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: 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: An endoscopic instrument, in particular an endoscope, with a jointed portion of a shaft for an endoscopic instrument, in particular for an endoscope, for bendably connecting a distal part of the shaft with a proximal part of the shaft. For this purpose the distal shaft part is connected with the proximal shaft part by two rigid jointed bars of different lengths, which each attaches with a joint on the distal and on the proximal shaft part.

Abstract: A shaft element for an endoscopic instrument includes a first, proximal shaft segment and a second, distal shaft segment, such that the second shaft segment is connected with the first shaft segment by three connecting elements, such that the connecting elements each include a first two-axis joint, such that the first joints form a triangle and such that the first connecting element is connected with the first shaft segment in such a way that it cannot slide with respect to the latter in a longitudinal direction, and a second and third connecting elements can each be slid with respect to the first shaft segment in a longitudinal direction independently of one another. The invention also relates to an endoscopic instrument, in particular an endoscope with such a shaft segment.

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

Abstract: 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: The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

Abstract: A medical endoscope including a stem (1) receiving in its distal end part (3) a video camera (30), the end part (3) being pivotably adjustable relative to the main part (2) of the stem (1) and connecting lines (27, 31) running in the stem (1) from a proximal end region to the end part (3), wherein the main part (2) and the end part (3) are enclosed in sealing manner by rigid stem tubes (5, 8) which are supported in an abutting and sealing manner in a joint (4) by means of a hollow axle (16, 18) running perpendicularly to the stem parts (2, 3), the hollow axle being crossed by the connecting lines (27, 31) in the inside spaces of the stem parts (2, 3).

Abstract: Systems, devices and methods are provided for endoscopic procedures involving tissue manipulations beyond the capabilities of traditional endoscopic instruments. Embodiments of the systems include an elongated main body having a scope therethrough and at least one steerable tool arm which extends from the distal end of the main body. In preferred embodiments, the system includes two tool arms, each arm steerable to form a curve laterally outward which then bends laterally inward so that the arms form an angular shape. In addition, end effectors extend from the distal ends of each tool arm for use in manipulation of tissue. The angular shape brings the end effectors together in view of the scope for cooperative movements which are continuously visible by the surgeon. In addition, the tool arms may be steerable in any additional direction and may be rotateable to allow grasping, elevation and more complex manipulation of tissue.

Abstract: A flexible-shaft surgical instrument is provided that can be repeatably bent to one or more desired angles on demand by a user without the use of a special bending tool. The flexible-shaft surgical instrument can be repeatably bent and re-bent into multiple positions without plastic deformation of the flexible-shaft surgical instrument occurring in any of one or more bend portions.

Abstract: An instrument for endoscopic applications or the like, comprising a tube like member having a handling end portion having a flexible portion (52, 54) and actuating means located at the other end portion (56, 59), and longitudinal elements for transferring the movement of the actuating means to the handling end portion resulting in a change of orientation thereof, whereby the handling end portion comprises at least two independent flexible portions, whereby the actuating end portion has a corresponding number of actuating means, and whereby each actuating means is connected by means of its own set of longitudinal elements to a part of the handling end portion for effecting a change of orientation of one of the flexible portions.

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: 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: 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.

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: There is provided a flexible tube for an endoscope, including a framed structure unit having a plurality of joint members rotatably coupled to each other so that the framed structure unit is able to bend freely, each joint member having a form of a short cylinder, a reticulated tube that is reticulated with thread and is formed to cover the framed structure unit, and a flexible sheath that has flexibility and is formed to cover the reticulated tube. Further, a cross section of an outer surface of the flexible sheath has a circular shape, and a cross section of an outer surface of each joint member has a non-circular shape so that a wall thickness of the flexible sheath has a thicker part in a particular direction about an axis line of the flexible tube than another part of the wall thickness of the flexible sheath.

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: A delivery device for delivering a plurality of individual surgical anchors is disclosed. The delivery device includes a housing, a delivery tube, having a distal and a proximal end, an actuator, flexible anchor reaction members, a reciprocating anchor carrier, having a distal and a proximal end, the distal end terminating in a tissue penetrator. The device further includes at least one surgical anchor located in juxtaposition with the anchor carrier. Each of the surgical anchors has a penetration section and a head section. The surgical anchors are preferably made from an absorbable polymer. The actuator is connected to the anchor carrier and has at least two states. The first, or home state, is a position such that the surgical anchor is proximal the distal end of the tube. The second state is such that the penetrating section of the surgical anchor is exposed beyond the distal end of the delivery tube.

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 medical electrode includes a moderately conductive flexible member having a top side and a bottom side with a connector and contact with a flexible member top side for establishing electrical contact with an external apparatus. An oversize non-conductive flexible sheet covers the conductive flexible member top and the connector and a highly conductive ink pattern is disposed on a conductive flexible member bottom side. A moderately high conductive hydrogel adhesive disposed on the conductive flexible member bottom side and covering the conductive ink pattern is provided for adhering the electrode to a patient's skin.

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 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: 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 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: An articulating tool is provided with an articulation lock. The tool includes proximal, central and distal portions, an articulation mechanism, and first and second articulation locks. The central portion of the tool is pivotably coupled to the proximal portion and the distal portion is pivotably coupled to the central portion. The articulation mechanism is configured to manipulate an angular orientation of the distal portion relative to the central portion. The articulation mechanism includes a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool. The articulation mechanism is adapted such that movement of the proximal link causes corresponding relative movement of the distal link. The first articulation lock has an engaged position and a disengaged position.

