A variable-rigidity device includes a tubular member including a plurality of high-rigidity portions and low-rigidity portions arranged along a longitudinal axis; a core member arranged on an inner side of the tubular member and including a plurality of high-rigidity core portions and low-rigidity core portions; and an actuator configured to relatively move the core member with respect to the tubular member, in which the actuator is configured to cause a first force to repeatedly fluctuate with a passage of time, the first force causing the core member to relatively move with respect to the tubular member in an axial direction along the longitudinal axis

In one aspect, the present invention is an articulation joint for use in a low cost medical device such as an endoscope intended for a single use. In one embodiment, the articulation joint comprises a plurality of interconnected segments. In another embodiment, the articulation joint comprises an elongated tubular body. In another aspect, the present invention provides methods of manufacturing an articulation joint for use in a medical device.

Disclosed is a flexible surgical instrument system, comprising a distal structural body comprising at least one distal structural segment each comprising a distal fixing disk and structural backbones; a proximal structural body comprising at least one proximal structural segment each comprising a proximal fixing disk, structural backbones and driving backbones; a plurality of cable pulling mechanisms operable to convert a rotational motion into a linear motion to turn the at least one proximal structural segment; and a driving unit to input the rotational motion to the plurality of cable pulling mechanisms; the driving unit comprises: a plurality of driving shafts operable to transfer the rotational motion to the plurality of cable pulling mechanisms, and a first end of each of the plurality of driving shafts is connected with each of the plurality of cable pulling mechanisms.

Disclosed herein are steerable-catheter control handles and catheter assemblies that include pull wires and direction and magnitude controls on the handle operable such that adjustment of the direction and magnitude controls adjusts a direction and degree of catheter flex, thereby to steer the catheter as an operator directs.

A continuum robot control device, configured to control operations of a continuum robot having a bendable portion that is bent by driving at least part of a plurality of wires, includes a kinematics computing unit that computes a driving amount l.sub.k1b of the at least part of the plurality of wires, based on a target bending angle that is a target value for a bending angle of the bendable portion, a compensation amount computing unit that computes a compensation amount for compensation of the driving amount l.sub.k1b, based on the target bending angle, and a displacement of one of the plurality of wires at the target bending angle, and an adding unit and position control unit that set a driving control amount of performing driving control of the at least part of the plurality of wires, based on the driving amount and the compensation amount obtained by computation.

An articulated medical device having a hollow core, capable of large degrees of maneuverability through small spaces of a patient to reach a target with minimal invasiveness, and once the medical device has reached the target, allowing a medical tool to be guided through the hollow chamber for facilitating medical procedures, including endoscopes, cameras, and catheters, at the target.

An endoscope imaging system comprises a robotic controlled steerable catheter and an imaging device removably arranged in a tool channel of the catheter. One or more sensors or markers are configured to map a positional relation of the catheter with respect to an orientation of the imaging device. A controller drives the steerable catheter to manipulate the distal end thereof, while the imaging device acquires an image of a subject or sample. While the imaging device acquires the image, a processor calculates a change in positional relation of the catheter with respect to the orientation of the imaging device based on information provided by the one or more sensors or markers. An output unit provides an indication for remapping the orientation of the steerable catheter with respect to the orientation of the imaging device.

Apparatus, including a tube having proximal and distal ends and an internal lumen. The distal end may bend up to 270°, and the tube may be inserted into an eye. A planar resilient strip, having proximal and distal ends, is inserted into the internal lumen, and the strip distal end is fixed to the tube distal end. A coil spring is fixed to the strip proximal end so that a coil spring symmetry axis is coplanar with the strip. A camera, mounted with the strip distal end, images the eye interior. A wire is fixed to the strip distal end, so that a predetermined force on the wire causes the tube distal end to bend by a preset angle. A magnetometer at the tube proximal end is configured, when a nonvarying magnetic field traverses it, to provide a signal that, when taken with the preset angle, indicates a camera orientation.

Herein disclosed is an endoscope that includes a handle and an elongated probe having a distal end and a proximal end. The handle abuts the proximal end of the probe and includes an articulation lever. The probe also includes a vertebrae column immediately abutting the distal end, on which at least one sensor is amounted. The vertebrae column is configured to have at least two parallel groups of gaping slits, along an axial direction of the vertebrae column. Each two of the axially adjacent gaping slits come from the two groups of gaping slits respectively and are juxtaposed in circumferential positions in the respective circumferential planes. The articulation lever and the distal end are connected by pulling wires, and when the articulation lever is maneuvered, the distal end is pulled away from the axial direction, causing the vertebrae column to deflect.

A medical device, system, and methods of using the medical device and system are provided. Embodiments of the disclosure include a medical apparatus including a bendable body having a driving wire configured in the bendable body. A distal end of a break-out wire is attached to a proximal end of the driving wire where a distal guide tube guiding the driving wire, the distal tube ending before the break-out wire with a space. A resilient element abutting the driving wire along at least a portion of a longitudinal direction of the driving wire, and expands or contracts along the longitudinal direction of the driving wire. An actuator retracts and advances the driving wire via the break-out wire and maneuvers the bendable body, wherein the resilient element stays within the space between a proximal end of the distal guide tube and the distal end of the break-out wire.