Abstract: Provided herein is a surgical instrument comprising a cap having a first and second aperture extending therethrough, a first extendable and retractable member having a distal end coupled to a first coupling, a first arm extending from the first coupling and pivotable with respect to the distal end of the first member, and a second arm connected to the first arm through a second coupling and pivotable, with respect to the first arm, a second extendable and retractable member having a distal end coupled to a third coupling, a third arm extending from the second coupling, the third arm pivotable, with respect to the distal end of the second member, and a fourth arm connected to the third arm through a fourth coupling and pivotable, with respect to the third arm, a first end effector connected to the second arm and a second end effector connected to the fourth arm.

Abstract: Embodiments of the present disclosure are directed to microendoscope instruments and methods that allows the imaging fiber to freely rotate with the animal while capturing images and projecting stimulation patterns with correct orientations. The microendoscope includes a first spatial light modulator for sourcing a first light source and generating a stimulated pattern to a fiber coupled to an imaging implant for attaching to the brain of the subject. A rotary joint is disposed between the microendoscope and the imaging implant to facilitate the movements and rotations of the imaging implant that is attached to the subject, thereby provides an essentially frictionless contact to brain of the subject so that the subject can freely moves and rotates without feeling the cumbersome imaging implant and fiber that are attached to the subject. A camera captures images obtained from the imaging implant with the specimen taken from the subject.

Abstract: A driving force transmission mechanism for an endoscope includes an insertion portion, an operation portion, an electric motor, an output member, a rotation transmission member, an inside plane, a first plane, a second plane and a third plane configured to come into contact with a proximal end of the output member when at least part of the second plane comes into contact with the inside plane to thereby restrict the rotation transmission member from moving toward the distal end side in the axial direction with respect to the output member.

Abstract: A catheter procedure system includes a bedside system having a guide wire, a guide wire advance/retract actuator coupled to the guide wire and a guide wire rotate actuator coupled to the guide wire and a workstation coupled to the bedside system. The workstation includes a user interface, at least one display and a controller coupled to the bedside system, the user interface and the at least one display. The controller is programmed to advance the guide wire through a path using the guide wire advance/retract actuator, wherein the guide wire is rotated a predetermined amount.

Abstract: A medical device comprising a shaft, a handle including a proximal portion and a distal portion, wherein the distal portion is fixed to a proximal portion of the shaft, and a channel extending from the handle into the shaft, wherein the channel includes a proximal channel and a distal channel, the proximal channel being rotatable relative to the distal channel and aligned with the distal channel throughout rotation of the proximal channel, wherein the proximal portion includes the proximal channel and the distal portion includes the distal channel, wherein the distal portion is rotatable relative to the proximal portion of the handle, and the shaft is configured to rotate with the distal portion of the handle.

Abstract: An endoscope handpiece and system may include an angle of view selector, a depressible button, which may be connected to a lock disposed within a port of the endoscopic handpiece. The system may further provide an endoscope, which may be connected to the handpiece via the port and locked in place by the lock.

Abstract: A method for navigating a guide wire during a catheter procedure, the method includes changing the direction of a distal portion of the guide wire to advance past a junction in a desired path by rotating a proximal end of the guide wire a predetermined amount while the guide wire is being retracted to a point before the junction and then advancing the distal end of the guide wire past the junction through the desired path.

Abstract: The present disclosure relates to a display system including a capsule image view, a 3D mini-map, and a 3D panoramic view, and a method of generating a 3D panoramic view. Specifically, according to the present disclosure, it is possible to infer the shape of an organ using a 3D mini-map and to simultaneously identify whether or not the capsule endoscope captures the images, and information on the position and posture of the capsule endoscope at primary captured points by visualizing the actual movement path of the capsule endoscope, thereby improving the accuracy of examination, and since multiple 2D images captured by a single capsule endoscope are able to be viewed as a single 3D panoramic image without changing the structure of the capsule endoscope, it is economical and the viewing angle of the image is able to be increased, thereby reducing the examination time and fatigue of the examiner.

