A variable-stiffness actuator, installed in a flexible member and capable of providing different stiffnesses for the flexible member, includes a shape-memory member that can transit in phase between first and second phases and an inducing member that causes phase transition between the first and second phases into the shape-memory member. The shape-memory member takes, in the first stare, a flexible state in which it is easily deformable by an external force, so as to provide lower stiffness for the flexible member, and, in the second stare, a rigid state in which it tends to take a memorized shape against an external force, so as to provide higher stiffness for the flexible member. The actuator further includes a stiffness calculator that calculates the stiffness of the actuator.

An insertion apparatus includes an insertion section including a flexible tube section configured to passively bend, and a bendable section connected to the flexible tube section on a distal end side and configured to actively change its bend shape, and a characteristic changer provided in the flexible tube section and configured to change a force quantity acting on a distal end of the insertion section from an insertion target body. The apparatus also includes an analyzer configured to calculate information relating to a deformation force quantity that restores bending of the insertion section on the proximal end side of the changer, and a controller configured to control the changer based on the information relating to the deformation force quantity.

A medical instrument may comprise a plurality of links disposed in series along an axial direction. The plurality of links also may comprise a brake assembly comprise one or more first braking components coupled to a first link in the pair of adjacent links and one or more second braking components coupled to a second link in the pair of adjacent links. The one or more first braking components and the one or more second braking components may have an interleaved arrangement with each other. The braking assembly may be actuatable between an engaged state and a disengaged state, wherein the one or more first braking components and the one or more second braking components inhibit the pair of adjacent links from pivoting relative to one another in the engaged state of the brake assembly, and wherein the one or more first braking components and the one or more second braking components permit the pair of adjacent links pivoting relative to one another in the disengaged state of the brake assembly. The one or more first braking components and the one or more second braking components may be pressed together in the engaged state of the brake assembly.

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.

A steerable endoscope system includes a continuum manipulator, a plurality of syringes, and a steerable tip. The continuum manipulator includes a plurality of spaced discs and a plurality of backbones each extending through all discs. A bending movement of the continuum manipulator changes a varying linear displacement of each backbone. Each backbone is further coupled to a different one of the syringes such that the linear displacement of each backbone pushes or pulls a piston of the corresponding syringe by a varying amount. The steerable tip includes a plurality of bellows each pneumatically coupled to a different syringe such that movement of the piston of a syringe causes the corresponding bellow to inflate or deflate. Because the distal end of each bellow is fixedly coupled to the same end effector, variations in the amount of inflation or deflation on each bellow causes a bending of the steerable tip.

A flexible tube insertion apparatus includes an insertion section including a plurality of segments, a plurality of stiffness variable portions provided in the respective segments and configured to vary stiffness of the respective segments, and a state detector configured to detect a shape of the insertion section. The apparatus includes a state calculator configured to acquire a shape of a tube at a time when the insertion section advances into the tube, and configured to calculate a relative position of the segment to the tube, and a control device configured to control, based on the shape of the tube, the stiffness variable portion provided in the segment which is calculated the relative position to the tube by the state calculator.

One embodiment of present invention is a segmented instrument having braking capabilities that includes an elongate body having a plurality of links and a hinge connecting a pair of adjacent links in the plurality of links. There is also brake assembly coupled to each link in the pair of adjacent links and positioned to span the distance between the pair of adjacent links. Another embodiment of the present invention is a segmented instrument having a plurality of links and at least one lockable and articulatable joint positioned to connect a pair of adjacent links in the plurality of links. In addition, the at least one lockable and articulatable joint is adapted and configured to increase the number of frictional surfaces available between the pair of adjacent links. There are also provided methods for controlling a segmented instrument. Exemplary steps of the method include introducing a segmented instrument into a patient where the segmented instrument has a plurality of links wherein adjacent links are joined by a hinge. Next, there is the step of manipulating the links about the hinges to maneuver the segmented instrument to provide access to a surgical site within the patient. In one aspect, the manipulating step produces a sliding motion between a plurality of complementary shaped components within a portion of a brake assembly between adjacent links. Next there is the step of actuating the brake assembly to substantially prevent movement about the hinge of the links attached to the braking mechanism.

Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by straight-line requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.

A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and said approximate x-bend; and setting a limit of said approximate overall bend beyond which said steerable distal portion is not permitted to achieve. The method may further include one of: causing actuation of said at least one tensioning member to achieve said y-bend and said x-bend on a condition of said calculated approximate overall bend being equal to or less than said limit, and repeating the receiving, calculating, and setting steps on a condition of said calculated approximate overall bend being greater than said limit.

Devices, systems, and methods facilitating navigation through a body passage, particularly a tortuous body passage. An expandable member is mounted with respect to an element of the device or system and is shiftable from a delivery configuration to an expanded configuration. In the expanded configuration, the expandable member facilitates navigation of the device and/or system through a tortuous section of the body passage. The expandable member may include an expandable basket-like element formed of one or more elements shiftable from a generally elongated configuration when the expandable member is in the delivery configuration to a curved or bowed configuration when the expandable member is in the expanded configuration. Additionally or alternatively, the expandable member may include an inflatable balloon. The system and method may include delivering a device such as a locator element to a target site to be identified from a remote location.