The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

A laryngoscope blade (30) includes a blade proximal end (32), to be articulated to a handle (20), a blade distal end (38), a patient tongue side (34), a patient palate side (36), a plurality of adjacent rigid elements (40, 50, 60, 70) extending from the tongue side to the palate side, a plurality of joints (46, 56, 66) articulately connecting two of the adjacent rigid elements, and a force-transmitting mechanism (80), with a proximal end (82) and a distal end (87). The force-transmitting mechanism distal end is mechanically connected to the blade distal end. The force-transmitting mechanism is movable relative to the rigid elements in a longitudinal direction. The force-transmitting mechanism proximal end is mechanically couplable to the handle such that, by pivoting of the handle relative to the blade proximal end, the force-transmitting mechanism is moved relative to the blade proximal end.

A laryngoscope blade (30) includes a blade proximal end (32), to be articulated to a handle (20), a blade distal end (38), a patient tongue side (34), a patient palate side (36), a plurality of adjacent rigid elements (40, 50, 60, 70) extending from the tongue side to the palate side, a plurality of joints (46, 56, 66) articulately connecting two of the adjacent rigid elements, and a force-transmitting mechanism (80), with a proximal end (82) and a distal end (87). The force-transmitting mechanism distal end is mechanically connected to the blade distal end. The force-transmitting mechanism is movable relative to the rigid elements in a longitudinal direction. The force-transmitting mechanism proximal end is mechanically couplable to the handle such that, by pivoting of the handle relative to the blade proximal end, the force-transmitting mechanism is moved relative to the blade proximal end.

Endoscope apparatus includes: a tube unit coupled to a rotary shaft to which a rotational force is transmitted so as to be rotatable, the tube unit being formed to extend in one direction; steering unit having one end installed at one end of the tube unit to rotate with respect to the tube unit so that a direction thereof facing forward is adjusted, the steering unit rotating together with the tube unit by the rotational force transmitted from the tube unit; an end effector installed inside the steering unit to rotate together with the steering unit due to the rotation of the steering unit, the end effector being disposed to face forward; and shaft-fixing tube body installed at the end effector, wherein the direction of the steering unit facing forward and relative rotation of the steering unit with respect to the end effector are adjustable.

Endoscope apparatus includes: a tube unit coupled to a rotary shaft to which a rotational force is transmitted so as to be rotatable, the tube unit being formed to extend in one direction; steering unit having one end installed at one end of the tube unit to rotate with respect to the tube unit so that a direction thereof facing forward is adjusted, the steering unit rotating together with the tube unit by the rotational force transmitted from the tube unit; an end effector installed inside the steering unit to rotate together with the steering unit due to the rotation of the steering unit, the end effector being disposed to face forward; and shaft-fixing tube body installed at the end effector, wherein the direction of the steering unit facing forward and relative rotation of the steering unit with respect to the end effector are adjustable.

The present invention discloses an insertion unit, a bending section and an intubation system for use in a body lumen of a patient. The insertion unit comprises an inner elongated shaft structure being capable of torque transmission around its length axis and having spring-like and flexibility properties and an outer elongated shaft structure at least partially surrounding the inner elongated shaft structure and having spring-like properties and a continuous and flat outer surface. The inner elongated shaft structure has a distal end, and is capable of being connected to an optical head. The insertion unit is configured to transmit pushing and rotation forces along a length of the insertion unit. The integral insertion unit is configured and operable to bend the distal tip in all directions and to fully rotate the distal tip.

The present invention discloses an insertion unit, a bending section and an intubation system for use in a body lumen of a patient. The insertion unit comprises an inner elongated shaft structure being capable of torque transmission around its length axis and having spring-like and flexibility properties and an outer elongated shaft structure at least partially surrounding the inner elongated shaft structure and having spring-like properties and a continuous and flat outer surface. The inner elongated shaft structure has a distal end, and is capable of being connected to an optical head. The insertion unit is configured to transmit pushing and rotation forces along a length of the insertion unit. The integral insertion unit is configured and operable to bend the distal tip in all directions and to fully rotate the distal tip.

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 flexing structure for an insertion tube of a medical device including tubular vertebrae with a proximal tubular vertebra and a distal tubular vertebra and at least one actuating cable surrounded by a sheath over at least part of its length, the flexing structure including a tube cut with energy-beam cutting lines to create tubular vertebrae that nest in one another, the proximal tubular vertebra including, for each actuating cable, a radial and axial blocking system for the sheath, comprising an elongate cutout created in such a way as to delimit two stop edges that limit the radial engagement of the sheath in the cutout, this cutout opening at its distal part into a slot delimited by at least two cutout lines between which there is attached a pressing tab designed to press the sheath radially against the two stop edges of the cutout, this slot being bordered by a rim for axially stopping the sheath.

A flexing structure for an insertion tube of a medical device including tubular vertebrae with a proximal tubular vertebra and a distal tubular vertebra and at least one actuating cable surrounded by a sheath over at least part of its length, the flexing structure including a tube cut with energy-beam cutting lines to create tubular vertebrae that nest in one another, the proximal tubular vertebra including, for each actuating cable, a radial and axial blocking system for the sheath, comprising an elongate cutout created in such a way as to delimit two stop edges that limit the radial engagement of the sheath in the cutout, this cutout opening at its distal part into a slot delimited by at least two cutout lines between which there is attached a pressing tab designed to press the sheath radially against the two stop edges of the cutout, this slot being bordered by a rim for axially stopping the sheath.