WO2009048796A3 - System for managing bowden cables in articulating instruments - Google Patents

System for managing bowden cables in articulating instruments Download PDF

Info

Publication number
WO2009048796A3
WO2009048796A3 PCT/US2008/078662 US2008078662W WO2009048796A3 WO 2009048796 A3 WO2009048796 A3 WO 2009048796A3 US 2008078662 W US2008078662 W US 2008078662W WO 2009048796 A3 WO2009048796 A3 WO 2009048796A3
Authority
WO
WIPO (PCT)
Prior art keywords
bowden cables
snake
articulating
coil pipes
managing
Prior art date
Application number
PCT/US2008/078662
Other languages
French (fr)
Other versions
WO2009048796A2 (en
Inventor
Bruce Woodley
Josh Oen
Aaron Brown
Chris Julian
Keith P Laby
Wade Keller
Lawrence Kerver
Marc Kreidler
Scott Reiner
Katherine Whitin
Original Assignee
Neoguide Systems Inc
Bruce Woodley
Josh Oen
Aaron Brown
Chris Julian
Keith P Laby
Wade Keller
Lawrence Kerver
Marc Kreidler
Scott Reiner
Katherine Whitin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Neoguide Systems Inc, Bruce Woodley, Josh Oen, Aaron Brown, Chris Julian, Keith P Laby, Wade Keller, Lawrence Kerver, Marc Kreidler, Scott Reiner, Katherine Whitin filed Critical Neoguide Systems Inc
Publication of WO2009048796A2 publication Critical patent/WO2009048796A2/en
Publication of WO2009048796A3 publication Critical patent/WO2009048796A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A61B1/0053—Constructional details of control elements, e.g. handles using distributed actuators, e.g. artificial muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
    • F16C1/106—Plurality of transmitting means, e.g. two or more parallel "Bowden cables"
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports

Abstract

The present invention relates, generally, to the reduction or elimination of permanent and catastrophic herniations in Bowden cables or coil pipes in articulating devices or snake-like robots. More particularly, the present invention relates managing the coil pipes in a spiral pattern along the articulating device or snake-like robot to reduce or eliminate the necessity of the Bowden cables or coil pipes to slide along the length of the articulating device or snake-like robot. Reduction or elimination of the necessity for the Bowden cables or coil pipes to slide reduces or eliminates catastrophic herniations in articulating devices or snake-like robots undergoing one or more articulations.
PCT/US2008/078662 2007-10-11 2008-10-03 System for managing bowden cables in articulating instruments WO2009048796A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/871,104 2007-10-11
US11/871,104 US9220398B2 (en) 2007-10-11 2007-10-11 System for managing Bowden cables in articulating instruments

Publications (2)

Publication Number Publication Date
WO2009048796A2 WO2009048796A2 (en) 2009-04-16
WO2009048796A3 true WO2009048796A3 (en) 2009-06-04

Family

ID=40010473

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/078662 WO2009048796A2 (en) 2007-10-11 2008-10-03 System for managing bowden cables in articulating instruments

Country Status (2)

Country Link
US (2) US9220398B2 (en)
WO (1) WO2009048796A2 (en)

