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 second wires are disposed inwards of the first wires with respect to a vertical direction of the first and second rotation shafts.

Abstract: An endoscopic insertion tube 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 a manipulating head grip. At least an illumination window and an endoscopic observation window are provided on a distal end face of the rigid tip end section which is tapered off gradually from its proximal end on the side of the articular section, i.e., the thickest portion of the insertion tube. A transitional section which is provided between the articular section and the flexible tube section is tapered off in an inverse direction, gradually from the articular section toward the elongated flexible tube section.

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: 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 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 shaft for a flexible endoscopic instrument is provided in which the shaft comprises a generally tubular frame member, the tubular frame member providing the shaft with at least one flexible section along the length of the shaft, the flexible section having a greater flexibility than at least one other section of the shaft. The flexible section of the shaft has a proximal end and a distal end, and is provided with first and second series of slots, the slots of the first series alternating with the slots of the second series to form an offset pattern of staggered slots in the frame member to provide the different stiffness properties. Each of the slots in a selected one of either the first or second series of slots is of a different length as compared to other slots in that series of slots, the slots in the selected series varying in length according to a predetermined progression, such that the flexible section is designed to deflect in a controlled and predetermined manner.

Abstract: An endoscope main body constituting an endoscope in a state in which an elongated detachable observation optical system is attached to the endoscope main body, and in a proximal end of an insertion section of the endoscope main body, a branch member is disposed. The branch member is provided so that a first extended section and a second extended section are branched from each other and thereby first and second operating sections are separately arranged. Furthermore, the branch member has an opening as an inlet which guides an imaging module in a distal end of the observation optical system to a hard portion of the insertion section.

Abstract: A medical device includes an articulating shaft with a pair of slat assemblies. By moving an articulator, the slat assemblies are configured to concurrently push while the other pulls in order to bend the articulating shaft. The articulating shaft includes a series of alternating pins and pivot members. Each pin defines an aperture that collectively forms a passageway for receiving an actuator or a tube. The pair of slat assemblies extend generally parallel to each other on opposite sides of the pins. A method for articulating a shaft of a medical device is also provided.

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 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: A device (1) which includes an elongate body (2) with a movable mass (3) arranged for sliding movement within the body (2), the element (4) being arranged to decelerate toward an end of the body (2) in order to impart forward movement thereto, via momentum transfer, and being arranged to accelerate away from said end in order to further drive the body (2) forward, again using momentum transfer.

Abstract: A method of manufacturing an endoscopic insertion portion with high manufacturing efficiency is provided.

Abstract: An endoscopic surgical instrument for performing a procedure inside a patient. The instrument includes a handle assembly including a grip for holding the instrument and controls for controlling movement of the instrument. An elongate shaft having a grip end is mounted on the handle assembly. The shaft has a working end opposite the grip end. The shaft has a proximal portion adjacent the grip end and a distal portion adjacent the working end. The proximal portion has a centerline and is selectively rotatable with respect to the handle assembly. The distal portion has a centerline and is selectively articulatable relative to the proximal portion of the shaft. The instrument includes an end effector mounted on the working end of the elongate shaft. The end effector is selectively rotatable about the distal portion of the shaft.

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: 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 medical instrument which is inserted into a body cavity includes: an insertion part which has a bending part capable of bending in a predetermined range; a plurality of joint rings which are provided in the bending part and are connected to each other in the axial direction of the insertion part; a manipulating part which manipulates the bending part; and a wire which is inserted into the plurality of the joint rings and connects the bending part with the manipulating part, wherein: the plurality of the joint rings comprises a connecting part, a portion of which is provided so as to protrude from the outer peripheral surface and which is connected to the joint ring of the distal side in the axial direction of the insertion part and a connected part which is connected to the joint ring of the proximal side in the axial direction of the insertion part; the connecting part has a linear cross section orthogonal to the axis of the joint ring, and a curved base portion which is a portion of the connecting part pr

Abstract: An endoscopic instrument having a flexibly designed tube shank is provided in which the tube shank is formed of several tube sections connected to one another in an articulated manner. Two adjacent tube sections are respectively connected to one another, in additional to the articulated connection (6), via at least one connection web (18), which is resilient in the axial direction of the tube shank.