Abstract: An endoscope bend tube includes a plurality of node rings, wherein contact portions at which neighboring ones of the node rings are pit in contact are provided between the neighboring node rings, and the plurality of node rings are coupled to be pivotable about pivotal center axes which correspond to pivotal centers of the contact portions, the endoscope bend tube includes an operation wire, a coupling wire, and a coupling wire hold portion, wherein in a case where the endoscope bend tube is in a non bent state, lead-out ends of the coupling wire hold portions, which are opposed between a pair of the neighboring node rings, are disposed at such positions that a line segment connecting the lead-out ends is halved by a plane including a center axis in a longitudinal direction of the bend tube and a pivotal center axis of the pair of the node rings.

Abstract: Systems, devices and methods are provided for endoscopic procedures involving tissue manipulations beyond the capabilities of traditional endoscopic instruments. Embodiments of the systems include an elongated main body having a scope therethrough and at least one steerable tool arm which extends from the distal end of the main body. In preferred embodiments, the system includes two tool arms, each arm steerable to form a curve laterally outward which then bends laterally inward so that the arms form an angular shape. In addition, end effectors extend from the distal ends of each tool arm for use in manipulation of tissue. The angular shape brings the end effectors together in view of the scope for cooperative movements which are continuously visible by the surgeon. In addition, the tool arms may be steerable in any additional direction and may be rotatable to allow grasping, elevation and more complex manipulation of tissue.

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: First stepped portions are provided on both sides of each of two front-side projection portions of a front end portion of a node ring. Second stepped portions are provided on both sides of each of two rear-side projection portions of a rear end portion of the node ring. At a time of bending of a bending section, when two front and rear node rings of a bending tube are rotated to a maximum rotational position, the pivotal angle ? between the front and rear node rings is restricted to a predetermined restriction angle that prevents, when the bending section is bend-operated, an outer sheath tube from being bitten between the node rings, by the restriction due to contact between the second stepped portion of the front-side node ring and the first stepped portion of the rear-side node ring.

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: An endoscope, comprising an elongated rigid shaft and an optical imaging system arranged at a distal end of the shaft for receiving light from an observation area, wherein the optical imaging system is pivotable with respect to the shaft about a first pivot axis which runs about transversely to a longitudinal axis of the shaft. The optical imaging system is pivotable with respect to the shaft about at least a second pivot axis, which is spaced from the first pivot axis and runs about transversely to the longitudinal axis of the shaft, and an overall pivot range of the optical imaging system about the first and at least second pivot axis is at least 150° from the longitudinal axis of the shaft.

Abstract: The present invention relates, generally, to the reduction or elimination of permanent and catastrophic herniations in Bowden cables or coil pipes in articulating devices or snake-like robots. More particularly, the present invention relates managing the coil pipes in a spiral pattern along the articulating device or snake-like robot to reduce or eliminate the necessity of the Bowden cables or coil pipes to slide along the length of the articulating device or snake-like robot. Reduction or elimination of the necessity for the Bowden cables or coil pipes to slide reduces or eliminates catastrophic herniations in articulating devices or snake-like robots undergoing one or more articulations.

Abstract: An endoscopic surgery apparatus is provided, including a tubular member, a handle located on a proximal end of the tubular member, and one or more pivotable arms detachably connected to a distal end of the tubular member. The tubular member has channels along its longitudinal axis, wherein at least one of the channels is an optical channel and at least one other channel is an illumination channel. The arms have guiding channels adapted to receive surgical tools, which direct the surgical tools. The arms are interchangeable with other arms of different configurations. Also, said arms have an open and a closed position, such that when the arms are in the closed position an opening is defined allowing viewing of a surgical site via the optical channel.

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: 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 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 flexible endoscopic dip applier includes a flexible coil with a manual actuator coupled to one end and a jaw assembly coupled to the other end. A store of clips is arranged adjacent to the jaw assembly and a clip pusher is arranged adjacent to the store of clips. The actuator includes a lever for opening and closing the jaws, a knob for rotating the jaw assembly, and a crank for dispensing clips. The knob and the lever are coupled to a single control member which extends through the coil to a joiner where it is joined to a pair of pull wires coupled to the jaws. The crank is coupled to a second control member which is threaded along a distal portion. The threaded portion engages a threaded member near the pusher and is coupled to the pusher such that rotation of the threaded control member by the crank causes the pusher to be moved distally.

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: An insertion portion of an endoscope includes a bendable flexible tubular framework composed of a plurality of short-cylindrical joint rings which are coupled in series via rotatable connecting shafts, and a plurality of flexible internal elements which are inserted into the flexible tubular framework and arranged to extend straightly in an axial direction of the flexible tubular framework upon distal ends of the flexible internal elements being fixed to a distal end of the insertion portion. Inner end surfaces of each of the connecting shafts are positioned between two adjacent flexible internal elements of the flexible internal elements around a perimeter of the plurality of flexible internal elements.

Abstract: An insertion portion of an endoscope includes a flexible tubular framework composed of short-cylindrical joint rings coupled in series via rotatable connecting shafts; and flexible internal elements including a treatment tool insertion channel and a optical fiber bundle(s). Each short-cylindrical joint ring is coupled at one end to one adjacent joint ring via two connecting shafts at 180-degree symmetrical positions and is coupled at the other end to another adjacent joint ring via another two connecting shafts at 180-degree symmetrical positions with a 90-degree phase shift with respect to the one adjacent joint ring. Inner end surfaces of one set of connecting shafts at a specific circumferential position are arranged to face the treatment tool insertion channel, and inner end surfaces of another set of the connecting shafts at another specific circumferential direction are arranged to face or substantially face the optical fiber bundle.

Abstract: A flexible arthroscope comprising a semi-flexible examination tube having means for bending at its distal end, and removably connected to a handheld module at its proximal end. The semi-flexible examination tube coupled with its means for bending its distal end provides the user the ability to immediately alter his field of view in any direction and maintain the horizontal plane.

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.