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: 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: 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: 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: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

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: 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: The bending part of an endoscope is constructed in which plural joint rings are connected with each other. The adjacent joint rings are rotatably connected with rivets after overlapping a connecting part with another connecting part. A guide hole is formed at the inner head of the rivet, and a bend-control wire is inserted through the guide hole whereby the bend-control wire is guided. A notch and a hole are formed at the end and the base of the connecting part, respectively; therefor the bend-control wire is prevented from coming into contact with the connecting part.

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: In an endoscopic insertion instrument having a rigid tip end section, an elongated flexible body, and an angle section connected between the rigid tip end section and the flexible body, a joint construction connects an angle section to the fore end of the flexible body. A couple of connecting rings are provided opposingly at joining ends of the angle section and the flexible body. At least one aperture is provided in an outer one of the connecting rings to feed a flux. At least one angle section operating is passed through the connecting ring. The operating wire is encased in a sheathing coil, the fore end of which is fixed to the inner one connecting rings. To prevent flux from getting into the closed sheathing coil, a shield portion is formed around an outer periphery of the sheating coil over a predetremined range in axial length.

Abstract: A hard distal component formed at the distal part of an inserting section and a leading bending piece included in a bending section are joined using a substantially cylindrical hard joint pipe. Build-in components including an imaging device that is a CCD are placed in the joint pipe. An adhesive is poured into the surroundings of the built-in components in the joint pipe, whereby the built-in components are locked. Thus, the structure of the distal component is simplified and the surroundings thereof are made thinner.

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: 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: Within a flexible angling joint tube which is connected to a rigid tip end section of an endoscopic insertion instrument and which is formed by connecting a predetermined number of angle rings successively and pivotally by the use of pivoting pins, a plural number of operating wires are passed in an axial direction via the respective pivoting pins. Fore ends of the operating wires are fixedly anchored at fixation points in boundary portions of the rigid tip end section and the flexible angling joint tube. An operating wire fixation point for at least one operating wire is shifted to an angular position in the circumferential direction from a normal position on an axial extension line from a row of pivoting pins.

Abstract: A bendable tube used for an endoscope or the like, includes a plurality of joint pieces 11 arranged in a row. Each of the joint pieces is provided at one end portion thereof with a pair of first connecting portions 12 and at the other end portion with a pair of second connecting portions 13. The first connecting portions 12 are projected in a center axis direction of the joint piece and arranged 180 degrees away from each other in a peripheral direction, and the second connecting portions 13 are projected in the opposite direction to the first connecting portions 12 and arranged 180 degrees away from each other in the peripheral direction. The first connecting portion 12 is formed with a through-hole 12a (retaining portion) and the second connecting portion 13 is formed with a protrusion 13a. The first and second connecting portions 12, 13 of the adjacent joint pieces 11 are connected together only by fitting engagement between the protrusion 13a and the through-hole 12a.

Abstract: An articulating elongated inspection neck effective to shield radio frequency interference. The inspection neck includes a series of individual electrically conducting parts each having a passageway there through. The parts are pivotally joined together with the passageways aligned along the length of the neck. A self-adjusting electrically conducting member connects immediately adjacent individual parts in electrical communication. The self-adjusting members maintain electrical communication between the parts throughout movement of the parts during flexure of the neck. Consequently, these members maintain electrical continuity along the length of the neck. The spacing between the parts is sized to be barrier to predetermined radio frequencies.

Abstract: The bending part of an endoscope is constructed in which plural joint rings are connected with each other. The adjacent joint rings are rotatably connected with rivets after overlapping a connecting part with another connecting part. A guide hole is formed at the inner head of the rivet, and a bend-control wire is inserted through the guide hole whereby the bend-control wire is guided. A notch and a hole are formed at the end and the base of the connecting part, respectively; therefor the bend-control wire is prevented from coming into contact with the connecting part.

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: In a bendable tube of an endoscope, a plurality of joint rings each having a rotational axis perpendicular to a direction of bending of an insertion section of the endoscope are arranged in a longitudinal direction of the insertion section. A pair of connection tongue portions provided to project in a longitudinal direction of the joint rings are rotatably connected by means of a shaft member. An end face of a small-diameter portion of the shaft member, which comprises the small-diameter portion and a large-diameter portion, is welded to one of the tongue portions through a rotary shaft hole, which is formed in the other tongue portion and has a diameter slightly greater than a diameter of the small-diameter portion.

Abstract: In an endoscopic insertion instrument having a rigid tip end section with an observation window and an illumination window, an elongated flexible body, and an angle section connected between the rigid tip end section and the flexible body, there is provided a joint construction for connecting the angle section to the fore end of the flexible body. A couple of connecting rings are provided opposingly at joining ends of the angle section and the flexible body for fitting engagement with each other. An aperture or a plural number of apertures are provided in an outer one of the two connecting rings to feed a flux to overlapped joining surfaces of the rings at the time of soldering the angle section fixedly to the flexible body. At least one angle section operating wire which is connected from the angle section is passed through the connecting ring and led into the flexible body.

Abstract: A vertebra for an endoscope and a joinder for segments of the vertebra. A pair of tubular segments have tangs that overlap one another. One tube is imperforate and the other is perforate, with a hinge aperture through it. The perforate tang has a dimension of thickness. A hinge pin is adhered to the imperforate tang and passes into the aperture. Its length is less than the thickness of the perforate tang so no part of the pin projects beyond the perforate tang. Preferably the pin is welded to the imperforate tang.

