Example embodiments relate to devices and systems for performing surgical actions. The system includes an instrument arm assembly configured in a reverse configuration. The instrument arm assembly includes a securing portion, shoulder section, first arm section, second arm section, elbow joint, end effector section, and wrist joint. The shoulder section includes a first end secured to a second end of the securing portion and a second end secured to a first end of the first arm section. The elbow joint secures a second end of the first arm section to a first end of the second arm section. The reverse configuration is a configuration in which a first line drawn from the second end of the shoulder section to the first end of the first arm section is a line that points towards a first end of the securing portion.

Example embodiments relate to devices and systems for performing surgical actions. The system includes an instrument arm assembly configured in a reverse configuration. The instrument arm assembly includes a securing portion, shoulder section, first arm section, second arm section, elbow joint, end effector section, and wrist joint. The shoulder section includes a first end secured to a second end of the securing portion and a second end secured to a first end of the first arm section. The elbow joint secures a second end of the first arm section to a first end of the second arm section. The reverse configuration is a configuration in which a first line drawn from the second end of the shoulder section to the first end of the first arm section is a line that points towards a first end of the securing portion.

A scope system is provided including an elongate tube with a distal portion and a lumen extending therethrough. The scope system also includes at least one accessory channel including a tubular structure with an accessory lumen extending therethrough, the at least one accessory channel movably disposed at least partially within the lumen of the elongate tube. The at least one accessory channel includes a distal section and a forward-viewing configuration and a side-viewing configuration. In the forward-viewing configuration, the distal section of the at least one accessory channel is substantially parallel to the distal portion of the elongate tube and in the side-viewing configuration, the distal section of the at least one accessory channel is arced at a radius greater than a radius of the distal portion of the elongate tube.

A scope system is provided including an elongate tube with a distal portion and a lumen extending therethrough. The scope system also includes at least one accessory channel including a tubular structure with an accessory lumen extending therethrough, the at least one accessory channel movably disposed at least partially within the lumen of the elongate tube. The at least one accessory channel includes a distal section and a forward-viewing configuration and a side-viewing configuration. In the forward-viewing configuration, the distal section of the at least one accessory channel is substantially parallel to the distal portion of the elongate tube and in the side-viewing configuration, the distal section of the at least one accessory channel is arced at a radius greater than a radius of the distal portion of the elongate tube.

An articulated medical device having a hollow core, capable of large degrees of maneuverability through small spaces of a patient to reach a target with minimal invasiveness, and once the medical device has reached the target, allowing a medical tool to be guided through the hollow chamber for facilitating medical procedures, including endoscopes, cameras, and catheters, at the target.

An articulated medical device having a hollow core, capable of large degrees of maneuverability through small spaces of a patient to reach a target with minimal invasiveness, and once the medical device has reached the target, allowing a medical tool to be guided through the hollow chamber for facilitating medical procedures, including endoscopes, cameras, and catheters, at the target.

A linkage assembly for a medical device may comprise: a rotatable member configured to rotate about a rotation axis; a piston; and a connecting rod rotatably connected to the rotatable member and the piston and movable along a range. A first end of the range may correspond to an initial position of a distal member movable by the linkage assembly, and a second end of the range may correspond to a final position of a distal member. In a first configuration of the connecting rod, at the first end of the range, a proximal end of the connecting rod may be offset from a longitudinal axis by a first amount, wherein the longitudinal axis is perpendicular to the rotation axis; In a second configuration of the connecting rod, at the second end of the range, the proximal end of the connecting rod may be offset from the longitudinal axis by a second amount. The second amount may be less than two-thirds of the first amount.

A linkage assembly for a medical device may comprise: a rotatable member configured to rotate about a rotation axis; a piston; and a connecting rod rotatably connected to the rotatable member and the piston and movable along a range. A first end of the range may correspond to an initial position of a distal member movable by the linkage assembly, and a second end of the range may correspond to a final position of a distal member. In a first configuration of the connecting rod, at the first end of the range, a proximal end of the connecting rod may be offset from a longitudinal axis by a first amount, wherein the longitudinal axis is perpendicular to the rotation axis; In a second configuration of the connecting rod, at the second end of the range, the proximal end of the connecting rod may be offset from the longitudinal axis by a second amount. The second amount may be less than two-thirds of the first amount.

An electrophysiology catheter comprising a tubular shaft, the shaft having a proximal portion, a distal portion having a distal end and a deflection region, the shaft defining a longitudinal axis and including an outer tubular jacket, and articulation member disposed within the jacket in the deflection region, the articulation member comprising a plurality of longitudinally-arranged tubular segments, a plurality of first connecting segments, and a plurality of second connecting segments, wherein adjacent tubular segments are joined by respective ones of the first and second connecting segments, and wherein all of the first and second connecting segments are disposed in a first plane extending through the longitudinal axis. A first reinforcing member and a second reinforcing member extend through the plurality of first and second connecting segments, respectively.

A surgical instrument for use on a patient. A tube assembly comprises an outer tube having a curved region, an inner tube disposed within the outer tube and comprising a single lumen, and a handle coupled to the outer tube. A viewing assembly is disposed within the single lumen. An actuation assembly is coupled to the inner tube and configured to steer the viewing assembly. The handle and the actuation assembly are complimentarily arranged such that the outer tube is positionable and the viewing assembly is steerable a user grasping the tube assembly with a single hand. The single lumen may define an irrigation flow path in communication with a fluid source and provide pressurized irrigation flow. An interior tube may be provided comprising an articulating region configured to articulate between a substantially curved condition and a substantially straight condition. Methods of manipulating an instrument are also disclosed.