Abstract: A robotic system, such as a continuum robot, that includes at least one hollow tube backbone and an equilibrium modulation wire at least partially positioned within the backbone. The robotic system is configured to adjust a position of an end effector by bending the hollow tube and to further adjust the position of the robotic device by adjusting a linear insertion position of the equilibrium modulation wire inside the hollow tube, wherein adjusting the linear insertion position of the equilibrium modulation wire changes a flexural rigidity of the hollow tube resulting in a change in the resulting bending angle of the robotic device.

Abstract: An over-actuated system [304], such as a catheter, having shape memory alloy (SMA) hysteretic wire actuators is controlled using a controller [300, 302] that generates a control signal [310] based on a temperature model that takes into account physical limitations of the SMA hysteretic wire actuators, and based on a hysteresis model (e.g., the Duhem model) that describes hysteresis behavior of the SMA hysteretic wire actuators. The controller preferably includes a feedback controller [302] and a reference governor [300] that generates a smart reference signal [308] from a reference signal [306] representing a desired value of an output of the system. The smart reference signal preferably minimizes an error between the reference signal and an achievable output, and the control signal preferably is generated based on the smart reference signal.

Abstract: A medical tool includes a handle, a tubular member, and a bendable shape memory element (SME). The tubular member is attached to and extends from the handle and is configured to be inserted into an orifice of a patient. The tubular member has a distal-end section that is configured to be bent so as to perform a medical procedure in the orifice. The bendable shape memory element (SME) is coupled to the distal-end section of the tubular member, wherein the SME is configured to straighten when heated into a pre-formed shape, thereby straightening the distal-end section.

Abstract: A medical device includes: an elongated tube having a wall defining a lumen for the elongated tube, wherein the wall of the elongated tube comprises a first opening; and a first actuating element coupled directly or indirectly to the wall of the elongated tube; wherein at least a part of the first actuating element and the first opening of the wall are located at a same longitudinal position with respect to a longitudinal axis of the elongated tube; and wherein the first actuating element is configured to change size to induce stress and/or displacement at the wall of the elongated tube to cause the elongated tube to bend.

Abstract: A spacer member is provided that is configured to be implanted adjacent an anatomical structure. The spacer member defines a curved bore, a first opening in a side wall of the spacer member and a second opening in one of a top wall and a bottom wall of the spacer member. Each of the first opening and the second opening are in fluid communication with the curved bore. A flexible anchoring member is configured to be inserted through the side opening and through the curved bore of the spacer member such that a distal end portion of the flexible anchoring member extends out of the second opening at an angle relative to the one of the top wall and the bottom wall of the spacer member.

Abstract: Various techniques are provided to secure a memory polymer component in a flow path. In one embodiment, a method includes providing a memory component in a rest state, performing a deformation operation to transition the component from the rest state to a deformed state, inserting the component into a flow path defined by interior side walls of a structure, and applying a stimulus to transition the component from the deformed state to an intermediate state in which the component abuts the side walls to secure the component in the flow path. Additional devices, systems, and related methods are also provided.

Abstract: A medical device is disclosed. The medical device includes an RFID reader for receiving information from at least one RFID transponder. The medical device also includes a memory for storing a database and at least one processor for processing information. Also, a remote controller for a medical device is disclosed. The remote controller includes an information receiver for receiving information related to food. The infusion device also includes a memory for storing a database and at least one processor for processing information. A method for use in a medical device is also disclosed. The method includes receiving information from an RFID transponder related to food. Also, the processing the information by comparing the information to a database is included in the method. The method also includes determining the acceptability of the food and providing information related to acceptability to the user.

Abstract: An elongated device includes an optical fiber arranged to allow transmission of light to phase change material arranged long the elongated device, for optically heating the phase change material to change its stiffness from one stiffness value to a different stiffness value. Using distributed tilted or blazed Bragg gratings with light wavelength dependent unique grating periods along the optical fiber, a guide wire or catheter is provided which can be stiffness controlled at selected longitudinal portions. Behavior of the tip of a guide wire or catheter is controlled for optimal navigation. Portions of phase change material arranged inside a tube material can be activated at selected longitudinal parts of the elongated device.