Abstract: Surgical method and apparatus for resectioning tissue, preferably lumenal tissue, with a remaining portion of an organ being anastomized with staples or other fastening means, preferably endolumenally. The apparatus may be inserted via a naturally occurring body orifice or a surgical incision and then advanced using either endoscopic or radiological imaging guidance to an area where surgery is to be performed. Under endoscopic or diagnostic imaging guidance the apparatus is positioned so tissue to be resected is manipulated into an inner cavity of the apparatus. The apparatus then cuts the diseased tissue after stapling and retains the diseased tissue within the apparatus. The rent resulting in a border of healthy tissue is anastomosed with surgical staples.

Abstract: An endoscope having a shaft with a deflectable section. The deflectable section has a plurality of rings movably connected in series to each other. The rings are connected to each other by first and second interlocking sections. The first interlocking sections have eyelet shaped sections. The second interlocking sections have tabs with sections larger than the windows in the eyelet shaped sections.

Abstract: A mechanism is described to provide dexterity through articulation. The mechanism includes a plurality of concatenated segments for transferring angular rotational motion from a driving device located at its base to the distal end. Each segment in the mechanism acts as both a driven element and a driving element whereby each segment is articulated so that the total articulation of the mechanism is the sum of the articulation motions of each segment.

Abstract: An bendable endoscope is disclosed which comprises tube sections. Neighbouring tube sections are completely materially separated from one another via a circumferential separating gap and are only connected to one another with a positive fit. By providing a corresponding number of tube sections, a flexible shank or a flexible shaft may be formed. The manufacture may be effected by laser cutting from a rigid tube.

Abstract: An endoscopic instrument is disclosed which comprises a shank with a bendable region. The bendability is achieved by almost complete circumferential transverse recesses which form segments bendable to each other. To increase the robustness of the shank, the segments, at their free ends, are provided with guides which engage a neighbouring recess and are adapted to the contour of the shank. Furthermore in the lateral regions of the shank there are incorporated positive locking elements, which prevent the overloading of the shank on over-extension.

Abstract: In the present invention, an easily assembled, reliable bending neck is formed for use with invasive medical devices. The bending neck comprises a series of pivotally hinged segments, each having a central lumen. The segments are positioned end-to-end, while the lumens collectively provide a shaft to accommodate delicate interconnections to a head assembly attached to the bending neck. Separate from the lumen are channels formed in each segment. The channels, combined from each segment, run the length of the bending neck and are aligned to accommodate cables used to articulate the bending neck. The separation of the lumen from the channels isolates the delicate interconnections from the motion of the cables as the bending neck is articulated.The cables and the separated lumen and channels form a bending neck having high reliability, that is easy to assemble, for use with invasive medical devices.

Abstract: An articulation mechanism for an endoscope wherein the endoscope has a generally elongated shaft and cables extending between a control head located at the proximal end thereof and an objective assembly located at the distal end thereof wherein the objective assembly is capable of being deflected over an arcuate co-planar path by the articulation mechanism is shown. The articulation mechanism comprises a proximal ring having a first outer edge and a second outer edge and the proximal ring is operative coupled to the distal end of the endoscope at one of the first outer ring and second outer ring and having a coupling member defined on the other of the first outer ring and second outer ring. A central ring having a first outer edge and a second outer edge, each of which defines an actuation member, is operatively connected by one of the actuation members to the coupling member.

Abstract: A surgical instrument for performing endoscopic surgical procedures. In one embodiment, the instrument includes a knife that remains unexposed until initiation of a cutting sequence, and returns to an unexposed position at the conclusion of the cutting sequence, minimizing the risk of injury to the person handling the instrument. In another embodiment, the instrument includes a flexible neck for articulating a surgical head assembly with respect to the shaft of the instrument. In another embodiment, a device for locking the articulated head at an angle of articulation is provided. In yet another embodiment, a mechanism for opening and closing an anvil assembly is disclosed.

Abstract: An endoscope comprising a plurality of concatenated joints, each actuated by a negative coefficient of expansion material such as Ti Ni, is capable of performing highly dexterous maneuvers in three dimensions without built in torsional stiffness, and thereby minimizes invasive trauma. The Ti Ni actuators are coiled around the body of opposing joint halves and are capable of maximizing large angular motion while making the joint dimensions as compact as possible. The actuators also operate with low current and thereby minimize heat dissipation.

Abstract: A covering endoscope having a curving portion composed of a plurality of curving pieces and an observation optical system and an endoscope cover having an inserting path for inserting the endoscope and a contained unit provided along the inserting path. A side of the curving pieces facing the contained unit is formed of flat surfaces and a coupling portion coupling adjacent ones of the curving pieces are provided in a position near the flat surfaces from a center of the endoscope.

Abstract: A shaft for medical instruments, especially for guiding instruments into body cavities, has neighboring segments that are hollow on the inside and that form sections of the shaft. The segments can be adjusted in their positions by means of control wires so that various shaft curvatures can be set, whereby at least two groups of segments can be adjusted independently of one another. The segments of a first group, provided distally, are flexibly linked with each other. A tensioning device provides a variably adjustable spring force to the segments of the second group such that when under low tension, the segments are non-positively locked, and under high tension, the segments are positively locked.