A force estimation system for calculating force information regarding forces applied to one or more positions of a flexible tubular portion having flexibility through an arithmetic operation, the force estimation system comprising: a processor configured to input the deformation state and the mechanical property at a plurality of longitudinal positions of the flexible tubular portion, and calculates the force information of the force applied to the individual positions of the flexible tubular portion based on the deformed state and the mechanical property.

An instrument for endoscopic applications, including a tubular member having a handling end portion having a flexible portion and actuating devices located at the other end portion, and longitudinal elements for transferring the movement of the actuating devices to the handling end portion resulting in a change of orientation thereof, whereby the handling end portion includes at least two independent flexible portions, whereby the actuating end portion has a corresponding number of actuating devices, and whereby each actuating device is connected by its own set of longitudinal elements to a part of the handling end portion for effecting a change of orientation of one of the flexible portions.

A visualization system including multiple light sources, an image sensor configured to detect imaging data from the multiple light sources, and a control circuit is disclosed. At least one of the light sources is configured to emit a pattern of structured light. The control circuit is configured to receive the imaging data from the image sensor, generate a three-dimensional digital representation of the anatomical structure from the pattern of structured light detected by the imaging data, obtain metadata from the imaging data, overlay the metadata on the three-dimensional digital representation, receive updated imaging data from the image sensor, and generate an updated three-dimensional digital representation of the anatomical structure based on the updated imaging data. The visualization system can be communicatively coupled to a situational awareness module configured to determine a surgical scenario based on input signals from multiple surgical devices.

In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.

The endoscope includes an imaging device that is provided in a tip portion of an insertion part capable of being inserted into a body cavity. The imaging device includes an image sensor that photoelectrically converts imaging light incident on an image receiving surface thereof through an imaging lens provided in a lens barrel, and a circuit substrate including a connecting surface facing a terminal face that is a surface opposite to the image receiving surface of the image sensor. A plurality of terminals are uniformly arranged longitudinally and laterally in a two-dimensional matrix form on the terminal face of the image sensor, and the connecting surface of the circuit substrate and the terminal face of the image sensor are connected to each other through the plurality of terminals. The total area of the plurality of terminals on the terminal face occupies 10% or more of the area of an imaging area of the image receiving surface.

An endoscope system includes: an endoscope including an insertion portion configured to be inserted into a subject; a distance measurement unit configured to measure a distance between the insertion portion and an object by transmitting and receiving millimeter waves or submillimeter waves; and a flexible waveguide that has one end that is connected to the distance measurement unit and another end that is exposed to outside from a distal end of the insertion portion, the flexible waveguide being configured to propagates the millimeter waves or submillimeter waves transmitted and received by the distance measurement unit.

Some embodiments of a device comprise a tubular flexible body that includes a channel though a longitudinal axis; a first sensor that is located in a distal end of the tubular flexible body; a second sensor that is located in the distal end of the tubular flexible body; and wiring that connects to the first sensor and the second sensor and that extends to a proximal end of the tubular flexible body, wherein a sensed orientation of the first sensor is oriented opposite to a sensed orientation of the second sensor.

Devices and methods for treating rhinitis are provided. An integrated therapy and imaging device is provided for single handheld use. The device may have a hollow elongated cannula, a therapeutic element coupled to a distal portion of the cannula, an imaging assembly coupled to the cannula to provide visualization of the therapeutic element, and an articulating region operably coupled to the imaging assembly to articulate the imaging assembly. The imaging assembly may be articulated so as to translate vertically, laterally, axially, and/or rotationally.

An insertion support system includes a state acquisition apparatus configured to acquire first information. The first information includes at least one of: a plurality of pieces of position information related to a plurality of positions of an insertion section to be inserted into an insertion target body; and a plurality of pieces of direction vector information in a longitudinal axis direction of the insertion section. The insertion support system also includes a support information calculator configured to calculate second information related to a rotation quantity of the insertion section based on the first information, and an output section configured to output the second information.

A surgical instrument that includes a surgical end effector that is articulatable relative to a proximal shaft segment of the surgical instrument. The surgical end effector is attached to the proximal shaft segment by an articulation joint that comprises a plurality of movably interconnected links that interface with a centrally disposed drive member to apply articulation motions thereto and which serve to provide improved lateral stability to the articulation joint.