. The first mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The second mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The overtube mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a proximal link which is moveably coupled to a second one of the intermediate links. Further, at least one of the first mechanism, second mechanism, and overtube mechanism is steerable and extendable beyond the other mechanisms.

Abstract: A surgical probe includes an articulated digit located at a distal end of a positioning shaft having a longitudinal axis. An actuator is located at a proximal end of the positioning shaft that is operatively connected to the articulated digit so as to move it between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon's finger engaging the actuator and the articulated digit. Preferably, the surgeons finger position and shape directly correspond to the position and shape of the articulated digit. A method is provided for probing, dissecting, and retracting anatomical structures.

Abstract: A surgical probe includes an articulated digit located at a distal end of a positioning shaft having a longitudinal axis. An actuator is located at a proximal end of the positioning shaft that is operatively connected to the articulated digit so as to move it between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon's finger engaging the actuator and the articulated digit. Preferably, the surgeons finger position and shape directly correspond to the position and shape of the articulated digit. A method is provided for probing, dissecting, and retracting anatomical structures.

Abstract: Apparatus and methods are provided for forming a gastrointestinal tissue fold by engaging tissue at a first tissue contact point and moving the first tissue contact point from a position initially distal to, or in line with, a second tissue contact point to a position proximal of the second contact point, thereby forming the tissue fold, and extending an anchor assembly through the tissue fold from a vicinity of the second tissue contact point. Adjustable anchor assemblies; as well as anchor delivery systems, shape-lockable guides and methods for endoluminally performing medical procedures, such as gastric reduction, treatment of gastroesophageal reflux disease, resection of lesions, and treatment of bleeding sites; are also provided.

Abstract: A medical instrument assembly and robotic medical system are provided. The medical instrument assembly comprises an outer probe having an elongated shaft, an inner probe having an elongated shaft, coaxially disposed within the outer probe shaft, and a driver interface module having a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom. The robotic medical system may comprise the driver interface module, a user interface configured for generating at least one command, a drive unit coupled to the actuating elements, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating elements to independently effect movement of each of the outer and inner probes to the degree(s)-of-freedom.

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 allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.

Abstract: An endoscope deflection section frame including a plurality of rings and leaf springs connecting the rings to one another. Each ring includes front and rear ends with slots, wherein the slots extend into front and rear sides of the rings entirely through a wall of the ring between an interior of the wall at a central channel of the ring and an opposite exterior of the wall. The leaf springs each have opposite ends located in the slots of respective adjacent ones of the rings.

Abstract: A rod lens is used for fitting in an endoscopes. The rod lens has a rod-shaped body which is made at least in a section of a flexible, transparent solid piece of plastic material.

Abstract: The invention is an articulation section for an endoscope (10). The articulation section (50) is characterized in that each one of its vertebrae (52) is comprised of several pieces that can be easily assembled or disassembled. This arrangement allows the replacement of individual ones of the vertebrae and/or the replacement of individual ones of the wires, cables, fibers, and tubes that pass through the vertebrae section without having to disassemble and reassemble the entire articulation section.

Abstract: A bending device for an endoscope having a camera mounted on one end for photographing the inside of a human body, a machine, a pipe and the like is provided. For flexible bending with the smallest external diameter and the largest extended internal diameter, a plurality of bending plates each having an internal hole (11) are stacked so that the bending device can be bent, each bending plate including a pair of upper protruded portions (12) curved upward at opposite locations; a pair of lower protruded portions (13) formed between the upper protruded portions (12) and curved downward; and adjustment holes (14) punched in the upper protruded portions (12) or the lower protruded portions (13) so that the adjustment wires (20) pass through the adjustment holes (14), and the bending plates are cross-stacked so that the upper protruded portions (12) and the lower protruded portions (13) of the adjacent bending plates are brought into contact with each other.

Abstract: An endoscope including a control section; and a shaft extending from the control section. The shaft includes a frame including a one-piece tube. The tube includes a plurality of slots into the tube along at least one length of the tube to form spaced sections on opposite sides of each slot. A first one of the sections comprises a projection which extends into a pocket of a second one of the sections such that the projection and pocket form an over-travel limiter to limit relative motion of the first and second sections relative to each other in at least one direction.

