An apparatus includes a body, a shaft assembly, and a shaft actuation assembly. The shaft assembly extends distally from the body and defines a longitudinal axis. A portion of the shaft assembly is configured to be inserted into an anatomical passageway associated with an ear, nose, or throat of a patient. The shaft assembly further defines a working passageway that is dimensioned to receive an instrument. An actuator of the body is operable to drive the instrument longitudinally relative to the shaft assembly. The shaft actuation assembly is operatively coupled with a proximal portion of the shaft assembly. Further, the shaft actuation assembly is translatable in a distal direction to extend the shaft assembly distally along the longitudinal axis and is translatable in a proximal direction to retract the shaft assembly proximally along the longitudinal axis.

An instrument carrier for assisting with the positioning of a surgical instrument during surgery, the carrier having an arcuate rail mountable to an operating table and moveable relative to the table for positioning the rail over a target region in use; and a carriage operatively coupled to the rail, the carriage having a support for carrying the surgical instrument; where the carriage is configured to be movable along the rail such that movement of the carriage positions the surgical instrument along an arcuate path relative to the target region.

In some embodiments, an insertion device for a single port robotic surgery apparatus includes a plurality of instrument channels positioned in an interior of a housing and extending along substantially an entire length of the housing, the plurality of instrument channels configured to removably house a plurality of surgical instruments, a plurality of openings in a rear exterior surface of the housing, the plurality of openings providing access to the plurality of instrument channels and configured to facilitate insertion of the plurality of surgical instruments into the plurality of instrument channels, and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the plurality of openings, the illumination device configured to illuminate the openings to facilitate insertion of the plurality of instruments through the plurality of openings.

Provided is an endoscope that can fix a guidewire and stably hold a treatment tool. The endoscope includes a distal end body (36) having an elevator housing (62) that opens toward a first direction, a treatment tool lead-out port (80) that opens inside of the elevator housing (62), and an elevator (60) that is provided inside of the elevator housing (62) so as to be rotatable between an elevated position and a lowered position, the elevator (60) having a treatment tool guiding surface (60a). A facing wall portion (66), which is on a proximal end side and an opening part of the elevator housing (62), has a concave surface (96) that is formed on an inner side of the elevator housing (62) and a convex surface (94) that is formed at a position closer than the concave surface (96) to an opening. When the elevator (60) is in a forward position that is on the lowered position side relative to the elevated position, the concave surface (96) and the treatment tool guiding surface (60a) constitute a treatment tool holding portion (99) for holding a treatment tool, and, when the elevator (60) is in the elevated position, the convex surface (94) and the treatment tool guiding surface (60a) constitute a guidewire fixing portion (98) for fixing a guidewire.

A holder for a surgical instrument, where the holder includes: an image sensor, the image sensor having a photo-sensitive layer and a rear side facing away from the photo-sensitive layer; and a circuit board, a first side of the circuit board being connected to the rear side of the image sensor. The holder may have a cover member having a first side arranged on a second side of the circuit board, the second side of the circuit board facing away from the image sensor. The cover member may io be configured to form an interspace between the first side of the cover member and the second side of the circuit board, and the interspace may be filled with an adhesive.

Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least one degree of freedom of movement, and an end effector coupled to the wrist. The end effector can include a cartridge for delivering a plurality of clips to tissue. The wrist may include one or more cables capable of moving an actuator with one degree of freedom of movement within the end effector to advance one or more clips through the end effector.

An endoscope having a proximal end and a distal end, a handle at the proximal end and an insertion tube extending from the proximal end towards the distal end. The insertion tube includes an internal working channel extending from the handle to the distal end of the insertion tube. A connector at the handle is adapted for the attachment of a syringe. A recess is adapted to accommodate a cylindrical body of the syringe when said syringe is attached to the connector.

A gripping device for an endoscope insertion tube utilizing first and second arms that are hingedly attached to one another. Each arm includes an opening to accommodate the insertion tube of an endoscope such that the endoscope insertion tube spans both arms. First and second jaws are associated with first and second arms and are positioned in opposition to one another. The movement of the arms toward one another causes the jaws to engage the insertion tube which is guided through the arms by the apertures found in the arms.

Medical instruments having a translatable spool are disclosed. In one aspect, a medical instrument configured for use with a robotic system includes an instrument base configured to couple to a robotic drive mechanism of the robotic system and an elongate shaft coupled to the instrument base. The elongate shaft has a distal end. The medical instrument also includes a pull wire fixedly coupled to the distal end of the elongate shaft, the pull wire being configured to actuate the elongate shaft, and a rotatable spool in the instrument base. The rotatable spool is configured to direct the pull wire to the elongate shaft at an angle. The rotatable spool is configured to translate in coordination with actuation of the elongate shaft to control the angle of the pull wire relative to the elongate shaft.

A steering device for connecting to an elongated instrument comprises a supporting unit comprising a first channel having a first central axis, said first channel extending from a distal side to a proximal side of the supporting unit, wherein the supporting unit is arranged around said first channel, and a steering unit rotationally arranged on said supporting unit, the steering unit arranged to secure/release a plurality of longitudinal elements of an instrument to move with the rotational movement of the steering unit.