Example embodiments relate to robotic arm assemblies. Embodiments of the robotic arm assembly include a shoulder segment and upper arm segment having a motor drive portion. Embodiments also include a shoulder coupling joint assembly connecting the upper arm segment to the shoulder segment. Shoulder coupling joint assembly includes a distal shoulder joint subassembly connected to the upper arm segment. The distal shoulder joint subassembly includes a distal shoulder joint forming a first axis. The distal shoulder joint subassembly includes a shoulder planetary gear assembly. Embodiments include an elbow coupling joint assembly connecting the upper arm segment to the forearm segment. The elbow coupling joint assembly includes a proximal elbow joint subassembly connected to the upper arm segment. The proximal elbow joint subassembly includes a proximal elbow joint forming a second axis. The proximal elbow joint subassembly includes an elbow planetary gear assembly.

A seeker device for facilitating access to a desired location within an ear, nose, throat or other location in a body may include a proximal shaft, an elastic distal portion, and an atraumatic distal tip. The elastic distal portion has a default shape with at least one curve to facilitate advancement of a distal end of the elastic distal portion through various anatomical passageways, toward the desired location. In some embodiments, the seeker device may be paired with a dilator device, to perform a dilation procedure on an anatomical structure in the ear, nose, throat or other part of the body. In other embodiments, the seeker device may be paired with a flexible endoscope, to facilitate visualization of an anatomical structure or area.

To provide an elevator or the like that facilitates cleaning of an endoscope by dismounting the endoscope after endoscopic examination. An elevator (80) which is capable of being attached to and detached from an endoscope (10) that includes a lever (60) provided rotatably at a distal tip of an insertion portion, and a rotating portion (24) that rotates the lever (60), includes a first elevation portion (831) that has a recessed portion (84) on one surface, a second elevation portion (832) that protrudes from an end of the first elevation portion (831), and a lever connection portion (81) that is provided at an end portion of the second elevation portion (832) and connected to the lever (60). The elevator (80) is formed of a material having a tensile yield stress of 40 megapascals or more.

A user-interface for visualizing a colonoscopy procedure includes a video region and a navigational map upon which coverage annotations are displayed. A live video feed received from a colonoscope is displayed in the video region. The navigational map depicts longitudinal sections of a colon. The coverage annotations are presented on the navigation map and indicate whether one or more of the longitudinal sections is deemed adequately inspected or inadequately inspected during the colonoscopy procedure.

The present invention relates to an intubation system comprising insertion unit to be connected to a bending section of a medical instrument comprising an inner elongated shaft structure being capable of torque transmission around its length axis and an outer elongated shaft structure surrounding the inner elongated shaft structure and having a continuous outer surface, and an orientation controller being attached to the inner elongated shaft, such that when the orientation controller rotates, the bending section turns around itself.

The present disclosure relates to the field of medical devices. Specifically, the present disclosure relates to devices, systems and methods for extending a working channel of an endoscope, such as for delivery of a stent.

A method is provided for auto registration for a robotic endoscopic apparatus. The method comprises: (a) generate a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of a location sensor based at least in part on a first set of sensor data collected using the location sensor; (b) generating a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and (c) updating, based at least in part on a third set of sensor data, the second transformation using an updating algorithm.

A method of continuously registering a model of anatomic passageways to a patient space includes: collecting a set of measured points along a flexible catheter as the catheter is inserted into the passageways, the measured points based on a shape of the catheter; assigning each measured point to a respective subset of a plurality of subsets based upon a depth of each measured point within the passageways; comparing the plurality of subsets to identify a first optimal subset; registering the model to the patient space based on a set of model points and the first optimal subset; collecting additional measured points; updating the plurality of subsets by assigning each additional measured point to a respective subset; comparing, after the updating, the plurality of subsets to identify a second optimal subset; and registering the model to the patient space based on the set of model points and the second optimal subset.

A reversal system for an endoscope, the reversal system including: first and second outer achromats each comprising at least two lenses, wherein the first and second outer achromats have an outer diameter; first and second inner achromats arranged between the first and second outer achromats, wherein each of the first and second inner achromats comprises at least two lenses; and a holding sleeve for accommodating the at least two lenses of one or more of the first and second inner achromats, wherein the holding sleeve with the at least one of the first and second inner achromats is arranged between the first and second outer achromats.

An endoscope having a distal end, a proximal end and a longitudinal axis extending from the proximal end to the distal end, the endoscope comprising: a flexible elongate tube, an illumination source positioned at the distal end for illuminating a lumen of a patient, an image sensor for capturing images within the illuminated lumen of the patient, a working channel extending through the elongate tube and terminating at the distal end, an articulation assembly including at least one steering cable operably coupled to the distal end such that movement of the at least one steering cable induces the flexible elongate tube to articulate relative to the longitudinal axis, is characterized by a head being arranged at the distal end, said head carrying at least the illumination source and the image sensor and comprising a distal section of the working channel, said head being rotatable relative to the flexible elongate tube about the longitudinal axis.