An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera.

A carrying platform for moving a device within a conduit, the carrying platform comprising: a body configured to be moveable within the conduit; a number of clampers provided on the body and configured to releasably engage the conduit for immobilizing the carrying platform relative to the conduit; and a device engagement mechanism provided on the body and configured to releasably engage the device.

A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. One implementation employs a manual grip of the instrument for control of insertion pressure, a joystick or other input device for computer-assisted steering, and a foot pedal for control of stiffness or compliance in the instrument. Another implementation employs a joystick for computer-assisted steering and for control of stiffness or compliance in the instrument.

The disclosed technology is directed to a treatment instrument that comprises a sheath main body having opposed respective distal and proximal end regions. The sheath main body includes an outer diameter such that the sheath main body capable of being fit into the channel for insertion of the treatment instrument of the endoscope. The sheath main body includes a lumen extending along a longitudinal axis in the distal end region. A wire-shaped incising portion is configured to engage with the sheath main body so as to protrude from an outer circumferential surface of the sheath main body in the distal end region and extending along the longitudinal axis of the sheath main body. The wire-shaped incising portion is used to incise a tissue. A wire is attached to at least a portion of the sheath main body and having a region in which the wire has different bending resistances.

A system for determining the shape of a surgical instrument includes an elongate instrument body having a selectively steerable distal tip, a pair of automatically controlled segments proximal to the selectively steerable distal tip, and a joint that couples the pair of adjacent automatically controlled segments together. An actuator changes an angle of the joint and a position encoder provides information associated with the joint angle. A controller receives the information associated with the angle of the joint and generates a three dimensional model of a shape of the instrument. A method for determining the three dimensional shape of an instrument includes providing axial position data to a controller, providing angular position data to the controller from a respective segment controller, and generating a three-dimensional model of a shape of said instrument using the axial position data and the angular position data.

An automated control, a switch and automated actuator for spring-based end effectors of a medical instrument to be used by a single operator without assistance for multiple biopsy, clipping, clamping, grasping, snaring, cutting, dissecting or other operative functions with electrical connections for cautery or hot biopsy used independently or combined with a rigid or flexible endoscope of any size. The actuator may be a spring(s), gear(s), electrical solenoid or motor, air or hydraulic pressure activated piston or a combination thereof. Automated action may be initiated by a voice, hand or foot operated switch. The actuator may be disposable, attached to or separable from the end effector or permanently attached to be reusable. The actuator and end effector may be disposable, attached to or separable from the endoscope or permanently attached to be reusable. The automated device may be incorporated into an endoscope or attached to the outside.

An endoscope includes a bending operation member provided at an operation portion and configured to bend a bending portion of an insertion portion, a plurality of bending operation wires configured to be pulled or relaxed by the bending operation member, a plurality of tubular members provided inside the operation portion, into which the plurality of bending operation wires are inserted respectively, and disposed in a deflected state so as to avoid an internal component provided inside the operation portion, and a tubular member fixing member provided inside the operation portion and enabled to optimally adjust end portions of the plurality of tubular members at different positions along a longitudinal axis of the operation portion in a direction orthogonal to the longitudinal axis.

The present invention relates to an elongate, flexible, medical device comprising: an elongate, flexible inner member; a support member extending around the inner member; a plurality of electrically-conductive wires, each being braided with the support member; an outer member; and at least one ionic electroactive polymer actuator, the actuator comprising: at least one polymer electrolyte layer secured adjacent to the distal end of the inner member; and a plurality of electrodes circumferentially distributed about the exterior surface of the at least one polymer electrolyte layer, wherein at least one of the plurality of electrically-conductive wires, adjacent to the distal end thereof, is electrically connected to one of the electrodes, and the at least one polymer electrolyte layer is configured to deform asymmetrically in response to the application of an electrical signal through at least one of the plurality of electrically-conductive wires to at least one of the plurality of electrodes.

Provided is an endoscope capable of operating a bending part with a higher degree of freedom while enabling a related-art operation of moving a pair of bending operating wires forward and backward. The endoscope has an insertion part having a bendable bending part; an operating part continuously provided on a proximal end side of the insertion part; a pair of bending operating wires inserted into the insertion part and fixed to a distal end side of the insertion part; a first bending operating mechanism that operates the bending part by moving the pair of bending operating wires forward and backward in conjunction with each other; and a second bending operating mechanism that operates the bending part by independently moving the pair of bending operating wires forward and backward.

A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. One implementation employs a manual grip of the instrument for control of insertion pressure, a joystick or other input device for computer-assisted steering, and a foot pedal for control of stiffness or compliance in the instrument. Another implementation employs a joystick for computer-assisted steering and for control of stiffness or compliance in the instrument.