The disclosure provides a diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy, including a robot body, a camera, illumination devices, a flexible dielectric elastomer actuator, air cylinders, linear motors, a controller and external hoses. Wherein the robot body is a multichannel hose, and includes a central channel and circumferential channels, the central channel is configured to accommodate conducting wires and signal wires, the circumferential channels include at least three microfluid channels. The front end of each microfluid channels is a sealed end, a rear end of each of the microfluid channels is an open end. The open end of each microfluid channels communicates with an end opening of a flow channel of one air cylinder. The linear motors control fluid pressures in the microfluid channels by driving piston rods of the air cylinders so that the robot body steers through being driven by fluid. The camera performs real-time image acquisition. The controller controls the flexible dielectric elastomer actuator to capture a target. The disclosure realizes the real-time image acquisition on a digestive tract, particularly a lesion, and can integrally and fast complete diagnosis and treatment.

A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.

An endoscope or the like that prevents crosstalk between multiple light-emitting parts is provided. An endoscope includes: an observation window that is disposed at a distal end of an insertion part; a plurality of first light-emitting parts that are disposed around the observation window; a second light-emitting part that is disposed between the first light-emitting parts and emits light at a bandwidth different from a bandwidth of light emitted by the first light-emitting parts; and a light-shielding body that is disposed between one of the first light-emitting parts and the second light-emitting part.

Provided are a treatment tool elevating mechanism and an ultrasonic endoscope capable of restraining an increase in diameter of an endoscope and bearing a load.

The treatment tool elevating mechanism includes: a rotary shaft portion that is supported so as to be rotatable about a rotation axis; an elevator that is connected to one end of the rotary shaft portion so as to be rotatable integrally with the rotary shaft portion; and an elevating lever that is connected to the other end of the rotary shaft portion so as to be rotatable integrally with the rotary shaft portion, in which a rotational force is applied to the elevating lever, and the rotational force is transmitted to the elevator through the rotary shaft portion, at least one fitted member of the elevating lever or the elevator has a fitting recessed portion that is open in a direction of the rotary shaft portion, the rotary shaft portion has a fitting protruding portion that is fitted into the fitting recessed portion so as to be non-rotatable relative to the fitting recessed portion, and the fitting protruding portion has a center of gravity at a position eccentric from the rotation axis in a cross-section perpendicular to the rotation axis.

A trocar is provided that is adapted to insert a lighting attachment into a body cavity. The trocar connects at its distal end to the lighting attachment such that it can be pushed into the body cavity. An endoscope may then be inserted through the trocar into the body cavity. The lighting attachment is configured to detach from the trocar and attach to the endoscope head to provide additional lighting to the endoscope. The lighting attachment includes foldable lighting panels that expand when in use in order to light a wider field of view. The lighting attachment may be powered by induction coil from the endoscope.

An endoscope includes a detachable wireless imaging device and an insertion tube having a distal end region. The attachment of the detachable wireless imaging device detachably attaches the detachable wireless imaging device to the distal end region of the insertion tube.

Offset illumination using multiple emitters in a fluorescence imaging system is described. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The emitter comprises a first emitter and a second emitter for emitting different wavelengths of electromagnetic radiation. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises one or more of a hyperspectral emission, a fluorescence emission, and/or a laser mapping pattern.

Provided herein is a handle of a multi-camera endoscope, the handle includes a user interface activating unit which includes one or more external activating/control buttons, and an internal activating element, the handle optionally includes a converter configured to receive one or more parallel signals and transform the one or more parallel signals to one or more corresponding serial signals, wherein the parallel signals are output by one or more cameras of the endoscope. Further provided are endoscopes and medical imaging system which include the handle, as well as methods of use thereof.

The present invention relates to the field of medical endoscope, it discloses front-end structure for insertion part of endoscope, which consists of a probe shell a camera, a module arranged on the end surface of the probe shell to observe images of surrounding tissues; an operation hole arranged on the end surface of the probe shell and on the side of the camera module to fix the operation mechanism; the camera module consists of a lens unit and lighting units arranged on both sides of the lens unit, an arc transition surface is arranged on one side of the end surface of the probe shell to guide the probe to be inserted into the targeted tissue. The beneficial effects of the present invention are: a cut angle is arranged on the end surface of one end of the probe shell, when the probe is inserted into the human body, the inclined arc transition surface can reduce the resistance from the human body tissues, so that the probe can be inserted into the human body deeply in an easier manner; by arranging the probe shell and sealing the lighting units with sealant, the probe shell plays a role of positioning and protecting the ends of the lighting units.

A system for delivering an agent including a plurality of particles to a target site. The system incudes a catheter having a first wall defining an inner lumen for delivery of the agent to the target site, and a second wall surrounding the first wall to define an outer lumen therebetween for delivery of a fluid to the target site. The catheter has a distal end terminating with a primary opening of the inner lumen and a secondary opening of the outer lumen. A hub associated with a proximal end of the catheter includes a first inlet for receiving a supply of the agent and a second inlet for receiving a supply of the fluid, wherein the first inlet is in fluid communication with the inner lumen, and the second inlet is in fluid communication with the outer lumen.