Abstract: Endoscopes comprising a handle and a detachable elongation portion housing a light source for illuminating the distal end of the elongation portion are provided.

Abstract: Described herein are endoscopes having outer perimeter shapes configured to conform to the particular anatomy through which they will navigate. The outer perimeter cross-section of the endoscope may have one or more regions (e.g., longitudinal protuberances, edges, or narrow regions) that may allow the endoscope to conform with or fit within narrow or irregularly shaped regions of a body lumen, channel or passageway. Thus, the cross-sectional shape of the insertion tube of the endoscope may have an outer perimeter cross-section that is substantially D-shaped, oval, triangular, lobular, teardrop shaped, or the like. These non-circular cross-sectional shapes are matched approximately to the geometry of the region of the body into which the endoscope will be inserted, thereby allowing the endoscope to more precisely fit within a body lumen.

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: An endoscope angle portion comprises an angle portion structure. The angle portion structure includes angle ring units each of which comprises pivoting joint portions extending from its both ends and has a shape that is notched obliquely in directions away from the pivoting joint portions, and wherein adjacent ones of the angle ring units is pivotally joined to form the angle portion structure, wherein a first angle ring unit of the angle ring units has a larger length dimension than that of a second angle ring unit of the angle ring units, and the first angle ring unit has a smaller notch width of a notched portion than that of the second angle ring unit, the first angle ring unit being nearer a base end of the endoscope angle portion than the second angle ring unit.

Abstract: The present invention provides an endoscope comprising: an insert portion having a bending portion for bending operation and a flexible soft portion connected to the proximal end of the bending portion; an inflatable/deflatable balloon attached on the proximal side from the bending portion; and a supplying/sucking opening provided in the outer surface of a ring that connects the bending portion to the soft portion, the supplying/sucking opening supplying and sucking fluid to and from the balloon.

Abstract: A colonoscope includes an elongated body extending between a proximal and a distal end, a tip arranged on the distal end of the elongated body, and a handle arranged on the proximal end of the elongated body, wherein the elongated body generally increases in diameter and flexibility from the distal end to the proximal end. The elongated body preferably has a plurality of segments, each more proximal segment having a larger diameter than each adjacent more distal segment and/or each more proximal segment being more flexible than each adjacent more distal segment. A method for manufacturing a colonoscope includes selecting a length for each segment such that a most distal segment will extend far enough into a corresponding most distal section of the colon to be examined with each more proximal segment advanced through a corresponding more proximal section of the colon.

Abstract: An endoscope has a first segment with a proximal end and a distal end and is symmetric about an axis. A second segment, comprising a flexible and interconnected linkage system, is pivotably coupled to the first segment and, when subject to an applied force, is configurable along an arc having a variable radius of curvature. The linkage system is capable of articulation through an angle from zero degrees through about 280 degrees.

Abstract: An apparatus comprises a body having a torus skin with inner and outer layers, and a drive system configured to propel the apparatus by moving the inner layer relative to the outer layer. The active skin propulsion system allows movement and steering of a device. A drive system includes a plurality of drive segments coupled together so that the skin engaging unit of the drive segment frictionally moves the inner layer of the torus skin relative to the outer layer of the torus skin. As a result of the relative skin motion and contact with the surface by the outer layer of the torus skin, the body is propelled and may be steered.

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: A flexible tube for an endoscope includes a tubular core member, and an outer cover provided around the core member, the outer cover being formed of a material containing as a major component thereof polyolefin-based thermoplastic elastomer and polyolefin, wherein the amount of the polyolefin contained in the material is 5 parts by weight with respect to 100 parts by weight of the polyolefin-based thermoplastic elastomer. The polyolefin is mainly constituted from polypropylene, and the average thickness of the outer cover is 0.08 to 0.9 mm.