Abstract: A medical device is disclosed. The medical device includes an RFID reader for receiving information from at least one RFID transponder. The medical device also includes a memory for storing a database and at least one processor for processing information. Also, a remote controller for a medical device is disclosed. The remote controller includes an information receiver for receiving information related to food. The infusion device also includes a memory for storing a database and at least one processor for processing information. A method for use in a medical device is also disclosed. The method includes receiving information from an RFID transponder related to food. Also, the processing the information by comparing the information to a database is included in the method. The method also includes determining the acceptability of the food and providing information related to acceptability to the user.

Abstract: An insertion device and an endoscope which are inserted and extracted through a small incision and have multiple functions. A device body has grip forceps as a treatment means. A first folding back section and a second folding back section are provided at a distal portion of the device body such that the first and second folding back sections are aligned in a row in the longitudinal direction of the device body. The first folding back section and the second folding back section respectively have image obtaining means. An operation means can move the first folding back section to a folded back position in which the first folding back section is folded back relative to the second folding back section, and can also move the second folding back section to a position in which the second folding back section is folded back relative to the device body.

Abstract: There is disclosed a MicroFlex Scope (MFS). The MFS is a dexterous endoscope providing access, direct visualization, tissue sampling, and treatment, of body lumens. In one embodiment, the distal end of the MFS is an ultra-flexible tip that comprises a plurality of thin, curved shape memory alloy (SMA) actuator elements attached to at least one structural skeleton, a coil spring skeleton or hinge structure. The SMA actuator elements in each structural skeleton segment are indirectly heated by a heater element and produce force in response to their temperature relative to specific thresholds. In configurations comprising a plurality of actuator elements, multiplexing/demultiplexing of heating currents and sensor voltages may be accomplished via a parallel bus and demultiplexing circuit. In this regard, a demultiplexing circuit using standard microelectronic fabrication techniques may be designed to achieve individual sensing and control over each actuator element.

Abstract: An electrical device for performing a particular function includes a system circuit for performing the function, and a dedicated power supply for providing power to the circuit. Both the system circuit and the power supply are hermetically sealed within a housing. The device within the housing is intended to be sterilized using high temperature, reaching a sterilization temperature. According to the invention, the device includes a thermal switch which is electrically connected between the system circuit and the power supply. With the present invention, the electrical components of a device are automatically protected from thermal damage during sterilization.

Abstract: An imaging system can include a base unit and one or more imaging units. The base unit can include a main interface that has a plurality of main electrical connectors and one or more main mechanical connectors. A mechanical system is located in the base unit. Each imaging unit can include an elongate support member having a proximal end, a proximal section, a bendable section, and a distal end. Also, an imaging interface that couples with the main interface can be included on the proximal end of the elongate support member. The imaging interface includes a plurality of imaging electrical connectors that correspond and connect with the main electrical connectors of the main interface and includes one or more imaging mechanical connectors that correspond and connect with main mechanical connectors of the main interface. Mechanical actuators can bend the bendable section under control from the base unit.

Abstract: An electrical device for performing a particular function includes a system circuit for performing the function, and a dedicated power supply for providing power to the circuit. Both the system circuit and the power supply are hermetically sealed within a housing. The device within the housing is intended to be sterilized using high temperature, reaching a sterilization temperature. According to the invention, the device includes a thermal switch which is electrically connected between the system circuit and the power supply. The thermal switch is switchable between an open position wherein the system circuit is electrically isolated from the power supply and receives no power therefrom and a closed position wherein the system circuit is electrically connected to the power supply and receives power therefrom. The thermal switch switches from its closed position to its open position in response to the temperature within the housing rising to a predetermined switch-open temperature value.

Abstract: The invention relates to a bendable structure 40 comprising a body 41 conceived to be bent; an actuator 42, 43, 44 for inducing a bending force in the body, wherein the actuator comprises a wire at least partially manufactured from a uni-directional shape memory alloy (SMA) material, said wire being pre-deformed and being arranged in contact with a portion of the body for forming a bridge structure conceived to transfer mechanic energy across the bridge. The bendable structure 40 may relate to a bendable catheter or an endoscope.