Abstract: A medical tubular assembly includes four medical coilpipes together having a distal end portion insertable into a patient. The four medical coilpipes include a central coilpipe and three peripheral coilpipes disposed outward of the central coilpipe. The four medical coilpipes are wound from a continuous length of wire. In one example, a lengthwise translatable medical-end-effector activation cable is located in the central coilpipe, a separate and lengthwise translatable medical-instrument-member articulation cable is located in each of the three peripheral coilpipes, and the distal end portion is endoscopically insertable into the patient. Other examples are left to those skilled in the art.

Abstract: An endoscope is provided with a bending tube including sequentially connected plural bending pieces constituting a bending section which is provided in a slim and elongated insertion portion and which is brought into a bending operation by remote control, a distal end section which is provided in the front end side of this bending tube and which constitutes the front end side of the insertion portion, a flexible tube section which is provided in the base end side of the bending tube and which constitutes the rear end side of the insertion portion, and a covering member which is disposed to cover the bending tube and which has elasticity in order that both end portions of the covering member are fixed to the distal end section or the flexible tube section by being fastened radially inward, wherein the relationship represented by 0.3D<d<1.0D is established between a thickness d of the covering member fixed by fastening and the thickness D of the covering member before being fixed by fastening.

Abstract: The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

Abstract: A sheath useful for remote steering, guidance and/or manipulation of a flexible instrument, including e.g. an endoscope, received through the sheath.

Abstract: A bendable portion, which is arranged at the distal end of an insertion tube of an endoscope, comprises a plurality of tube segments, each of said tube segments having connecting means that cooperate with the connecting means of the adjacent tube segment, as well as control wires that can control the bending of the bendable portion. The respective connecting means of a tube segment are provided such that they axially protrude from the faces of the tube segment and are located within the mantle of the tube segment and such that they do not exceed the thickness of the mantle. The connecting means, which are provided on the respective faces of adjacent tube segments and which are located opposite each other, complement each other in the manner of a hinge-type connection.

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 robotic medical system comprises an instrument driver having a driver shaft, a driver cable slidably disposed through the shaft, and a driver coupling member respectively mounted to the driver cable, and an instrument having an instrument shaft, an end effector, an instrument cable slidably disposed through the shaft for actuating the end effector, and an instrument coupling member mounted to the instrument cable. The robotic medical system further comprises a storage chamber having a passage that stores the instrument, a drive unit coupled to the instrument driver, and an electric controller configured for directing the drive unit to distally advance the instrument driver within the passage of the storage chamber and engage the driver coupling member and instrument coupling member, and for directing the drive unit to proximally retract the instrument driver within the passage of the storage chamber and disengage the driver coupling member and instrument coupling member.

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: An endoscope has a bendable portion configured to be operated to be bent within one plane which is parallel to an axial direction of an endoscope insertion part 13 on a distal end side of the endoscope insertion part 13. An outer peripheral surface of the bendable portion is covered with an elastic tube 31 having flexibility. A rigidity of the elastic tube 31 in directions L and R orthogonal to bending operation directions U and D is higher than that of the elastic tube in the bending operation directions U and D.

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: 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: A surgical instrument comprising a handle assembly, a body, a tool assembly and an articulation assembly is disclosed. The articulation mechanism includes a receptacle, and a main shaft. A lower clutch is fixedly positioned within the receptacle and has a serrated portion including a plurality of serrations. An upper clutch includes at least one projection positioned to engage the serrations of the lower clutch to releasably retain the main shaft at a rotatably fixed position. An angle between a first pair of adjacent serrations is defined as a first angle, an angle between a second pair of adjacent serrations is defined as a second angle, and an angle between a third pair of adjacent serrations is defined as a third angle. The first angle, the second angle, and the third angle are each different from one another.

Abstract: The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.

Abstract: The present invention provides devices, systems, methods and kits for endoscopically accessing a body cavity and providing a directed pathway toward a target tissue within the cavity. The directed pathway is provided by an access sheath which is positioned in a desired configuration, generally directed toward the target tissue. Depending on the location of the target tissue and the desired angle of approach, the access sheath may be required to maintain one or more curves in one or more planes to properly direct the interventional devices. In addition, the access sheath has a locking feature to hold the sheath in place and maintain the desired configuration. Interventional devices may then be passed through the sheath to the target tissue.

Abstract: A system device and a method for imaging and/or for obtaining a sample from, for example, endo-luminal areas. The system may include two or more devices which may be magnetically connected in a body lumen, for example the system may include a first device which may include an imager and a transmitter for transmitting in vivo data, and a second device which may include a sampling mechanism.

