A device includes a flexible insertion section extending from a distal end which, during use is inserted to a target site to a proximal end which remains outside the body; an end effector coupled to a distal end of the insertion section; and a control wire received within the insertion section and extending from a proximal end coupled to an actuator to a distal end coupled to the end effector. The control wire is movable within the insertion section to operate the end effector. The control wire and the insertion section include a bend in a distal portion thereof configured so that, in a resting state, the control wire and the insertion section bend through a predetermined arc at a selected bending radius. A distal portion of the control passes into and through a working channel of an insertion device without plastic deformation of the control wire.

A control handle includes a housing and at least one control wire that extends from the housing to terminate at a distal tip. A steering assembly is coupled with the at least one control wire for selectively tensioning the at least one control wire to effectuate movement of the distal tip. The steering assembly includes at least one cam that is rotatable about an axis and presents a winding surface that extends circumferentially. The at least one control wire is connected to the at least one cam. An actuator dial is rotatable about the axis and coupled with the at least one cam for rotatably driving the at least one cam from a neutral position to an actuated position to at least partially wind the control wire about the winding surface and to tension the at least one control wire for deflecting the distal tip.

A system for advancing an instrument along an arbitrary path includes a flexible and steerable instrument and an electronic memory configured to store a three-dimensional model of the path, the three-dimension model being generated based on signals from the instrument as it traverses along the path. The system further includes an electronic motion controller logically coupled to the electronic memory, wherein the electronic motion controller is configured to automatically control the instrument to traverse the path based on the three dimensional model.

Certain aspects relate to manually and robotically controllable medical instruments. A manually and robotically controllable medical instrument can include an elongated shaft articulable by pull wires. The elongated shaft can be connected to an instrument handle that attaches to an instrument drive mechanism. The instrument handle can include a pulley assembly on which the pull wires can be mounted. Rotation of the pulley assembly can actuate the pull wires to cause articulation of the elongated shaft. The medical instrument also includes a manual drive input connected to the pulley assembly such that manual actuation of the manual drive input causes rotation of the first pulley assembly and a robotic drive input configured to engage with a robotic drive output of the instrument drive mechanism such that rotation of the first robotic drive output causes rotation of the pulley assembly.

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 a control apparatus for a continuum robot system includes: a continuum robot (1), which includes a plurality of curvable portions (111, 112) provided in series in a longitudinal axial direction thereof and each being curvable, and is capable of being moved in the longitudinal axial direction; a drive unit (2) configured to move the continuum robot (1) in the longitudinal axial direction; and a plurality of angle control motors (211, 212) configured to change a distal-end angle (.sub.1, .sub.2) for each of the plurality of curvable portions (111, 112). The control apparatus includes a drive unit speed calculation/control unit (44) configured to calculate a followable speed, and to control the drive unit (2). The drive unit speed calculation/control unit (44) controls the drive unit (2) to move the continuum robot at a speed equal to or lower than the followable speed.

A medical device includes at least one ionic electroactive polymer actuator, the actuator including at least one polymer electrolyte member defining at least a surface and a plurality of electrodes disposed about the surface of the at least one polymer electrolyte member, an elongate, flexible portion defining a proximal end and a distal end secured adjacent to the ionic electroactive polymer actuator and the elongate, flexible portion further comprising a core and a sleeve surrounding the core and a plurality of electrically-conductive wires, each having a proximal end and a distal end coupled to at least one of the plurality of electrodes, wherein the at least one polymer electrolyte member deforms asymmetrically in response to the application of an electrical potential supplied through at least one of the plurality of electrically-conductive wires to at least one of the plurality of electrodes.

The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

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.

Provided is an endoscope allowing two operating methods, that is, a surgeon's own manual operation and an operating method using a hand other than the surgeon regarding a hardness adjusting operation. An endoscope includes an insertion part having a flexible part; an operating part continuously provided on a proximal end side of the insertion part; a hardness adjusting mechanism serving as a first driving force input member that is provided from the operating part to the flexible part and adjusts the hardness of the flexible part; an operating ring that is provided in the operating part and is manually operated and inputs a driving force to the hardness adjusting mechanism; and a shaft serving as a second driving force input member that is provided separately from the operating ring and inputs a driving force to the hardness adjusting mechanism.