Abstract: A cardiopulmonary bypass or CPB monitoring tool includes: a preoperative information module; a preoperative calculation module able to estimate a body surface area, blood volume, and theoretical weight; a priming module able to determine priming constitution, volume and flow to achieve a hemodilution target; an operation risk module for calculating operation risk; a drug calculation module able to determine medication doses; a timer module with timers that can be activated during operation; a data collection module with an interface and drivers enabling data collection from a wide variety of extracorporeal pumps and oxygenators during operation; an events module with retroactive manipulation of the time of an event; a printing report generation module; a graphic user interface; and a configuration module.

Abstract: An endoscope is provided which comprises an elongated body adapted for insertion into a body lumen, and a plurality of electrically controlled actuators associated with the body which are controllable to impart an orientation to the body that is complimentary to the natural orientation of the lumen into which the endoscope is inserted.

Abstract: A method for laparoscopically preventing insufflation of the small bowel during gastric procedures includes applying an obstruction member at the pyloric sphincter to block the passage of gas from the gastric cavity into the small bowel and insufflating the gastric cavity.

Abstract: A medical device having a flexible shaft is provided, the flexible shaft including an active deflection section. The medical device also includes at least one control wire passing through at least a portion of the flexible shaft such that actuation of the at least one control wire causes deflection of the active deflection section of the flexible shaft. At least one control wire guide is provided which surrounds the at least one control wire along at least a portion of a length thereof. The at least one control wire guide is formed from a superelastic metal alloy and is configured as a helical spring.

Abstract: The present invention provides, in part, a dexterous endoscope apparatus, referred to herein as a MicroFlex Scope (MFS). The MFS is an novel, small diameter, e.g., less about 1 mm to about 4 mm, about 1 mm to about 3 mm, etc., dexterous endoscope that allows for access, direct visualization, tissue sampling, treatment, etc. of body lumens. In one embodiment, the distal end of the MFS of the invention is an ultra-flexible tip that comprises a plurality of thin, curved shape memory alloy (SMA) actuator elements attached to at least one structural skeleton, e.g., a coil spring skeleton or hinge structure. The SMA actuator elements in each structural skeleton segment are indirectly heated by a heater element and produce force in response to their temperature relative to specific thresholds. In certain embodiments, the heater element may include an integrated heater/sensor element adapted to heat the actuator element and to sense the temperature and bend state of the actuator element.

Abstract: The invention relates to a bendable structure 40 comprising a body 41 conceived to be bent; an actuator 42, 43, 44 for inducing a bending force in the body, wherein the actuator comprises a wire at least partially manufactured from a uni-directional shape memory alloy (SMA) material, said wire being pre-deformed and being arranged in contact with a portion of the body for forming a bridge structure conceived to transfer mechanic energy across the bridge. The bendable structure 40 may relate to a bendable catheter or an endoscope.

Abstract: An actuator apparatus of the present invention includes a movable body that is arranged so as to be movable forward or rearward, and a shape memory alloy wire that is provided directly or indirectly to the movable body so as to enter a non-tension state at an ordinary temperature. The shape memory alloy wire is subjected to expansion/contraction control in which an electric current is applied thereto from a power supply portion of an external control circuit portion to change a temperature thereof to a predetermined temperature.

Abstract: The invention relates to a longitudinally-steerable structure, comprising essentially longitudinal actuators made from shape memory alloy, Peltier effect elements with N and P doping and electrical control device. The above is characterized in that the actuators are arranged in pairs in an antagonistic manner, each actuator being connected at the ends thereof with a Peltier effect element with N doping and a Peltier effect element with P doping respectively. The invention further relates to an endoscope comprising at least one such structure.

Abstract: Intervertebral spacers are provided for use in orthopedic treatment of spinals defects. The intervertebral spacer is formed of a shape memory polymer. The spacer can be fabricated into a desired configuration and then deformed into an alternative or deformed configuration. Cooling the deformed spacer effectively freezes the spacer into its deformed conformation. The deformed configuration can be selected to facilitate implantation of the spacer into a prepared disc space between adjacent vertebrae. During operation, the surgeon can heat the spacer to allow it to revert to its original configuration. The spacer in its original conformation is sized to restore and/or maintain the adjacent vertebrae in a desired conformation and disc space height.

