An actuation system for actuating concentric tubes of a concentric-tube robot. The actuation system is configured to actuate the concentric tubes from radially to one side of the concentric tubes.

A surgical instrument comprising a surgical end effector that comprises a first jaw and a second jaw that is movably supported relative to the first jaw for selective movement between an open position and closed positions. The surgical instrument further comprises a closure member that is axially movable in response to closing and opening motions. The closure member comprises at least one opening cam that protrudes therefrom to movably engage a corresponding cam surface on the second jaw such that upon application of the opening motion, the at least one opening cam movably engages the corresponding cam surface to move the second jaw to an open position, even when the jaws are under a load.

Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a main body that is composed of the wave washers stacked in an axial direction and kept a stacked state, the main body being bendable according to the expansion and contraction in the axial direction. Accordingly, linearity of load characteristics based on load and a bending angle is made high to make it possible to obtain the flexible tube having superior load bearing and bendability while conducting size reduction.

A method for attaching a drive rod to a knife includes: forming a knife having proximal and distal ends; forming an aperture within the proximal end of the knife, the aperture including a series of fins disposed therein; weaving a distal end of a knife rod through the series of fins in an alternating manner; and engaging a cap onto the distal end of the knife drive rod to secure the knife drive rod within the aperture of the knife.

A medical tool includes, a deflectable distal end, at least a pull wire, and a deflection assembly. The at least pull wire having a first end coupled to the distal end of the medical tool and configured to be moved for deflecting the distal end. The deflection assembly is coupled to a second end of at least the pull wire and is configured to control a deflection of the distal end. The deflection assembly includes a first gear having a first rotation axis, and a second gear, having a second rotation axis and including a jagged surface for integrating with the first gear. The jagged surface is slanted relative to the second rotation axis, and when the first gear rotates, the second gear is configured to be rotated by the first gear, to move along the second rotation axis and to deflect the distal end by moving the pull wire.

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.

A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. The system also includes a pull wire assembly comprising an elongate pull wire having a proximal end and a distal end and a securing element coupled to the distal end of the pull wire. The securing element includes a second outer diameter sized smaller than the first outer diameter of the anchoring element. The securing element is coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element.

Disclosed is a method for manufacturing a steerable instrument for endoscopic and/or invasive type applications, the instrument including an elongated tubular body having a proximal end part, a distal end part and an intermediate part between proximal and distal end parts, the proximal end part having at least one actuation proximal zone. The distal end part has at least one flexible distal zone, and the elongated tubular body is configured such that a movement of an actuation proximal zone is transferred to a corresponding flexible distal zone for a corresponding movement thereof. The elongated tubular body includes an inner, outer, and intermediate cylindrical elements having longitudinal elements between the inner and outer cylindrical elements. Inner, outer and intermediate cylindrical elements are coupled so movement of an actuation proximal zone is transferred by the longitudinal elements of one of the intermediate cylindrical elements to a corresponding flexible distal zone.

A surgical system includes an attaching device having an end effector disposed at the distal end thereof. The end effector includes a support member, a wrist pivot pivotably coupling the end effector to the attaching device, and first and second jaw members pivotably coupled to one another and the support member. A first cable is operably coupled to the wrist pivot and configured to articulate the end effector relative to the attaching device. Second and third cables are operably coupled to the jaw members and configured to pivot the jaw members relative to the support member. A first actuation of the second and third cables collectively pivots the first and second jaw members relative to the support member. A second actuation of the second and third cables pivots the first and second jaw members relative to one another and the support member between a spaced-apart position and an approximated position.

A device comprises a tubular member with a longitudinal axis having a proximal end and a distal end, at least one partial cut located at, along or near the distal end of the tubular member, the at least one partial cut comprising an orientation that is angled relative to both the longitudinal axis and an axis transverse to the longitudinal axis, a pusher member positioned within an interior of the tubular member and configured to selectively advance the distal end of the tubular member longitudinally, wherein the distal end of the tubular member is configured to at least partially rotate when the pusher member is advanced relative to the tubular member so at to facilitate placement of the distal end in a particular branch of a subject's intraluminal network, wherein the distal end of the tubular member is configured to longitudinally elongate along or near an area of the at least one partial cut.