Families Citing this family (106)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6468203B2 (en) 2000-04-03 2002-10-22 Neoguide Systems, Inc. Steerable endoscope and improved method of insertion
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US6610007B2 (en) 2000-04-03 2003-08-26 Neoguide Systems, Inc. Steerable segmented endoscope and method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
WO2007137208A2 (en) 2006-05-19 2007-11-29 Neoguide Systems, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
JP5373632B2 (en) 2007-01-29 2013-12-18 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Surgical system that minimizes invasion and method of operating the system
GB2455804A (en) * 2007-12-21 2009-06-24 Oliver Crispin Robotics Ltd A robotic arm for use with a rotary machine
EP2249690B1 (en) 2008-02-06 2021-09-29 Intuitive Surgical Operations, Inc. A segmented instrument having braking capabilities
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
CA2721216C (en) 2008-04-11 2016-06-14 The Regents Of The University Of Michigan Minimal access tool
US9869339B2 (en) 2008-04-11 2018-01-16 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
US20100121148A1 (en) * 2008-11-11 2010-05-13 Intuitive Surgical, Inc. Method and system for steerable medical device path definition and following during insertion and retraction
US8568302B2 (en) 2008-11-11 2013-10-29 Intuitive Surgical Operations, Inc. Method and system for steerable medical device path definition and following during insertion and retraction
US9055865B2 (en) * 2008-11-11 2015-06-16 Intuitive Surgical Operations, Inc. Method and system for measuring inserted length of a medical device using internal referenced sensors
US9687986B2 (en) * 2008-11-11 2017-06-27 Intuitive Surgical Operations, Inc. Robotic linkage
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US20120071894A1 (en) 2010-09-17 2012-03-22 Tanner Neal A Robotic medical systems and methods
US9038880B1 (en) * 2011-04-25 2015-05-26 Cardica, Inc. Articulated surgical instrument
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
US9675781B2 (en) * 2011-08-04 2017-06-13 Kings College London Continuum manipulator
US9119639B2 (en) * 2011-08-09 2015-09-01 DePuy Synthes Products, Inc. Articulated cavity creator
CN102514646B (en) * 2011-12-19 2013-05-22 北京理工大学 Friction driving device of snake robot rope and snake robot rope
US9211134B2 (en) 2012-04-09 2015-12-15 Carefusion 2200, Inc. Wrist assembly for articulating laparoscopic surgical instruments
WO2013158974A1 (en) 2012-04-20 2013-10-24 Vanderbilt University Dexterous wrists for surgical intervention
WO2013184192A2 (en) * 2012-05-12 2013-12-12 Massachusetts Institute Of Technology Continuum style manipulator actuated with phase change media
US9233225B2 (en) 2012-11-10 2016-01-12 Curvo Medical, Inc. Coaxial bi-directional catheter
US9549666B2 (en) 2012-11-10 2017-01-24 Curvo Medical, Inc. Coaxial micro-endoscope
US9439693B2 (en) 2013-02-01 2016-09-13 DePuy Synthes Products, Inc. Steerable needle assembly for use in vertebral body augmentation
US10080576B2 (en) 2013-03-08 2018-09-25 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
CN111166274A (en) * 2013-10-24 2020-05-19 奥瑞斯健康公司 Robotically-assisted endoluminal surgical systems and related methods
WO2015061692A1 (en) 2013-10-25 2015-04-30 Intuitive Surgical Operations, Inc. Flexible instrument with embedded actuation conduits
US10716637B2 (en) * 2013-10-25 2020-07-21 Intuitive Surgical Operations, Inc. Flexible instrument with grooved steerable tube
JP6129087B2 (en) * 2014-01-14 2017-05-17 オリンパス株式会社 Joint mechanism, manipulator and manipulator system
CN106163421B (en) * 2014-02-21 2021-09-24 直观外科手术操作公司 Articulatable members with constrained motion and related apparatus and methods
CN103878784B (en) * 2014-03-19 2016-03-09 苏州大学 One is snake-shaped robot joint module under water
US10743750B2 (en) 2014-04-28 2020-08-18 Massachusetts Institute Of Technology Multi-link modular continuum robotic endoscope system
JP6234332B2 (en) * 2014-06-25 2017-11-22 オリンパス株式会社 Endoscope apparatus, operation method, and operation program
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US11273290B2 (en) * 2014-09-10 2022-03-15 Intuitive Surgical Operations, Inc. Flexible instrument with nested conduits
JPWO2016063348A1 (en) * 2014-10-21 2017-09-28 オリンパス株式会社 Bending mechanism and flexible medical device
GB201504843D0 (en) * 2015-03-23 2015-05-06 Rolls Royce Plc Flexible tools and apparatus for machining objects
US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
WO2016161449A1 (en) 2015-04-03 2016-10-06 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
KR101700885B1 (en) * 2015-06-23 2017-02-01 한국과학기술연구원 Robot system for operation using a plurality of tube continuum
WO2017041052A1 (en) 2015-09-03 2017-03-09 Neptune Medical Device for endoscopic advancement through the small intestine
WO2017059442A1 (en) 2015-10-02 2017-04-06 Flexdex, Inc. Handle mechanism providing unlimited roll
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