Abstract: A system and method for displaying an endoscope image in a preferred orientation. An endoscope scans a sample with spectrally encoded light by rotating imaging optics inside an endoscope guide. A processor generates an image based on light returned from the sample, and rotates the image by a first angle offset value and a second angle offset value to display the rotated image in the preferred orientation. The first offset value is an angle difference between a specific direction in which the image is to be displayed on a display and a direction in which the tip of the endoscope is oriented with respect to the imaging plane. The second offset value is an angle difference between a direction of the line of scanning light projected onto a plane perpendicular to the tip and the specific direction in which the image is to be displayed.

Abstract: A control apparatus controls an operation of a self-propelled mechanism of an endoscope. The control apparatus includes a drive circuit that outputs a motor current, a motor current detection circuit that acquires a value relating to magnitude of the motor current as a detection value, a storage circuit that stores a limit value relating to the detection value, and a control circuit that performs an operation as a first controller that controls the drive circuit so as to stop the motor when it is determined that the detection value exceeds a value relating to the limit value, and performs an operation as a second controller that controls the drive circuit so as to stop the motor when it is determined that the detection value exceeds the value relating to the limit value.

Abstract: An endoscope includes a fixed barrel non-turnably provided at a distal end portion of an insertion portion, an image pickup unit held to the fixed barrel, a movable barrel including a channel holding hole for holding a distal end of a treatment instrument channel inserted through the insertion portion, the movable barrel being supported by the fixed barrel so as to be turnable around an optical axis of the image pickup unit and being located closer to a distal end side than the fixed barrel, and a power transmission mechanism that transmits, to the movable barrel, power for causing the movable barrel to turn.

Abstract: Embodiments of the invention include a medical device for accessing a patient's body portion and used for diagnosis and treatment of medical conditions. Embodiments of the invention may include a particular endoscopic positioning mechanism for placing an endoscope and an additional treatment device within desired body portions in order to assist in diagnosis and treatment of anatomical diseases and disorders. In particular, a medical device according to an embodiment of the invention may include an outer flexible tube and a positioning mechanism configured for rotating one portion of the flexible tube relative to another portion of the flexible tube.

Abstract: A control apparatus includes a drive current detector detecting a drive current value driving the motor to drive a rotation body, and a controller controlling the motor in a speed control method which controls the motor so that a rotation speed of the motor reaches a targeted rotation speed until the drive current value reaches a predetermined switching value, and, when the drive current value reaches the switching value, controlling the motor by switching to a torque control method which controls the motor so that the drive current value reaches a targeted current value.

Abstract: A medical system including a manipulator having a longitudinal portion with a proximal end and a distal end; a rotation driving unit connected to the longitudinal portion for rotating the proximal end; an uneven portion disposed on an outer circumference surface in the vicinity of the distal end and being along a helix; a bendable portion disposed at the distal end; a bending driving unit bending the bendable portion; a shape sensor unit detecting a bending amount and a bending direction of the bendable portion; a rotation angle sensor unit detecting a rotation angle and a rotation direction of the longitudinal portion; and a control unit controlling operations of the rotation driving unit and the bending driving unit, wherein the distal end and the uneven portion are rotatable about the longitudinal axis following the rotation of the proximal end when the proximal end is rotated by the rotation driving unit.

Abstract: The present invention relates to methods of transvascular retrograde access placement and to devices that facilitate these methods. For purposes of the present invention, transvascular retrograde access placement generally comprises the insertion of a vascular catheter into a central blood vessel through the puncturing of the central blood vessel from the inside of the central blood vessel with a needle or other similarly configured device, or a needle-tipped guidewire of the present invention, and exiting that needle from the patient through the skin rather than the traditional approach of inserting a needle from the outside of the skin surface to the inside of a blood vessel.