Abstract: In this invention, a drum around which an insertion portion is wound is integrally housed in a carrying case, and a cylinder for supplying a fluid to a hydropneumatic actuator and a solenoid valve unit for controlling the application of a hydropneumatic pressure are housed in the carrying case or drum. In addition, a joystick for operating the controlled variables of the solenoid valve unit can be housed in the carrying case.

Abstract: An electrical device for performing a particular function includes a system circuit for performing the function, and a dedicated power supply for providing power to the circuit. Both the system circuit and the power supply are hermetically sealed within a housing. The device within the housing is intended to be sterilized using high temperature, reaching a sterilization temperature. According to the invention, the device includes a thermal switch which is electrically connected between the system circuit and the power supply. The thermal switch is switchable between an open position wherein the system circuit is electrically isolated from the power supply and receives no power therefrom and a closed position wherein the system circuit is electrically connected to the power supply and receives power therefrom. The thermal switch switches from its closed position to its open position in response to the temperature within the housing rising to a predetermined switch-open temperature value.

Abstract: A shape memory alloy (SMA) actuator includes a groove formed in a surface of a shape memory alloy (SMA) substrate establishing a trace pattern for a layer of conductive material formed over an electrically insulative layer. The trace pattern includes a first end, a second end, and a heating element disposed between the first and second ends. The SMA substrate is trained to deform at a transition temperature achieved when electricity is conducted through the conductive material via first and second interconnect pads terminating the first and second ends of the trace pattern.

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: A method and apparatus are provided for the intermittent occlusion of a coronary sinus. The method includes occluding the coronary sinus with an occlusion device, continuously measuring the fluid pressure in the occluded coronary sinus and defining measured pressure by use, releasing the occlusion of the coronary sinus as a function of at least one parameter derived from the measured pressure values, introducing a perfusate into the occluded coronary sinus or at least a vein running into the coronary sinus, and controlling an amount of perfusate introduced as a function of the at least one parameter derived from the measured pressure values. The at least one parameter may be a derivative of a fluid pressure curve according to time, and/or a plateau value of the pressure minima, and/or a pressure value of the pressure maxima, of consecutive heartbeats that is computationally estimated from the measured fluid values.

Abstract: In a drive mechanism which displaces a movable lens to be displaced, a shape memory element which is displaced due to heating. A displaceable range of a movable lens is restricted between a first position and a second position. With the shape memory element in a heated state upon applying a predetermined amount of heat to the shape memory element, the movable lens is displaced to the first position, and when the shape memory element is not heated, the movable lens is displaced to the second position. During a normal observation, a time for which the movable lens is displaced to the second position is longer than a time for which the movable lens is displaced to the first position.

Abstract: A position control apparatus for controlling position along an axis, comprising: an extensible member that can be extended and contracted along said axis, comprising shape memory alloy locatable to expand and contract along said axis, heating means for controlling said temperature of said shape memory alloy, and a feedback mechanism for controlling said heating means and responsive to variations in said position, wherein said position is controllable by means of said heating means and can be stabilized by means of said feedback mechanism.

Abstract: A guide catheter apparatus that comprises the following: (a) a guide catheter portion that includes a plurality of electroactive polymer actuators disposed along its axial length and (b) a control unit coupled to the actuators and sending control signals to the actuators. The actuators change the shape of the guide catheter portion based upon the control signals that are received from the control unit. In another aspect of the present invention, a method of introducing a guide catheter into a body lumen is provided. The method comprises: (a) providing a guide catheter apparatus like that above, and (b) inserting the guide catheter portion of the guide catheter apparatus into the body lumen, while using the control unit to control the shape of the guide catheter portion.

Abstract: A device for configuring a body insert, such as an electrode lead for a stimulation device, has a wire arrangement adapted to be inserted into the interior of the body insert for stiffening and bending the body insert. The wire arrangement has a tip section which, when the wire arrangement is inserted in the body insert, resides at the distal end thereof. The tip section has a bendable insulating polymer element which contains a number of bending actuators connected in series. The bending actuators are formed by successive silicon sections interconnected by polyimide-filled V-groove joints in thermal communication with a heating element. The operation of the heating element from a regulation unit adapted for access at a proximal end of the body insert controls expansion of the polyimide filling the joints, thereby producing a selected amount of bending at the tip section and the distal end section of the body insert.

