An endoscope includes a bending portion bendable in all directions including four directions: an up direction, a down direction, a left direction, and a right direction, a bending operation lever configured to bend the bending portion by being tilted, and a wire pulling mechanism provided integrally on the bending operation lever and including a lever tilting angle adjustment mechanism configured to set a first tilting angle at which the bending operation lever is tilted in order to bend the bending portion to at least one direction in the four directions by a predetermined bending angle and a second tilting angle at which the bending operation lever is tilted in order to bend the bending portion in a direction different from the at least one direction by a predetermined bending angle to different angles when the bending operation lever is tilted so as to bend the bending portion.

A long serial mechanism (LSM) extends from an actuator, distally along a chain of links. Each link comprises a moving mechanism (MM), actuation of which adjusts a position of the link with respect to another of the links. The LSM comprises a shaft, and a series of driving mechanisms (DMs) coupled to the shaft at each link. The LSM has (i) an engaging state in which each DM can potentially transfer rotation of the shaft into actuation of a respective MM, and (ii) a neutral state in which the DMs cannot transfer rotation. Via only (i) transitioning the shaft between the neutral state and the engaging state, and (ii) rotation of the shaft, the actuator is able to cause actuation of the first MM independently from actuation of the second MM, and actuation of the second MM independently of actuation of the first MM. Other embodiments are also described.

A long serial mechanism (LSM) extends from an actuator, distally along a chain of links. Each link comprises a moving mechanism (MM), actuation of which adjusts a position of the link with respect to another of the links. The LSM comprises a shaft, and a series of driving mechanisms (DMs) coupled to the shaft at each link. The LSM has (i) an engaging state in which each DM can potentially transfer rotation of the shaft into actuation of a respective MM, and (ii) a neutral state in which the DMs cannot transfer rotation. Via only (i) transitioning the shaft between the neutral state and the engaging state, and (ii) rotation of the shaft, the actuator is able to cause actuation of the first MM independently from actuation of the second MM, and actuation of the second MM independently of actuation of the first MM. Other embodiments are also described.

An endoscope including a handle and an insertion tube connected to the handle and having a bending section with a first elongate bending section part and a second elongate bending section part. The first elongate bending section part includes first annular members arranged in a row and interconnected by first bridges so as to form a first comb-like structure. The second elongate bending section part includes second annular members arranged in a row and interconnected by second bridges so as to form a second comb-like structure. An outer circumferential surface includes a groove adapted to receive a first bridge and a groove adapted to receive a second bridge of the first bending section part.

An endoscope including a handle and an insertion tube connected to the handle and having a bending section with a first elongate bending section part and a second elongate bending section part. The first elongate bending section part includes first annular members arranged in a row and interconnected by first bridges so as to form a first comb-like structure. The second elongate bending section part includes second annular members arranged in a row and interconnected by second bridges so as to form a second comb-like structure. An outer circumferential surface includes a groove adapted to receive a first bridge and a groove adapted to receive a second bridge of the first bending section part.

Some implementations of the disclosure relate to an adapter, comprising: a channel running through the length of the adapter from a first opening to a second opening of the adapter, wherein a shaft of an endoscope is configured to be threaded through the channel; a first coupler configured to removably secure the adapter to a second coupler of the endoscope, the first coupler comprising the second opening; and a rigid attachment segment comprising a surface configured to removably couple the adapter to an instrument or second adapter. The surface of the rigid attachment segment may include multiple grooves and sections alternating along the longitudinal length of the rigid attachment segment, each section protruding relative to the grooves and comprising a recessed indentation or protrusion; and the multiple sections and grooves configured such that the instrument or second adapter can be coupled to the adapter in multiple lengthwise positions.

Aspects of articulating devices and methods are disclosed. An exemplary articulating device may comprise an interior core with a reinforcing extending along a central axis, an exterior layer bonded to the interior core by an interface, and a lumen extending through the exterior layer, exterior of the reinforcing element, and parallel to the central axis. A steering wire may be moveable in the lumen to articulate a distal end of the device relative to the central axis in response to a force applied to the steering wire. Related methods of manufacturing an articulating device are also described.

Aspects of articulating devices and methods are disclosed. An exemplary articulating device may comprise an interior core with a reinforcing extending along a central axis, an exterior layer bonded to the interior core by an interface, and a lumen extending through the exterior layer, exterior of the reinforcing element, and parallel to the central axis. A steering wire may be moveable in the lumen to articulate a distal end of the device relative to the central axis in response to a force applied to the steering wire. Related methods of manufacturing an articulating device are also described.

A method for assisting a surgical operator in performing a surgical procedure uses a surgical controlling system includes a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of a surgical tool. The controller's database is in communication with movement detection means. The controller's database is configured to store a predetermined set of rules according to which allowed and restricted movements of the surgical tool are determined, each detected movement by said movement detection means of said at least one surgical tool being determined as either an allowed movement or as a restricted movement according to said predetermined set of rules. The system automatically real-time analyzes and determines the location of each anatomical element in the surgical environment.

A control unit that includes a braking system for fixing the position of an endoscope tip is provided. The control system includes an up-down control knob and a right-left control knob. The brakes are engaged by rotating the control knob itself counter-clockwise from a free wheeling position. After the brakes have been engaged, a sufficient amount of force applied to the control knobs will move the endoscope tip slightly in the corresponding direction, allowing for fine tuning of tip position after braking.