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.

Apparatuses, systems, and methods for controlling the sampling of tissue using a guidewire. In an illustrative embodiment, an apparatus includes a handle, a flexible dual lumen catheter couplable to the handle, and a guidewire guide disposed at a distal end of the flexible dual lumen catheter.

An apparatus, method, and system for a steerable medical device, configured to be used in conjunction with guide tools and devices in medical procedures, including endoscopes, cameras, cutting tools and catheters.

A system comprising an adjustable mount arm, a bronchoscope coupled to the adjustable mount arm, an attachment coupled to the bronchoscope, and a steerable sheath coupled to the attachment and configured to be inserted through the bronchoscope. The system further includes a flexible probe configured to be inserted through the steerable sheath and the bronchoscope.

A motorized actuation module actuates an endoscopic instrument. It is made up of a mounting plate able to be attached to the ulnar-palmar grasping zone of a handgrip of an endoscope, the mounting plate having an ulnar-palmar bearing surface extended by a heel extending in a direction that makes an angle of 90°±25° with respect to the perpendicular to the plane of the ulnar-palmar bearing surface. The heel includes an electromechanical sensor that delivers a control signal controlling the movement of an endoscopy instrument.

A method and system of correcting alignment of catheter relative to a target including receiving signals from an inertial measurement unit located at a distal end of a catheter, determining movement of the distal end of the catheter caused by physiological forces, receiving images depicting the distal end of the catheter and the target, identifying the distal end of the catheter and the target in the images, determining an orientation of the distal end of the catheter relative to the target and articulating the distal tip of the catheter in response to the detected movement to achieve and maintain an orientation towards the target such that a tool extended from an opening at the distal end of the catheter would intersect the target.

In an endoscope operation portion, a first finger placement portion and a second finger placement portion are disposed at positions where at least a pressing force of a first finger placed on the first finger placement portion, a pressing force of a second finger placed on the second finger placement portion, and an operation force amount of a third finger placed on a third finger placement portion when operating a bending operation lever are balanced.

An endoscope includes an insertion part and an operation part. The operation part is consecutively provided at the insertion part. A bendable portion is provided at a distal end portion of the insertion part so as to be bendable. An operation part-side operation member is provided at a distal end portion of the operation part and has an operation part-side protruding portion. An insertion part-side operation member is provided at a proximal end portion of the insertion part and has an insertion part-side protruding portion and finger rest protruding portions, and the insertion part-side protruding portion and the operation part-side protruding portion indicate a rotational movement position of the insertion part with respect to the operation part.

An endoscope includes a pulley provided in an operation portion, having an outer diameter larger than an inner diameter of an endoscope insertion portion, and configured to wind a wire connected to a bending portion; and a wire guard that is arranged to cover a predetermined range of an outer peripheral portion of the pulley, and includes a guide wall arranged to extend within a range of a radius of the pulley from a contact point position at which the wire in contact with the pulley is separated from the pulley in a longitudinal axis direction of the operation portion. The wire guard includes two members each formed in a substantially semicircular plate shape, and coupling parts formed in arc shapes extending from both end portions of the two members and configured to couple the two members.

A medical device may comprise a handle, a first shaft extending from a distal end of the handle, and a second shaft extending a lumen of the first shaft. The handle may further include a first actuator and a second actuator. The first shaft may include (1) a plurality of lumens extending therethrough, (2) a distal face, and (3) a longitudinal axis. Actuation of the first actuator may articulate a distal portion of the first shaft. The second shaft may be axially movable relative to the first shaft such that the second shaft extends out of a distal opening of the first lumen and distally of the distal face. Actuation of the second actuator may articulate a distal portion of the second shaft.