Abstract: A guide catheter apparatus that comprises the following: (a) a guide catheter portion that includes a plurality of electroactive polymer actuators disposed along its axial length and (b) a control unit coupled to the actuators and sending control signals to the actuators. The actuators change the shape of the guide catheter portion based upon the control signals that are received from the control unit. In another aspect of the present invention, a method of introducing a guide catheter into a body lumen is provided. The method comprises: (a) providing a guide catheter apparatus like that above, and (b) inserting the guide catheter portion of the guide catheter apparatus into the body lumen, while using the control unit to control the shape of the guide catheter portion.

Abstract: An endoscope apparatus and method of operating the same. The endoscope apparatus comprises an endoscope portion and a control and display unit. The endoscope portion preferably comprises: (i) a sensor disposed at a distal end of the endoscope portion and providing endoscope data; (ii) one or more electronically controlled actuators (e.g., electroactive polymer actuators) controlling the operation of the endoscope portion based on received control signals; (iii) a first wireless transceiver coupled to the sensor and the one or more electronically controlled actuators, transmitting received endoscope data from the sensor and forwarding received control signals to the one or more electronically controlled actuators; and (iv) a portable power source (e.g., a battery) coupled to the sensor, the first wireless transceiver, and the one or more electronically controller actuators.

Abstract: Expandable actuators surround a central conduit. Each actuator comprises a bladder that, when fluid is introduced, expands laterally while contracting longitudinally. A restorative spring can be placed inside a bladder and between the two ends to restore the actuator to its original shape as fluid is withdrawn. Multiple actuators can be placed in series to successively inflate and deflate and generate a peristaltic motion. One or more Shape Memory Alloy (SMA) springs can be affixed to one or more restorative springs to cause bending motion.

Abstract: A device for delivering a fluid to a patient, including an exit port, a dispenser for causing fluid from a reservoir to flow to the exit port, a local processor programmed to cause a flow of fluid to the exit port based on flow instructions from a separate, remote control device, and a wireless receiver connected to the local processor for receiving the flow instructions. The device also includes a housing free of user input components for providing flow instructions to the local processor, in order to reduce the complexity and costs of the device so that the device lends itself to being disposable in nature. A system and a kit are also described that include the fluid delivery device, a separate, remote control device, and accessories for transcutaneous delivery of fluid medications. Methods of utilizing the fluid delivery device to infuse fluid medications are additionally disclosed.

Abstract: A mechanism and method of deflecting a surgical instrument involves use of a shape-memory alloy to control deflection, but is not necessarily dependent on the temperature of fluid in the working channel of an endoscope, catheter, or similar instrument through which the surgical instrument is inserted into a patient. The deflection mechanism may be made of a material such as spring steel that remains in a deflected position at room temperatures, and that is affixed to the instrument so as to normally cause bending of the instrument. In that case, the surgical instrument may be forced into an undeflected position, inserted into a sheath that holds the instrument in the undeflected position, and permitted to resume the deflected position by extending the surgical instrument and corresponding deflection mechanism out of the end of the sheath. Straightening of the instrument can then be carried out simply by retracting the instrument and deflection mechanism back into the sheath.

Abstract: A guide catheter apparatus that comprises the following: (a) a guide catheter portion that includes a plurality of electroactive polymer actuators disposed along its axial length and (b) a control unit coupled to the actuators and sending control signals to the actuators. The actuators change the shape of the guide catheter portion based upon the control signals that are received from the control unit. In another aspect of the present invention, a method of introducing a guide catheter into a body lumen is provided. The method comprises: (a) providing a guide catheter apparatus like that above, and (b) inserting the guide catheter portion of the guide catheter apparatus into the body lumen, while using the control unit to control the shape of the guide catheter portion.

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 electric bending endoscope device according to the present invention comprises: an endoscope having a bending portion; a bending control mechanism for electrically driving the bending portion of the endoscope; a power source voltage monitoring portion for monitoring the source voltage supplied to this bending control mechanism; and a change-over switch for releasing the bent state of the bending portion, when the above-mentioned bending portion is in a bent state, on the basis of an output signal from the source voltage monitoring portion.