Abstract: A system and method for treating atherosclerotic plaque. The system includes a first catheter including an expandable balloon and a second catheter including a lumen in fluid communication with a distal hole. The method includes inserting the first catheter into a body lumen adjacent to a plaque formation, and deploying a balloon from the first catheter adjacent to the plaque formation. In addition, the method includes inserting the second catheter adjacent to the first catheter, and routing the distal end portion of second catheter along at least a portion of the deployed balloon of the first catheter. Further, the method includes routing at least a portion of the second catheter into a subintimal space adjacent to the atherosclerotic plaque. Furthermore, the method includes injecting a therapeutic agent into the subintimal space adjacent to the atherosclerotic plaque.

Abstract: An insertion device for delivering media inside a patient includes an outer guide tube having a side port. An inner guide tube is nested within the outer guide tube and movable axially within the outer guide tube. The inner guide tube includes a deflector at an end within the outer guide tube. The device also includes a catheter nested within the inner guide tube and movable axially within the inner guide tube. The deflector of the inner guide tube is positionable such that it deflects the dispensing end of the catheter outward through the opening in the outer guide tube when the catheter is advanced axially within the inner guide tube. A therapeutic delivery cannula may be nested within the catheter, such that the deflected end of the catheter determines the direction of travel of the therapeutic delivery cannula into patient tissue when the cannula emerges from the catheter.

Abstract: The present application pertains generally to medical systems and methods for creation of an autologous tissue valves within a mammalian body. In some embodiments, a system for creating an endoluminal valve from a blood vessel wall is provided. The system includes a tubular assembly having a longitudinal axis, a proximal end, a distal portion with a distal end, and a first lumen extending from the proximal end to a distal port located proximate the distal portion. The distal portion can have a supporting surface that extends in a longitudinal direction and is offset from a surface of the tubular assembly proximal the distal port. The system can further include a tissue dissection probe disposed within the first lumen.

Abstract: Various methods employing transvascular access devices are described, including a method of placing a central catheter in a peripheral vein in an arm of a patient; a method of providing percutaneous access to the heart of a patient; a method of clearing a clotted arteriovenous dialysis graft; a method of creating multiple access points into a single blood vessel; a method of creating an AV fistula in a patient; and a method of providing a bypass to a blockage in a popliteal artery in a patient.

Abstract: An apparatus for use in an audiologic test includes a probe extending along a longitudinal axis from a first end to a second end, the first end configured for insertion into an ear-canal of a person, the second end being opposite to the first end; wherein the probe comprises a probe part between the first end and the second end, the probe part having a first port; and wherein the probe further comprises a holder fixed to the probe part, the holder being configured to be held by an operator of the probe.

Abstract: An ultrasonic device having a tri-axial configuration including an ultrasound transmission member, a dilator, and a sheath is disclosed. The ultrasound device may be used in a procedure to treat an occluded blood vessel. The ultrasound transmission member can transmit ultrasonic energy from an ultrasonic transducer to a distal end. The dilator facilitates entry of the ultrasonic transmission member into the subintimal space of a blood vessel. The sheath may articulate to aid in the process of re-entering the central lumen of the blood vessel.

Abstract: An insertion device includes an idle state detector detecting an idle state in which an insertion section does not move in directions along the longitudinal axis when a rotation unit rotates in directions around the longitudinal axis, and a movement displacement calculator calculating a rotation direction and amount of the rotation unit based on a driving direction and amount of the driving member and calculating a movement displacement of the insertion section from a reference position in directions parallel to the longitudinal axis based on the rotation direction and amount of the rotation unit. The movement displacement calculator calculates the movement displacement of the insertion section so that a movement amount of the insertion section in the longitudinal directions while the idle state being detected is zero.

