A medical system according to the present invention comprises: a medical device comprising an insertion part comprising an angulating part, and angulation wires attached to the angulating part; and an actuator, detachably connected to the medical device, that electrically actuates the angulation wires to angulate the angulating part. The angulation wires comprise a first angulation wire and a second angulation wire. When the medical device is not attached to the actuator, the first angulation wire and the second angulation wire are in a mechanically connected looped state. When the medical device is connected to the actuator, the first angulation wire and the second angulation wire are in a second state in which the two are independently electrically actuated.

An articulation joint includes proximal links, distal links, and intermediate links connecting the proximal and distal links. The articulation joint has a straight configuration along a straight longitudinal axis, a first bent configuration when the articulation joint bends toward a first side of the longitudinal axis, and a second bent configuration when the articulation joint bends toward a second side of the longitudinal axis, opposite to the first side. When the articulation joint is in the straight configuration, a first gap is defined at the first side between adjacent proximal links, and the adjacent proximal links contact each other at the second side, a second gap is defined at each of the first side and the second side between adjacent distal links, and a third gap is defined at the first side between adjacent intermediate links, and adjacent intermediate links contact each other at the second side.

An articulation joint includes proximal links, distal links, and intermediate links connecting the proximal and distal links. The articulation joint has a straight configuration along a straight longitudinal axis, a first bent configuration when the articulation joint bends toward a first side of the longitudinal axis, and a second bent configuration when the articulation joint bends toward a second side of the longitudinal axis, opposite to the first side. When the articulation joint is in the straight configuration, a first gap is defined at the first side between adjacent proximal links, and the adjacent proximal links contact each other at the second side, a second gap is defined at each of the first side and the second side between adjacent distal links, and a third gap is defined at the first side between adjacent intermediate links, and adjacent intermediate links contact each other at the second side.

Some implementations of the disclosure relate to an adapter, comprising: a distal part comprising: a first channel running through the length of the distal part from a first opening at a distal end of the adapter to a second opening at a proximal end of the distal part, wherein a shaft of an endoscope is configured to be threaded through the first channel; and a second channel configured to removably couple the adapter to an outer surface of an instrument such that, after the shaft of the endoscope is threaded through the first channel, a tool portion of the instrument is adjacent the shaft of the endoscope; and a first coupler proximal to the distal part, the first coupler configured to be locked to a second coupler of the endoscope after the shaft is threaded through the first coupler and the first channel.

Some implementations of the disclosure relate to an adapter, comprising: a distal part comprising: a first channel running through the length of the distal part from a first opening at a distal end of the adapter to a second opening at a proximal end of the distal part, wherein a shaft of an endoscope is configured to be threaded through the first channel; and a second channel configured to removably couple the adapter to an outer surface of an instrument such that, after the shaft of the endoscope is threaded through the first channel, a tool portion of the instrument is adjacent the shaft of the endoscope; and a first coupler proximal to the distal part, the first coupler configured to be locked to a second coupler of the endoscope after the shaft is threaded through the first coupler and the first channel.

Several embodiments of the present invention are generally directed to medical visualization systems that comprise combinations of disposable and resuable components, such as catheters, functional handles, hubs, optical devices, etc. Other embodiments of the present invention are generally directed to features and aspects of an in-vivo visualization system that comprises an endoscope having a working channel through which a catheter having viewing capabilities is routed. the catheter may obtain viewing capabilities by being constructed as a vision catheter or by having a fiberscope or other viewing device selectively routed through one of its channels. The catheter is preferably of the steerable type so that the distal end of the catheter may be steered from its proximal end as it is advanced with the body. A suitable use for the in-vivo visualization system includes but is not limited to diagnosis and/or treatment of the duodenum, and particularly the biliary tree.

Several embodiments of the present invention are generally directed to medical visualization systems that comprise combinations of disposable and resuable components, such as catheters, functional handles, hubs, optical devices, etc. Other embodiments of the present invention are generally directed to features and aspects of an in-vivo visualization system that comprises an endoscope having a working channel through which a catheter having viewing capabilities is routed. the catheter may obtain viewing capabilities by being constructed as a vision catheter or by having a fiberscope or other viewing device selectively routed through one of its channels. The catheter is preferably of the steerable type so that the distal end of the catheter may be steered from its proximal end as it is advanced with the body. A suitable use for the in-vivo visualization system includes but is not limited to diagnosis and/or treatment of the duodenum, and particularly the biliary tree.

An instrument flexible guide is made of an elongated single piece of a material or alloy by stamping cutouts interposed by single narrow remaining hinge portions. The cutouts and narrow hinge portions are in different positions. The single piece is rolled into a tubular shape, with curved rings joined by the hinges. Spaced rings are bent inward as guides for flexible instruments. Seams are welded or left unwelded.

An instrument flexible guide is made of an elongated single piece of a material or alloy by stamping cutouts interposed by single narrow remaining hinge portions. The cutouts and narrow hinge portions are in different positions. The single piece is rolled into a tubular shape, with curved rings joined by the hinges. Spaced rings are bent inward as guides for flexible instruments. Seams are welded or left unwelded.

An ultrasound probe (104) includes a probe head (134). The probe head includes a transducer array (136) with a transducing surface (137), an instrument guide (142), and a light source (140). A method includes emitting a light beam, from a light source disposed on and adjacent to a transducer array of an ultrasound imaging probe, in a direction opposite of a transducing surface of the transducer array, at an inside wall of a cavity of a subject or object. A laparoscopic ultrasound imaging probe includes a shaft, a body, an articulating member that couples the probe head, and a handle coupled to the elongate shaft. The articulating probe head includes a transducer array that generates an ultrasound signal that traverses an image plane of the transducer array, an instrument guide, and a light source arranged to emit light in a direction opposite of the image plane.