Abstract: A bearing system useful in an intracorporeal device connects an operating head, a rotatable drive shaft and a catheter. The bearing system includes a static member in fixed communication with the distal end of the catheter, an interior shaft that is in rotatable communication with the drive shaft and the operating head, and at least one connecting structure. The static member has at least one opening through which the connecting structure moveably rests against a seat of the interior shaft. The position of the connecting structure within the seat enables the bearing to accept a rotational load of the rotating drive shaft and/or thrust load in the direction of the longitudinal length of the catheter. The connecting structure further retains the internal shaft and static member of the bearing system.

Abstract: An endoscope bending portion includes bending parts coaxially arranged in a line and each of which includes a cylindrical portion, one bending part of both bending parts adjacent to each other includes a protruding portion integrated with the cylindrical portion and extended in a radial direction of the cylindrical portion, the other bending part of both the bending parts adjacent to each other includes a receiving portion integrated with the cylindrical portion and into which the protruding portion is inserted so as to be rotatable about a longitudinal axis of the protruding portion, and each of the bending parts includes a discontinuous portion extended so as to cross a peripheral direction of the cylindrical portion in the cylindrical portion and joined or unjoined.

Abstract: A medical device (10) includes an articulating shaft (20, 20a, 20b, 20c, 20d, 20e, or 20f) with a pair of slat assemblies (31, 33). By moving an articulator (37), the slat assemblies (31, 33) are configured to concurrently push while the other pulls in order to bend the articulating shaft (20). The articulating shaft (20) includes a series of pivot members (26, 26a, 26b, 26c, 26d, 126e and 226e, or 126f and 226f). The pivot members (26) may include inner links (126e, 126f) and outer links (226e, 226f) . A method for articulating a shaft of a medical device is also provided.

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: A borescope is received within a housing. The borescope includes a flexible end portion carrying the video head and a housing includes a flexible end portion comprised of ball-socket segments and a tip for following the movement of the flexible end portion of the borescope. Cooling air is provided in an annular passage between the borescope and housing for flow about the borescope to maintain the video head temperature below its temperature limitation. Two cables maintain the ball-socket segments and tip in contact with a transition piece and with one another to enable the flexible borescope end portion to follow the movement of the directionally controlled video head.

Abstract: An endotracheal intubation device having a curvable portion and internal optics or a viewing device which facilitate the insertion of an endotracheal tube into a patient. The device has a handle and a trigger. When the trigger is squeezed the curvable portion curves in a controlled manner from a fully straight configuration.

Abstract: An accessory includes bending parts forming a bending portion, a cylindrical guide member extending within the bending portion, a treatment member configured to be inserted through the guide member so as to be movable forward and backward and placed in a housing position where the whole treatment member is housed within at least a given bending part of the bending parts out of the given bending part and a coupling end portion provided in the bending part adjacent to the given bending part and arranged on a side close to the given bending part, and a stopper portion provided on the guide member and configured to be brought into contact with the treatment member to position the treatment member on the housing position.

Abstract: The invention provides articles of manufacture and methods for producing and using a bending neck assembly for a medical probe, using a tubular structure having a region of helical groove.

Abstract: A multijointed bending mechanism having a first bending piece, a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft, a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft, at least two first wires connected to the first bending piece to rotate the first bending piece and at least two second wires connected to the second bending piece to rotate the second bending piece. The first wires and the second wires are disposed concentrically with respect to a vertical direction of the first rotation shaft and the second rotation shaft.

Abstract: A multijointed bending mechanism having a first bending piece, a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft, a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft, at least two first wires connected to the first bending piece to rotate the first bending piece and at least two second wires connected to the second bending piece to rotate the second bending piece. The first wires are disposed inwards of the second wires with respect to a vertical direction of the first and second rotation shafts.

Abstract: A flexible ureteropyeloscope having a control section and a shaft extending from the control section. The shaft has a front end with a first active deflection section connected in series with a second active deflection section. The control section is adapted to independently deflect the first and second defection sections. The first and second active deflection sections are adapted to deflect such that a distal end of the ureteropyeloscope can be placed in a calyx of a lower pole of a kidney without the need to passively deflect the front end of the shaft against kidney tissue of a patient to reach the calyx of the lower pole.