Abstract: One variation of a method for monitoring sleep of a user includes: assigning a collective wakefulness model—generated from sleep data collected from a set of other users—to the user for a first time period; storing a first set of vitals data collected by a wearable device worn by the user during first time period; extrapolating, from the collective wakefulness model, a first waking time of the user for a first sleep event during first time period based on data in the first set of vitals data; queuing the first waking time for transmission to a mobile computing device linked to the account for presentation to a guardian of the user; in response to expiration of the first time period, generating an individual wakefulness model specific to the user based on the first set of vitals data collected during the first time period.

Abstract: An endoscope includes an insertion unit, an operation unit, an operation-unit engagement part, an insertion-unit engagement part, a water-tight sealing member, and a torque control member. The torque control member is provided between the operation-unit engagement part and the insertion-unit engagement part in radial directions of the insertion unit, so as to make tight contact with the operation-unit engagement part and the insertion-unit engagement part, and controls resistive torque of the insertion unit during rotation of the insertion unit by applying frictional resistance of a direction about the axis to the insertion unit when the insertion unit rotates in relation to the operation unit.

Abstract: A rotary self-propelled endoscope system includes an insertion section body, an insertion section, a drive unit, a torque detection unit, and a control unit. In a distal end portion of the insertion section body, a rigid distal end portion including an image pickup apparatus is disposed. The insertion section is rotatably fit to the outside of the insertion section body, and includes a rotary tubular member having a helical portion formed by a helical concave-convex portion. The drive unit applies the rotary tubular member with axial and rotational drive force. The torque detection unit detects torque information of the rotary tubular member. On the basis of the torque information detected by the torque detection unit, the control unit compares a present value with a preset limit value for controlling the torque of the rotary tubular member, and controls the drive unit on the basis of the comparison result.

Abstract: A cochlear lead includes a plurality of electrodes configured to stimulate an auditory nerve from within a cochlea and a flexible body supporting the plurality of electrodes along a length of the flexible body. A stiffening element is slidably encapsulated within the flexible body, the stiffening element extending past a most distal electrode at the tip of the cochlear lead, wherein a distal portion of the stiffening element plastically deforms upon insertion into a curved portion of the cochlea.

Abstract: A flexible shaft includes a flexible, elongated outer sheath, at least one drive shaft disposed within the outer sheath and a moisture sensor disposed within the outer sheath configured to detect moisture within the outer sheath. Another flexible shaft includes a flexible, elongated outer sheath, at least one flexible drive shaft disposed within the outer sheath and a coupling connected to a distal end of the outer sheath configured to couple to a surgical attachment. A sleeve includes an elongated shaft configured to receive a flexible shaft therein and a securing arrangement configured to selectively and variably retain the elongated shaft in any one of a number of longitudinal positions along the flexible shaft.

Abstract: A drive assembly for driving an imaging catheter has a rotatable fiber and a rotatable drive shaft. The drive assembly includes a fiber optic rotating junction and a motor configured to rotate the rotatable portion of the fiber optic rotating junction. In some embodiments, the drive assembly includes a sensor configured to detect a rotational position of the fiber optic rotating junction and a processor configured to obtain the detected rotational position and stop the motor only when the fiber optic rotating junction is in a predetermined rotational position. In some embodiments, the motor includes a hollow shaft through which at least a portion of the fiber optic rotating junction extends.

Abstract: An actuatable joint is disclosed having a transmission member, for example a ring gear, associated with a member of a joint and rotatable about a longitudinal axis through the member. In particular a two degree of freedom actuatable joint is disclosed comprising tendon driven joint arrangements having a transmission member disposed around or inside a body of the joint arrangement, to provide transmission of a force from a driving means to two tendons actuating a rotational degree of freedom of the joint arrangement. Further disclosed is a segmented device, for example an endoscope, comprising a plurality of such joints, for example to define a flexible and steerable conduit for an instrument.

