A method for calibrating an endoscope, the endoscope including a curved portion that can be driven to bend and a flexible portion through which a bending wire that bends the curved portion is inserted, includes: arranging the curved portion and the flexible portion of the endoscope so that they have a predetermined shape; bending the curved portion; measuring first shape information, which is information about a shape of the curved portion; and updating a control parameter for the endoscope to drive the curved portion based on the measured first shape information.

Described herein are various method of using a direct drive system to perform procedures at a distance. One exemplary method include tying a knot or suturing at a distance with a first and second end effector. The direct drive system can enable sufficient end effector dexterity, including the ability to control various degrees of freedom of end effector movement, and allow a user to perform complicated task at a distance. In one aspect the direct drive system includes flexible tools that permit access to surgical site via a natural orifice.

As a wire moves in a first direction, which is an operating part side, relative to a grip part and a bendable part, the grip part is closed, and the bendable part is bent in a state where the grip part is closed. A coil spring is moved in a second direction, which is a distal end part side, in response to a pushing-in operation with respect to a piston and moves the wire in the first direction relative to the grip part and the bendable part by pushing the grip part and the bendable part in the second direction as being moved in the second direction.

A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By compensating for unideal behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. During calibration, the surgical robotic system moves the endoscope to a target position and receives data describing an actual position and/or orientation of the endoscope. The surgical robotic system determines gain values based at least on the discrepancy between the target position and the actual position. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath and/or the leader, which causes the endoscope to articulate.

Devices for use with introducers, endoscopes and catheters, where the devices relate to an articulating mechanism that allows a working end of a medical device to be steerable in order to access or visualize targeted sites in the interior of a patient's body.

A medical apparatus includes: an operation portion; an annular wall portion including a base portion connectedly provided to an exterior case and a protruding end portion; an operation lever configured to be tilted by an operator; a cover member including a first fitted portion fitted to the operation lever, a deforming portion configured to deform accompanying a tilt of the operation lever, and a second fitted portion with an inner circumferential surface fitted to an outer circumferential surface of the wall portion; and an elastic member including a contact portion in contact with an outer circumferential surface of the second fitted portion, the contact portion being fixed to the exterior case and being deformed to press the outer circumferential surface of the second fitted portion.

An insertion device comprises an insertion section, the insertion section including a distal portion, an operation section located on a proximal end side of the insertion section, a channel located in the insertion section and communicating with the distal portion, the channel including a transformable member on a distal end side of the channel, and a transformation unit, wherein a shape of the transformable member is changeable by operation of the operation section.

An embodiment of the present invention provides for an elongated medical device with a hypotube backbone running through the device, and a spiral lumen spiraled around the backbone along the length of the backbone. The backbone may be formed from a nitinol alloy for increased bendability without compromising axial stiffness. The device may also incorporate a jacket around the hypotube and spiral lumen formed using either melting, molding, bonding, or casting. The spiral lumen may be configured to accommodate a variety of uses, including actuation members (e.g., pull wires), tools, and means for aspiration, irrigation, image capture, and illumination. Additionally, the present invention provides a method for constructing an elongated medical device with a hypotube backbone running through the device, and a spiral lumen spiraled around the backbone along the length of the backbone.

Aspects of articulating devices and methods are disclosed. An exemplary articulating device may comprise an interior core with a reinforcing extending along a central axis, an exterior layer bonded to the interior core by an interface, and a lumen extending through the exterior layer, exterior of the reinforcing element, and parallel to the central axis. A steering wire may be moveable in the lumen to articulate a distal end of the device relative to the central axis in response to a force applied to the steering wire. Related methods of manufacturing an articulating device are also described.

An endoscope has an insertion portion with a simple configuration. The endoscope is an endoscope having an insertion portion and an operation unit connected to one end of the insertion portion. The insertion portion includes a tube provided with a plurality of channels penetrating in a longitudinal direction, an operation unit connected to one end of the tube, and a distal tip that covers another end of the tube and smoothly communicates with a part of the plurality of channels.