A steerable endoscope is provided with active steering control. An endoscope includes a flexible tubular body with first and second articulating segments, and a camera. In an embodiment, the endoscope includes an orientation sensor. A controller for the endoscope performs an automated analysis of an alignment between the motion axis of the endoscope and the viewing axis of the camera, and actively steers the endoscope to improve the alignment.

An inspection analysis method includes an analysis step, a prediction step, and an output step. A processor analyzes inspection information related to an operation in an inspection and generates first operation data and second operation data indicating a content of the operation in the analysis step. The first operation data indicate a content of the operation in a first inspection. The second operation data indicate a content of the operation in a second inspection performed after the first inspection is completed. The processor compares the first operation data and the second operation data with each other and predicts a state of an inspection target in the prediction step. The processor outputs state information indicating the state to a reporting device in the output step.

A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.

An apparatus for guiding an elongated flexible instrument, includes a first plurality of linkages forming a first side of a channel of a variable-length support assembly, a second plurality of linkages forming a second side of the channel, opposite the first side, a third plurality of linkages disposed between the first and second plurality of linkages and forming a third side of the channel, and a fourth plurality of linkages disposed between the first and second plurality of linkages and forming a fourth side of the channel, opposite the third side. Each of the first, second, third, and fourth pluralities of linkages are separable from each other to transition the variable-length support assembly from an elongated configuration to a compact configuration.

A special observation image is obtained by performing an image pickup of an object to be observed illuminated with special light. Bs-image signals of the special observation image are assigned to brightness signals Y to generate a first observation image for display. Gs-image signals of the special observation image are assigned to brightness signals Y to generate a second observation image for display. The first observation image for display and the second observation image for display are automatically switched and displayed on a monitor.

An endoscope (1) including a handle (2) arranged at a proximal end and an insertion tube (3) extending from said handle (2) towards a distal end, a bending section (7) arranged at the distal end and controllable by and operator via control input means (8) arranged at the handle (2); and at least one insertion tube part with at least one lumen, wherein the bending section (7) is displaceable in said lumen so as to be movable relative to the insertion tube (3) from a retracted position within said lumen to an extended position at least partially outside said lumen.

The disclosure provides a diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy, including a robot body, a camera, illumination devices, a flexible dielectric elastomer actuator, air cylinders, linear motors, a controller and external hoses. Wherein the robot body is a multichannel hose, and includes a central channel and circumferential channels, the central channel is configured to accommodate conducting wires and signal wires, the circumferential channels include at least three microfluid channels. The front end of each microfluid channels is a sealed end, a rear end of each of the microfluid channels is an open end. The open end of each microfluid channels communicates with an end opening of a flow channel of one air cylinder. The linear motors control fluid pressures in the microfluid channels by driving piston rods of the air cylinders so that the robot body steers through being driven by fluid. The camera performs real-time image acquisition. The controller controls the flexible dielectric elastomer actuator to capture a target. The disclosure realizes the real-time image acquisition on a digestive tract, particularly a lesion, and can integrally and fast complete diagnosis and treatment.

A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.

Disclosed herein are systems and techniques for compensating for insertion of an instrument into a working channel of another instrument in a surgical system. According to one embodiment, a method of compensation includes: detecting insertion of an insertable instrument into a working channel of a flexible instrument; detecting, based on a data signal from at least one sensor, a position change of a distal portion of the flexible instrument from an initial position: generating a control signal based on the detected position change; and adjusting a tensioning of a pull wire based on the control signal to return the distal portion to the initial position.

The endoscope includes an insertion portion, a hand-operating unit, a first treatment-instrument conduit, and a second treatment-instrument conduit. One end of the insertion portion is coupled to the hand-operating unit. The first treatment-instrument conduit passes through insides of the insertion portion and the hand-operating unit. A treatment instrument is inserted into the first treatment-instrument conduit from an upper end of the hand-operating unit. The second treatment-instrument conduit passes through insides of the insertion portion and the hand-operating unit and includes a branching portion that branches off into a first branching path and a second branching path at the hand-operating unit, a treatment instrument is inserted into the second treatment-instrument conduit from the first branching path. The first treatment-instrument conduit includes a first part having a first hardness at least at a grip portion in the hand-operating unit and a second part having a second hardness smaller than the first hardness.