A plenoptic endoscope includes a fiber bundle with a distal end configured to receive light from a target imaging region, a sensor end disposed opposite the distal end, and a plurality of fiber optic strands each extending from the distal end to the sensor end. The plenoptic endoscope also includes an image sensor coupled to the sensor end of the fiber bundle, and a plurality of microlenses disposed between the image sensor and the sensor end of the fiber bundle, the plurality of microlens elements forming an array that receives light from one or more of the plurality of fiber optic strands of the fiber bundle and directs the light onto the image sensor. The plurality of microlens elements and the image sensor together form a plenoptic camera configured to capture information about a light field emanating from the target imaging region.

A manipulator including joint mechanisms each including: first and second members extending along a central axis; the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis; a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis; wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.

A manipulator including joint mechanisms each including: first and second members extending along a central axis; the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis; a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis; wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.

The present application is directed to a medical instrument with a hollow shaft, a handle arranged at the proximal end of the shaft and a tool tip with a tool arranged at the distal end of the shaft, wherein the tool can be actuated via an actuating element mounted in the shaft, the element being in an operative connection with the handle and the tool tip being pivotable relative to the shaft via a joint mechanism, the joint mechanism having pivoting members, wherein inside the hollow shaft at least one guide device is arranged for the steering wires connecting the pivoting members to the drive. In order that the steering wires can be installed easily and without crossing, the at least one guide device is arranged coaxially on the actuating element, and the at least one a guide device is mounted on the actuating element so that it cannot rotate.

A steerable instrument for endoscopic and/or invasive type of applications, such as in surgery, which has an elongated tubular body having a proximal end part with a first actuation flexible zone having a first diameter and a distal end part having a first distal flexible zone having a second diameter that is different from the first diameter. A cylindrical diameter adaptation section is arranged to connect the proximal end part to the distal end part such that a flexion in a radial direction relative to a longitudinal center axis of the longitudinal tubular body of the first actuation flexible zone results in an amplified or attenuated flexion of the first distal flexible zone.

A steerable instrument for endoscopic and/or invasive type of applications, such as in surgery, which has an elongated tubular body having a proximal end part with a first actuation flexible zone having a first diameter and a distal end part having a first distal flexible zone having a second diameter that is different from the first diameter. A cylindrical diameter adaptation section is arranged to connect the proximal end part to the distal end part such that a flexion in a radial direction relative to a longitudinal center axis of the longitudinal tubular body of the first actuation flexible zone results in an amplified or attenuated flexion of the first distal flexible zone.

An insertion device comprising an insertion portion configured to be inserted into a subject and having a longitudinal axis in a state of forming a straight line. A bending portion is provided at a distal end side of the insertion portion. A bending tube is provided in the bending portion. A traction member is disposed in the bending portion. The bending tube includes a first joint ring and a second joint ring. The first joint ring is joined to the second joint ring in an adjacent manner. The first joint ring has a first contact portion where the traction member contacts an outer peripheral portion of the first joint ring. The second joint ring has a second contact portion where the traction member contacts an inner peripheral portion of the second joint ring. Application of tension on the traction member bends the bending portion.

An insertion device comprising an insertion portion configured to be inserted into a subject and having a longitudinal axis in a state of forming a straight line. A bending portion is provided at a distal end side of the insertion portion. A bending tube is provided in the bending portion. A traction member is disposed in the bending portion. The bending tube includes a first joint ring and a second joint ring. The first joint ring is joined to the second joint ring in an adjacent manner. The first joint ring has a first contact portion where the traction member contacts an outer peripheral portion of the first joint ring. The second joint ring has a second contact portion where the traction member contacts an inner peripheral portion of the second joint ring. Application of tension on the traction member bends the bending portion.

An endoscope device is provided. The device comprises: an elongate member comprising a proximal end and a distal end, and a camera is located at the distal end of the disposable elongate member; one or more external guiding elements configured to guide an articulation movement of the distal end of the elongate member, and each of the one or more external guiding elements is individually controlled; and a handle component removably attached to the proximal end of the elongate member.

An endoscope device is provided. The device comprises: an elongate member comprising a proximal end and a distal end, and a camera is located at the distal end of the disposable elongate member; one or more external guiding elements configured to guide an articulation movement of the distal end of the elongate member, and each of the one or more external guiding elements is individually controlled; and a handle component removably attached to the proximal end of the elongate member.