A catheter-based imaging system comprises a catheter having a telescoping proximal end, a distal end having a distal sheath and a distal lumen, a working lumen, and an ultrasonic imaging core. The ultrasonic imaging core is arranged for rotation and linear translation. The system further includes a patient interface module including a catheter interface, a rotational motion control system that imparts controlled rotation to the ultrasonic imaging core, a linear translation control system that imparts controlled linear translation to the ultrasonic imaging core, and an ultrasonic energy generator and receiver coupled to the ultrasonic imaging core. The system further comprises an image generator coupled to the ultrasonic energy receiver that generates an image.

A manipulation assembly includes a delivery catheter having a lumen extending therethrough and a deployment catheter positioned within the delivery catheter. The deployment catheter is independently manipulatable with respect to the delivery catheter. The assembly further includes a visualization element extendable distally beyond the deployment catheter and an ablation probe comprising an energy transmitting surface positionable to ablate tissue adjacent to a distal end of the ablation probe. The ablation probe is extendable distally beyond the deployment catheter.

A manipulation assembly includes a delivery catheter having a lumen extending therethrough and a deployment catheter positioned within the delivery catheter. The deployment catheter is independently manipulatable with respect to the delivery catheter. The assembly further includes a visualization element extendable distally beyond the deployment catheter and an ablation probe comprising an energy transmitting surface positionable to ablate tissue adjacent to a distal end of the ablation probe. The ablation probe is extendable distally beyond the deployment catheter.

Medical instruments such as catheter systems and endoscopic systems that exhibit reduced backlash during their operation are disclosed. The reduction of backlash avoids the use of protrusions or fins that can significantly obstruct fluid flow through working channels of the instruments. According to one embodiment, a medical instrument comprises a first member having an inside surface defining a first lumen and a second member extending in the first lumen and having an outside surface cooperating with the inner surface of the first member to define an intermediate longitudinal passage therebetween. One of the inside surface of the first member and the outside surface of the second member is permanently formed to have a sinuous shape defining predisposed locations for contacting the other one of the inner surface of the first member and the outer surface of the second member to reduce backlash during relative longitudinal movement.

Medical instruments such as catheter systems and endoscopic systems that exhibit reduced backlash during their operation are disclosed. The reduction of backlash avoids the use of protrusions or fins that can significantly obstruct fluid flow through working channels of the instruments. According to one embodiment, a medical instrument comprises a first member having an inside surface defining a first lumen and a second member extending in the first lumen and having an outside surface cooperating with the inner surface of the first member to define an intermediate longitudinal passage therebetween. One of the inside surface of the first member and the outside surface of the second member is permanently formed to have a sinuous shape defining predisposed locations for contacting the other one of the inner surface of the first member and the outer surface of the second member to reduce backlash during relative longitudinal movement.

An endoscopic cap assembly may include a sleeve and a cap. The cap may include a cap channel extending along an external surface of the cap. The cap may also include an engagement feature extending radially outwardly from the external surface of the cap.

An endoscopic cap assembly may include a sleeve and a cap. The cap may include a cap channel extending along an external surface of the cap. The cap may also include an engagement feature extending radially outwardly from the external surface of the cap.

A handle for a medical device includes a proximal segment defining a proximal lumen extending therethrough and sized and shaped to receive an endoscopic medical device therein. A medial segment is received within a distal portion of the proximal segment and has an outer diameter smaller than an inner diameter thereof. A medial lumen extends through the proximal segment and is open to the proximal lumen. A distal segment is received within a distal portion of the medial segment and defines a distal lumen extending therethrough open to the medial lumen. The distal segment has an outer diameter smaller than an inner diameter of the medial segment. The medial segment includes a first movement limiting mechanism limiting movement of an endoscopic medical device inserted therethrough along an axis of the distal lumen and a second movement limiting mechanism limiting advancement of an endoscope attached to the distal body portion.

A handle for a medical device includes a proximal segment defining a proximal lumen extending therethrough and sized and shaped to receive an endoscopic medical device therein. A medial segment is received within a distal portion of the proximal segment and has an outer diameter smaller than an inner diameter thereof. A medial lumen extends through the proximal segment and is open to the proximal lumen. A distal segment is received within a distal portion of the medial segment and defines a distal lumen extending therethrough open to the medial lumen. The distal segment has an outer diameter smaller than an inner diameter of the medial segment. The medial segment includes a first movement limiting mechanism limiting movement of an endoscopic medical device inserted therethrough along an axis of the distal lumen and a second movement limiting mechanism limiting advancement of an endoscope attached to the distal body portion.

Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of multiple tools carried at a distal end of the robotic arm.