Abstract: A surgical introducer including a body portion, a shaft and a sensor is disclosed. The body portion includes a reference indicator. The shaft defines a longitudinal axis and is positionable adjacent the body portion. The shaft is rotatable with respect to the body portion and includes a longitudinal indicator and a circumferential indicator. The sensor is disposed in mechanical cooperation with a distal portion of the shaft and is adapted to provide physiological data pertaining to a surgical worksite. At least a portion of the sensor is substantially aligned with the circumferential indicator. Rotation of the shaft with respect to the body portion causes displacement between the circumferential indicator and the reference indicator. Longitudinal movement of the shaft with respect to the body portion causes displacement between the longitudinal indicator and the reference indicator.

Abstract: Embodiments of the invention include a medical device for accessing a patient's body portion and used for diagnosis and treatment of medical conditions. Embodiments of the invention may include a particular endoscopic positioning mechanism for placing an endoscope and an additional treatment device within desired body portions in order to assist in diagnosis and treatment of anatomical diseases and disorders. In particular, a medical device according to an embodiment of the invention may include an outer flexible tube and a positioning mechanism configured for rotating one portion of the flexible tube relative to another portion of the flexible tube.

Abstract: A rotary self-advancing endoscope system which produces propulsion by rotating, with a motor, a rotating cylindrical body provided on an outer periphery side of an insertion portion main body and causes the insertion portion main body to move forward into an examinee's body, wherein the system is configured to periodically repeating a combination of a state in which the rotating cylindrical body forward-rotates at a predetermined RPM and a state in which the rotating cylindrical body is stopped from rotating and releases accumulated elastic energy and, when a drive current to the motor has reached a predetermined threshold value, reverse-rotate the motor.

Abstract: Dilators with a threaded distal portion and direct visualization capability may be used for penetrating and dilating stiff tissues and bones. The threaded portion of a dilator engages the tissue between the insertion site and the target site, and may be rotated for advancing through the target tissue in a more controlled fashion. The direct visualization capability may be used to visualize the ligament as the threaded distal portion passes through the ligamentum flavum. The devices and methods described may be used in procedures, for example, where ligaments surrounding the epidural space need to be dilated in order to deliver one or more surgical instruments into the epidural space.

Abstract: An insertion device includes a channel defining portion extended through an inside of an insertion section up to a base portion toward a distal direction and defining a channel that is open to an outside of the insertion section in an opening of an outer peripheral portion of the base portion, and a driving unit extended through an inside of the channel with a driving axis being an axial center and being rotatable in directions around the driving axis when driven. The insertion device includes a driving force receiving portion connected to a gear portion in the opening of the channel, and a support unit supporting the driving unit so that the driving axis is parallel to the longitudinal axis in the gear portion.

Abstract: An exemplary embodiment providing one or more improvements includes a micro endoscope having steering, rotation and tool control function which can be utilized for insertion using a needle and catheter for performing arthroscopy and endoscopic procedures.

Abstract: A rotary self-propelled endoscope, including: a tubular outer shaft having an elongated insertion section main body with a distal end portion which is rotatable around a longitudinal axis and has at least partially a surface formed to have a helical configuration; an inner shaft which is rotatably inserted through the outer shaft and is coupled to the distal end portion of the insertion section main body; and a motor unit which causes the inner shaft to rotate around the longitudinal axis from the proximal end side.

Abstract: Embodiments of the invention include a medical device for accessing a patient's body portion and used for diagnosis and treatment of medical conditions. Embodiments of the invention may include a particular endoscopic positioning mechanism for placing an endoscope and an additional treatment device within desired body portions in order to assist in diagnosis and treatment of anatomical diseases and disorders. In particular, a medical device according to an embodiment of the invention may include an outer flexible tube and a positioning mechanism configured for rotating one portion of the flexible tube relative to another portion of the flexible tube.