Abstract: An articulating shaft includes an outer tubular member having a longitudinal axis and portions defining a slot. An inner tubular member is disposed within the outer member and movable about the axis of the outer member. A wedge carried by the inner member is movable within the slot in an interference fit with the slot portions to articulate the outer member. In an associated method, the inner member can be turned in a first direction to bend the outer member in an associated second direction, and the inner member can be turned in a third direction to move the outer member in an associated fourth direction.

Abstract: Insertion tube devices are disclosed.

Abstract: The invention relates to an endoscope-type device, particularly an endoscope for emergency intubation, comprising a holding portion (7) and a shaft (1) which is configured to be flexible at least in partial areas, with at least two longitudinal bendable pulling and/or pushing elements acting on said shaft (1) in the axial direction at different distances from the proximal end, with said pulling and/or pushing elements extending as far as the proximal end and being lockably received in a fixing device.

Abstract: The positioning, intervention, and/or exploration device has two endpieces (6a-6d, 7) and at least one cable (20) extending from one endpiece to the other (6a-6d, 7), it has at least two bellows (10) each fixed directly to both of the endpieces and it has means (12, 18) for modifying the pressure of a fluid in each of the bellows independently of the other bellows.

Abstract: A bore-scope device having a blue light source for leak detection and a white light source.

Abstract: An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.

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

Abstract: An articulating shaft includes an outer tubular member having a longitudinal axis and portions defining a slot. An inner tubular member is disposed within the outer member and movable about the axis of the outer member. A wedge carried by the inner member is movable within the slot in an interference fit with the slot portions to articulate the outer member. In an associated method, the inner member can be turned in a first direction to bend the outer member in an associated second direction, and the inner member can be turned in a third direction to move the outer member in an associated fourth direction.

Abstract: Apparatus and methods are provided for placing and advancing a diagnostic or therapeutic instrument in a hollow body organ of a tortuous or unsupported anatomy, comprising a handle, an overtube, a distal region having an atraumatic tip. The overtube may be removable from the handle, and have a longitudinal axis disposed at an angle relative to the handle. The overtube may be selectively stiffened to reduce distension of the organ caused by advancement of the diagnostic or therapeutic instrument. The distal region permits passive steering of the overtube caused by deflection of the diagnostic or therapeutic instrument while the atraumatic tip prevents the wall of the organ from becoming caught or pinched during manipulation of the diagnostic or therapeutic instrument.

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.

Abstract: An improved device for performing medical procedures, preferably minimally invasive medical procedures, includes a shaft with a proximal and distal end and a bendable tip extending from the distal end of the shaft. In some preferred embodiments, a fastener applicator extends from the bendable tip. In other preferred embodiments, a malleable section is located between the bendable tip and the shaft. The bendable tip can include a plurality of articulating segments. The improved directional device can be used to repair native valves in a patient, especially heart valves.

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: A fully-swallowable endoscopic system includes a rod-shaped endoscope body which can be swallowed entirely by a patient to be examined so as to be placed in a body cavity, at least part of the rod-shaped endoscope body includes a bendable portion which is bendable along a curve of the body cavity; and an external device provided separately from the rod-shaped endoscope body having no mechanical connection with the rod-shaped endoscope body. The rod-shaped endoscope body is provided therein with a light emitter, an observing system, a transmitter for transmitting a radio wave which carries an image formed by the observing system, and a power supplying device. The external device includes a receiver for receiving the radio wave which carries the image.

Abstract: The positioning, intervention, and/or exploration device has two endpieces (6a-6d, 7) and at least one cable (20) extending from one endpiece to the other (6a-6d, 7), it has at least two bellows (10) each fixed directly to both of the endpieces and it has means (12, 18) for modifying the pressure of a fluid in each of the bellows independently of the other bellows.

Abstract: A bent tube 10 includes joint rings 11 spacedly arranged, side by side, in a row and a connection mechanism 20 which is bridgingly disposed between one of the adjacent joint rings 11 and the other. The connecting mechanism 20 has a pair of hinge members 21, 22 which are rotatably connected around a rivet 23 (rotation axis). The hinge 21 is fixed to a groove 11c (hinge attaching portion) formed in one of the adjacent joint rings 11 by soldering, and the hinge member 22 is fixed to a groove 11c formed in the other joint ring 11 by soldering. By this, caulking operation, which is necessary for connecting the joint rings, can be performed easily.

