A handle assembly includes a drive wire coupled to an expandable end effector, the wire having a diameter of no more than 3 French and a handle cannula receiving the wire therethrough, rotation of the handle cannula transferring torque to rotate the wire. The assembly also includes a shaft receiving the handle cannula, rotation of the shaft transferring torque to rotate the handle cannula. The assembly further includes an actuation assembly receiving the shaft, the actuation assembly coupled to a sheath sized to receive the wire and end effector therethrough, the actuation assembly moveable between a proximal configuration in which the sheath is moved proximally to expand the end effector and a distal configuration in which the sheath is moved distally to retract the end effector, the actuation assembly including a rotation mechanism transferring torque to the shaft to rotate the shaft.

In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.

An endoscopic treatment tool includes: a tubular insertion part; a stopper having a through hole and provided at a distal end part of the insertion part; a manipulation wire inserted through the insertion part; a treatment part provided at a distal end part of the manipulation wire and inserted through the through hole; and a restriction member provided closer to a proximal end side than the stopper and connecting the treatment part and the manipulation wire. When the restriction member is pressed against the stopper, the treatment part is locked not to be rotated about an axis of the insertion part with respect to the insertion part, and an opening causing a fluid to flow from an inside of the insertion part to the through hole is formed on an outer peripheral surface of the restriction member.

An endoscopic treatment tool includes: a tubular insertion part; a stopper having a through hole and provided at a distal end part of the insertion part; a manipulation wire inserted through the insertion part; a treatment part provided at a distal end part of the manipulation wire and inserted through the through hole; and a restriction member provided closer to a proximal end side than the stopper and connecting the treatment part and the manipulation wire. When the restriction member is pressed against the stopper, the treatment part is locked not to be rotated about an axis of the insertion part with respect to the insertion part, and an opening causing a fluid to flow from an inside of the insertion part to the through hole is formed on an outer peripheral surface of the restriction member.

A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient, wherein the surgical instrument, as provided, may be a steerable surgical catheter with a biopsy device and/or a surgical catheter with a side-exiting medical instrument, among others. Additionally, systems, methods and devices are provided for forming a respiratory-gated point cloud of a patient's respiratory system and for placing a localization element in an organ of a patient.

A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient, wherein the surgical instrument, as provided, may be a steerable surgical catheter with a biopsy device and/or a surgical catheter with a side-exiting medical instrument, among others. Additionally, systems, methods and devices are provided for forming a respiratory-gated point cloud of a patient's respiratory system and for placing a localization element in an organ of a patient.

A full-core biopsy device comprises an outer cannula hub with an outer cannula coupled at a proximal end to the hub, the outer cannula with a tissue slicing feature defined at the distal tip configured for cutting tissue. The device further comprises an inner member hub and an inner member coaxially disposed within the outer cannula and coupled at a proximal end to the inner member hub. The inner member includes a tubular body, an inner member tip at an opposite distal end thereof and an elongated scoop portion defined between the tubular body and tip. The distal ends of the outer cannula and the scoop portion of the inner member define cooperating forcing cone features.

A full-core biopsy device comprises an outer cannula hub with an outer cannula coupled at a proximal end to the hub, the outer cannula with a tissue slicing feature defined at the distal tip configured for cutting tissue. The device further comprises an inner member hub and an inner member coaxially disposed within the outer cannula and coupled at a proximal end to the inner member hub. The inner member includes a tubular body, an inner member tip at an opposite distal end thereof and an elongated scoop portion defined between the tubular body and tip. The distal ends of the outer cannula and the scoop portion of the inner member define cooperating forcing cone features.

A hollow rod developable actuator tool including a first link comprising an outer cylinder, a second link comprising a first tool member pivotably connected to the first link at a first joint mounted in a first cavity in the wall of the outer cylinder, a third link comprising a second tool member pivotably connected to the first tool member at a second link, and a fourth link comprising an inner cylinder to which the second tool member is also pivotably connected at a third link mounted in a second cavity in the wall of the inner cylinder. When the inner cylinder of the fourth link is rotated in relation to the outer cylinder of the first link the actuator tool transitions from a first state where the tool is closed to a second state where the tool is open.

A hollow rod developable actuator tool including a cylinder defining the outer circumference of the hollow rod, a first tool mechanism, and a second tool mechanism. The hollow rod developable actuator tool transitions from a first closed state wherein the first tool mechanism and second tool mechanism are contained entirely within the outer circumference of the hollow rod to a second open state wherein the first tool mechanism and second tool mechanism extent outside the outer circumference of the hollow rod.