Abstract: Apparatus comprising a tube sized to receive visualization apparatus; a deformable helical thread disposed on the exterior surface of the tube, the deformable helical thread (i) being transformable between a first configuration wherein the deformable helical thread comprises a reduced profile and/or a reduced rigidity and a second configuration wherein the deformable helical thread comprises an expanded profile and/or an increased rigidity, and (ii) when in its second configuration, having a sufficient structural integrity, and a sufficient surface profile, such that when the tube is disposed in a bodily passageway so that the deformable helical thread engages the interior wall of the bodily passageway, rotation of the tube will induce a relative movement between the tube and the wall of the bodily passageway; and a thread varying element dynamically varying at least one of the height of the deformable helical thread and the rigidity of the deformable helical thread.

Abstract: Devices and methods for passing optical radiation into and out of a body lumen may include a rotatable ferrule for use in an optical guidewire and methods for using a rotatable ferrule. The rotatable ferrule may be either rotatably captured by and free to rotate within a guidewire, or may rotate upon release from a releasable, mechanically stable friction-fit engagement with a guidewire. Sterile interfaces for readily connecting and disconnecting an optical guidewire with and from other optical instrumentation while maintaining the sterility of the guidewire, and methods for using a sterile interface device are disclosed. Interface devices can be used to provide either direct or indirect optical and mechanical connection between an optical guidewire and peripheral instrumentation.

Abstract: This endoscope apparatus includes: an insertion portion configured to include a bend portion; an image pickup portion configured to capture an image of an object to be inspected; an operation portion configured to perform a bending operation of the bend portion; a storage portion configured to store at least an image of the objected to be inspected as a recorded image; a display portion configured to display the image, and a display control portion configured to: determine a display orientation of a superimposition information; display the image captured by the image pickup portion without rotating the image; and display the superimposition information, the display control portion being further configured to: determine a display orientation of at least one of the recorded image and a Graphical User Interface; and display the at least one of the recorded image and the Graphical User Interface.

Abstract: An insertion apparatus includes insertion unit, a rotation drive mechanism, a first rotation member which is arranged inside the insertion unit and rotates by the rotation drive mechanism, a second rotation member which is attached to an outer peripheral surface of the insertion unit and is adjacent to the first rotation member, and a helical rotation member which is rotatable in accordance with rotation of the second rotation member. The insertion apparatus include a magnetic force generation mechanism which generates a magnetic force that enables the first rotation member and the second rotation member to be attracted to and coupled and enables the second rotation member to rotate follow rotation of first rotation member. The magnetic force generation mechanism is arranged at a tubular end portion of the first rotation member and a tubular end portion of the second rotation member adjacent to the end portion.

Abstract: The present invention provides an imaging probe for imaging mammalian tissues and structures using high resolution imaging, including high frequency ultrasound and optical coherence tomography. The imaging probes structures using high resolution imaging use combined high frequency ultrasound (IVUS) and optical imaging methods such as optical coherence tomography (OCT) and to accurate co-registering of images obtained from ultrasound image signals and optical image, signals during scanning a region of interest.

Abstract: An apparatus for accessing a bodily passageway includes: an endoscope including an insertion portion configured to inserted into the bodily passageway; a drive tube including a lumen configured to receive the endoscope; a helically-wound thread disposed on an outer wall of the drive tube and configured such that rotation of the drive tube causes the drive tube with the endoscope to move along the passageway; a flexible drive shaft configured to transfer rotary motion generated by a power supply; and a rotatable drive collar disposed on the endoscope and configured to rotate the drive tube relative to the endoscope, the rotatable drive collar including a stator, a rotor rotatable over the stator and detachably coupled to the drive tube, a rotary gear configured to transfer the rotary motion from the flexible drive shaft to the rotor to rotate the drive tube, and a watertight seal disposed between the stator and the rotor.

Abstract: An endoscope apparatus comprises an insertion portion having an observation optical system attached onto the distal end portion thereof and having flexibility, a thrust generating portion for generating a thrust by rotation, formed beyond a predetermined length on an outer-peripheral surface of the insertion portion in a longitudinal-axis direction, a rotation device for rotating the thrust generating portion around the longitudinal axis, and a control portion for controlling a rotational speed of the thrust generating portion according to an insertion length of the thrust generating portion inserted in a subject.