Abstract: An operational remote controller integrates a joystick for bending a bending portion of an inserted portion in an endoscope. A bending lever stands on the joystick. For every automatically returning of the bending lever to a neutral position, a CPU of the operational remote controller detects the neutral position and sets an insensitive band within a predetermined range of the neutral position. Thus, the insensitive band can be set within a relatively narrow range irrespective of variation of neutral positions. The CPU supplies positional information of the bending lever to a control circuit for controlling a motor drive circuit. The control circuit controls a motor drive circuit based on the supplied positional information, and the motor drive circuit drives a motor to bend the bending portion of the inserted portion.

Abstract: There is provided a magnetically levitated apparatus wherein an impeller has one side supported by an electromagnet and the other side supported and magnetically levitated by an attractive force created between a permanent magnet and a permanent magnet of a motor rotor rotated by a motor stator to rotate the impeller and a magnetic bearing sensor provides an output which is in turn rectified and thus shifted to have a gain adjusted and subsequently a notch filter removes a carrier wave frequency component used in the magnetic bearing sensor, to prevent a PID compensator from causing voltage saturation attributed to high frequency noise.

Abstract: An endoscope having an endoscope shaft at the distal end of which a solid state image-recording system is disposed which is designed in the manner of lateral-view optics. The image-recording system has at least two image recorders, built in a distal region of the endoscope shaft in such a manner that the viewing directon of the solid state image-recording system being approximately parallel to the axis of a proximal part of the endoscope shaft in one position and being perpendicular to it in another position automatically assumed by the distal region.

Abstract: A shape memory alloy actuator array comprising a plurality of individually trained shape memory alloy actuators to provide relative movement of different actuator array portions and a thin-film heating element positioned adjacent at least one shape memory alloy actuator to thermally activate the actuator for movement away from its initial shape. A shape memory alloy medical device such as a catheter or a conduit is further provided comprising a lattice network or scaffolding of individually activated and oppositely trained shape memory alloy actuators set with a predetermined shape to provide a full range of directional movement within a body, and a network of thin-film heating elements to selectively activate a combination of actuators for movement or variable stiffness.

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 having different lengths which are respectively provided close to the opposite ends of the rod-shaped endoscope body; 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 fully-swallowable endoscopic system includes a rod-shaped endoscope body which can be swallowed entirely by a patient and placed in a body cavity; and a separate external device having no mechanical connection with the rod-shaped endoscope body. The rod-shaped endoscope body includes at least one hard portion each having at least one light emitter and at least one observing system; at least one flexible portion; and at least two bending portions, the at least two bending portions being respectively positioned on the opposite ends of at least one of the at least one flexible portion and being more flexible than the at least one flexible portion. The rod-shaped endoscope body is provided therein with 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: In an endoscope, an elastic member made of a super elastic alloy, for instance, bridges the distal end portion of an insertion portion and the proximal end portion of a tip portion so that a space portion having a given interval is formed in between. A curving mechanism advances or retreats a manipulation wire that extends from the tip portion to the proximal side of the insertion portion, whereby curving or bending occurs at the space portion between the tip portion and the insertion portion.

Abstract: An endoscope apparatus includes an endoscope having a distal end, a port at the distal end, and a channel extending through the endoscope to the distal end and communicating with the port; and a bending insertion instrument extensible through the channel and the port. The bending insertion instrument includes angle wires provided at a distal end portion of the bending insertion instrument, and shape memory alloy wires connected to proximal end portions of the angle wires, the angle wires having a lower electrical resistance than an electrical resistance of the shape memory alloy wires.

Abstract: A series of medical instruments can be made with the use of shape memory tube with a transformation temperature that is above or below the ambient temperature. In the first case, the material behaves with the shape memory effect and in the second case the behavior is superelastic. The wall of the tube has been provided with a plurality of slots in specific places, often near or at the distal end of the instrument, and in specific arrangements which allow local variations in diameter, shape, and/or length. These variations can either be caused by the memory effect during temperature change or by superelastic behavior during change of the mechanical influences on the memory metal by the surrounding material.