The following describes various applications and uses for a controllably rigidizable flexible device or sheath. Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.

The following describes various applications and uses for a controllably rigidizable flexible device or sheath. Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.

A stone or tissue capture device comprises a shaft with a deployable sweeping/containment structure at its distal end. The shaft is adapted to be removably placed over and connected to a conventional endoscope. The combination of the capture device and endoscope can be introduced into the various body lumens to capture, fragment/excise, and remove stones or tissue from the bladder and kidney, stomach, peritoneum, and from lumens such as the ureter, colon, hepatic ducts, airways, or blood vessels.

A stone or tissue capture device comprises a shaft with a deployable sweeping/containment structure at its distal end. The shaft is adapted to be removably placed over and connected to a conventional endoscope. The combination of the capture device and endoscope can be introduced into the various body lumens to capture, fragment/excise, and remove stones or tissue from the bladder and kidney, stomach, peritoneum, and from lumens such as the ureter, colon, hepatic ducts, airways, or blood vessels.

Example embodiments of the present invention relate to a manipulation support apparatus. The apparatus may include a processor and memory storing instructions that when executed on the processor cause the processor to perform the operation of acquiring detection data from a sensor provided in an inserted object which is inserted into a subject body. The detection data may be associated with a state of the inserted object. The apparatus then may decide setting information based on at least one of inserted object information and the user information. The apparatus then may generate support information for a manipulation of the inserted object based on the detection data and the setting information.

Example embodiments of the present invention relate to a manipulation support apparatus. The apparatus may include a processor and memory storing instructions that when executed on the processor cause the processor to perform the operation of acquiring detection data from a sensor provided in an inserted object which is inserted into a subject body. The detection data may be associated with a state of the inserted object. The apparatus then may decide setting information based on at least one of inserted object information and the user information. The apparatus then may generate support information for a manipulation of the inserted object based on the detection data and the setting information.

A medical apparatus includes a model-image generating section configured to generate a model image obtained by modeling a shape of an inside of a subject, a coordinate calculating section configured to detect a three-dimensional position of a feature point of the inside of the subject, set a polar coordinate on the basis of a position of the feature point, and calculate an arbitrary three-dimensional position of the inside of the subject according to the polar coordinate, and an image generating section configured to show the arbitrary three-dimensional position of the inside of the subject on the model image on the basis of one angle component among components of the polar coordinate calculated by the coordinate calculating section and a value obtained by correcting the one angle component according to another angle component.

A basket apparatus is described that assists in removing objects from within a patient. The apparatus includes a number of pull wires, each pull wire physically coupled to a different capstan that individually actuates one of the pull wires. The apparatus also includes an outer support shaft itself including a number of channels through which the pull wires traverse. The portions of the pull wires extending out of the outer support shaft form a basket of adjustable size, shape, and position. The pull wires are attached together at a tip located at a distal end of the basket apparatus. By controlling the actuation of the various pull wires, the basket's shape, position size can be manipulated to reposition the basket around an object located within a patient, independent of or in conjunction with motion of the remainder of the apparatus or an associated endoscope.

A basket apparatus is described that assists in removing objects from within a patient. The apparatus includes a number of pull wires, each pull wire physically coupled to a different capstan that individually actuates one of the pull wires. The apparatus also includes an outer support shaft itself including a number of channels through which the pull wires traverse. The portions of the pull wires extending out of the outer support shaft form a basket of adjustable size, shape, and position. The pull wires are attached together at a tip located at a distal end of the basket apparatus. By controlling the actuation of the various pull wires, the basket's shape, position size can be manipulated to reposition the basket around an object located within a patient, independent of or in conjunction with motion of the remainder of the apparatus or an associated endoscope.

Aspects of the present invention relate to a delivery device for locating an expandable implant for treating BPH within the prostatic urethra of a patient. The delivery device comprises an inner tube and an outer sleeve movable relative to the inner tube between a stored position and a deployed position. The outer sleeve surrounds the inner tube to define an annulus therebetween and the expandable implant is retained within the annulus when the outer sleeve is in the stored position.