Abstract: A method for visualizing the interior of a bodily passageway, comprising providing a visualization system comprising a tube having a distal and a proximal end, at least a portion of the distal end being rotatable; visualization apparatus disposed within the system; and a helical thread disposed on the exterior surface of the rotatable portion of the tube, the helical thread having a sufficient structural integrity and surface profile, such that when the tube is disposed in the passageway and the helical thread engages the wall of the passageway, rotation of the rotatable portion of the tube induces a relative movement between the tube and the wall of the passageway; inserting the system into the passageway; rotating the rotatable portion of the tube so as to bring together a site which is to be visualized and the visualization apparatus; and using the visualization apparatus to visualize the interior of the passageway.

Abstract: The illumination system comprises an arthroscope, endoscope or other suitable surgical tool and an attachable cannula comprising a transparent or semi-transparent material capable of carrying light from the proximal end of the cannula to the distal end of the cannula, thereby illuminating the surgical field. The surgical field is thus illuminated through components that do not occupy space that may otherwise by used for the optics of the arthroscope. The arthroscopic illumination system further comprises one or more illumination sources disposed at the proximal end of the cannula. The illumination source may be optically coupled with the cannula at the hub or other appropriate location. The cannula comprises a sterilizable polymer which functions as a waveguide. A waveguide is a material medium that confines and guides light. When in use, the light source connected to the hub provides light which may be guided to the distal end of the cannula or any other suitable location.

Abstract: Provided is a medical instrument which has improved operability of an insertion portion and can guide a distal end of the insertion portion to an intended position. The medical instrument includes: an insertion portion (10) which is inserted into a body cavity; a rotor (11) which is provided in an outer circumferential surface of the insertion portion (10) and has its rotational axis arranged in a direction along an axis of the insertion portion (10); and a rotary drive unit which rotates the rotor (11) around the rotational axis.

Abstract: An apparatus for accessing a bodily passageway includes: an endoscope including an insertion portion configured to inserted into the bodily passageway; a drive tube including a lumen configured to receive the endoscope; a helically-wound thread disposed on an outer wall of the drive tube and configured such that rotation of the drive tube causes the drive tube with the endoscope to move along the passageway; a flexible drive shaft configured to transfer rotary motion generated by a power supply; and a rotatable drive collar disposed on the endoscope and configured to rotate the drive tube relative to the endoscope, the rotatable drive collar including a stator, a rotor rotatable over the stator and detachably coupled to the drive tube, a rotary gear configured to transfer the rotary motion from the flexible drive shaft to the rotor to rotate the drive tube, and a watertight seal disposed between the stator and the rotor.

Abstract: A remotely controlled insertion system for a medical device is described. The system comprises a robotic device and a remote control mechanism. The robotic device has a handle controller to receive and hold the control handle or proximal end of a medical device. The medical device is capable of moving in up to six ranges of motion. In one embodiment a first motor is connected through a drive screw to a handle controller to move the medical device forward and backward. A second motor is connected to drive wheels effective to rotate the medical device clockwise and counter-clockwise. A third motor drives a series of gears that are connected to one or more control members on the medical device, this being effective to deflect a tip of the medical device so that movement of the third motor causes such deflection. A control unit is connected to all three motors.

Abstract: In a robotic endoscope system, the orientation of a captured camera view at a distal tip of a robotic endoscope and displayed on a screen viewable by an operator of the endoscope is automatically maintained at a roll orientation associated with a setpoint so as not to disorient the operator as the endoscope is moved, flexed and its tip turned in different orientations. A processor generates a current commanded state of the tip from operator input and modifies it to maintain the setpoint roll orientation. To generate the modified current commanded state, the current commanded roll position and velocity are constrained to be a modified current commanded roll position and velocity that have been modified according to a roll angular adjustment indicated by a prior process period commanded state of the tip and the setpoint. The processor then commands the robotic endoscope to be driven to the modified commanded state.