Abstract: A fully-swallowable endoscopic system includes a rod-shaped endoscope body which can be swallowed entirely by a patient to be examined so as to be placed in a body cavity, the rod-shaped endoscope body including two bendable portions respectively provided close to the opposite ends of the rod-shaped endoscope body and each being bendable along a curve of the body cavity, and an external device provided separately from the rod-shaped endoscope body having no mechanical connection with the rod-shaped endoscope body. The rod-shaped endoscope body is provided therein with at least one light emitter, at least one observing system, a transmitter for transmitting a radio wave which carries an image formed by the observing system, and a power supplying device. The external device includes a receiver for receiving the radio wave which carries the image.

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.

Abstract: According to one aspect of the invention, a device for performing a medical procedure includes a first elongated member that is adapted to be positioned inside of an esophagus and a stomach, the first elongated member having a distal flexible portion having a first retracted configuration and a second expanded configuration, the second expanded configuration defining an arcuate shape.

Abstract: An articulator for positioning a tool during a surgical procedure, comprising: a longitudinally extending body; a plurality of transverse grooves extending inwardly from opposite lateral sides of the longitudinally extending body; and a plurality of recesses extending inwardly from the opposite lateral sides of the longitudinally extending body, the plurality of recesses defining an articulation control wire lumen and a tool control wire lumen, and wherein the tool control lumen is disposed collinear with a neutral bending axis of the articulator.

Abstract: A curve control wire, which is inserted in a curved part of an endoscope, is inserted and guided in guide holes of connecting pins, which are rotatably provided inside a plurality of joint rings. A body of the connecting pin is inserted into a hole formed in the joint ring, and the connecting pin body is provided with a flange for preventing the body from falling into the inside of the joint ring and an annular plate for preventing the body from falling to the outside of the joint ring. By such a structure, the curve control wire can be easily inserted into the guide holes. A protection member is attached to the end of the connecting pin. The outer peripheral face of the protection member is made of a material softer than internal members, which are arranged inside the curved part, such as a light guide, a signal cable, a forceps tube, and an air and water supply tube. Thus, the internal members are prevented from being damaged.

Abstract: A deflection cover for a medical endoscope comprises a tubular covering that protects the articulation system of an endoscope during sterilization procedures where pressure differentials are generated. The deflection cover is of a single layer of a selected material whose properties provide the deflection cover with adequate flexibility, thinness, and strength for use on a medical endoscope. The deflection cover may include a reinforcement structure, such as a helically oriented thread, to increase the tube's pressure resistance without impeding the tube's longitudinal flexibility, which is needed to allow the articulation system in the endoscope to deflect through its intended range of motion.

Abstract: In joining an angle section with an elongated flexible body of an endoscopic insertion instrument, a connector ring on the side of the angle section and a connector ring on the side of the flexible body are connected by fitting engagement, one connector ring on the outer side of the other connector ring. A number of inwardly projecting ridges are provided on the inner periphery of the inner connector ring, and screw holes are bored radially through the inwardly projecting ridges. On the other hand, a number of perforations are provided in the outer connector ring at positions corresponding to the screw holes in the inner connector ring. Screw members are threaded into the respective screw holes of the inner connector ring through the perforations in the outer connector ring. Further, a screw anchor ring is slidably fitted on the outer connector ring.

Abstract: A delivery sheath including a series of longitudinally spaced apart retainer rings interconnected by flexible links. This configuration provides for sections of reduced cross-sectional area along the length of the sheath, thus increasing flexibility in those sections and in the overall sheath. The reduction of the cross-sectional area of the sheath also effectively reduces the area of contact between the inside surface of the sheath and the outside surface of the compressed stent. This reduction in contact area serves to reduce the frictional force generated as the sheath is retracted relative to the stent during deployment.