EP3359054A4 (en) * 2015-10-05 2019-08-14 Flexdex, Inc. Medical devices having smoothly articulating multi-cluster joints
CN113303917A (en) 2016-02-05 2021-08-27 得克萨斯系统大学董事会 Surgical device
CN112138265B (en) 2016-02-05 2022-10-28 得克萨斯系统大学董事会 Method for producing polymer electrolyte layer in tubular shape
WO2018006386A1 (en) * 2016-07-08 2018-01-11 深圳市先赞科技有限公司 Endoscope insert assembly using equidistant spring and supporting component
CN106695879A (en) * 2016-08-09 2017-05-24 北京动力京工科技有限公司 Ultra-elastic alloy slice mechanical arm
US11122971B2 (en) 2016-08-18 2021-09-21 Neptune Medical Inc. Device and method for enhanced visualization of the small intestine
WO2018034021A1 (en) * 2016-08-19 2018-02-22 オリンパス株式会社 Endoscope
US10729886B2 (en) 2016-08-24 2020-08-04 Intuitive Surgical Operations, Inc. Axial support structure for a flexible elongate device
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
WO2018102718A1 (en) 2016-12-02 2018-06-07 Vanderbilt University Steerable endoscope with continuum manipulator
CN106695770A (en) * 2017-02-24 2017-05-24 哈尔滨工业大学深圳研究生院 Flexible arm joint group
CN106625638B (en) * 2017-02-28 2019-04-12 深圳源创智能机器人有限公司 A kind of fast changeable linkage flexible charging robot based on rope driving
KR102090363B1 (en) * 2017-03-06 2020-03-17 한양대학교 에리카산학협력단 Flexible mechanism
AU2018270785B2 (en) 2017-05-17 2023-11-23 Auris Health, Inc. Exchangeable working channel
DE102017212460B4 (en) * 2017-07-20 2019-07-11 Leoni Kabel Gmbh SENSOR LINE
GB201713277D0 (en) * 2017-08-18 2017-10-04 Rolls Royce Plc Hyper-redundant manipulators
WO2019055701A1 (en) 2017-09-13 2019-03-21 Vanderbilt University Continuum robots with multi-scale motion through equilibrium modulation
US11129634B2 (en) 2017-10-30 2021-09-28 Cilag Gmbh International Surgical instrument with rotary drive selectively actuating multiple end effector functions
US10736616B2 (en) 2017-10-30 2020-08-11 Ethicon Llc Surgical instrument with remote release
US10932804B2 (en) 2017-10-30 2021-03-02 Ethicon Llc Surgical instrument with sensor and/or control systems
CN107813304A (en) * 2017-11-22 2018-03-20 华南农业大学 A kind of bionical snake-shaped robot multi-freedom joint module
CN107932491A (en) * 2017-12-12 2018-04-20 南京航空航天大学 The continuous humanoid robot of multifreedom motion
CN208659304U (en) * 2018-01-02 2019-03-29 珠海嘉润医用影像科技有限公司 A kind of bending section for disposable endoscope
US11559597B2 (en) * 2018-01-23 2023-01-24 Clarus Medical, Llc Medical device inspection system
CN110831480B (en) 2018-03-28 2023-08-29 奥瑞斯健康公司 Medical device with variable bending stiffness profile
US11458641B2 (en) * 2018-05-23 2022-10-04 General Electric Company Robotic arm assembly construction
US10730179B2 (en) * 2018-05-29 2020-08-04 General Electric Company Robotic arm assembly construction
IL259807B (en) 2018-06-04 2020-02-27 Valuebiotech Israel Ltd Articulation arm link
WO2020018934A1 (en) 2018-07-19 2020-01-23 Nep Tune Medical Inc. Dynamically rigidizing composite medical structures
WO2020033318A1 (en) 2018-08-07 2020-02-13 Auris Health, Inc. Combining strain-based shape sensing with catheter control
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
EP3860426A4 (en) 2018-10-02 2022-12-07 Convergascent LLC Endoscope with inertial measurement units and/or haptic input controls
US11707819B2 (en) 2018-10-15 2023-07-25 General Electric Company Selectively flexible extension tool
KR102159813B1 (en) * 2018-12-27 2020-09-24 재단법인대구경북과학기술원 Compliant joint
US11702955B2 (en) 2019-01-14 2023-07-18 General Electric Company Component repair system and method
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
US11793392B2 (en) 2019-04-17 2023-10-24 Neptune Medical Inc. External working channels
DE102019121039A1 (en) * 2019-08-05 2021-02-11 Karl Storz Se & Co. Kg Endoscopic device
KR20220050151A (en) 2019-08-15 2022-04-22 아우리스 헬스, 인코포레이티드 Medical device having multiple bend sections
US11865703B2 (en) * 2019-12-05 2024-01-09 Sanctuary Cognitive Systems Corporation Flexible mechanical joint
EP4084717A4 (en) 2019-12-31 2024-02-14 Auris Health Inc Dynamic pulley system
US11692650B2 (en) 2020-01-23 2023-07-04 General Electric Company Selectively flexible extension tool
US11752622B2 (en) 2020-01-23 2023-09-12 General Electric Company Extension tool having a plurality of links
US11613003B2 (en) * 2020-01-24 2023-03-28 General Electric Company Line assembly for an extension tool having a plurality of links
US11371437B2 (en) 2020-03-10 2022-06-28 Oliver Crispin Robotics Limited Insertion tool
KR20230007343A (en) 2020-03-30 2023-01-12 넵튠 메디컬 인코포레이티드 Stacked walls to stiffen devices
IL297954A (en) 2020-06-02 2023-01-01 Flexdex Inc Surgical tool and assembly
CN111993399A (en) * 2020-08-13 2020-11-27 河南科技大学 Snakelike robot monomer structure
CN116490239A (en) 2020-11-09 2023-07-25 敏捷设备有限公司 Device for steering a catheter
CN112405508B (en) * 2020-11-23 2022-02-08 长沙理工大学 Wire-driven snakelike arm robot capable of achieving bending motion decoupling
US11654547B2 (en) 2021-03-31 2023-05-23 General Electric Company Extension tool
CN114043512B (en) * 2021-12-06 2023-09-22 北京理工大学 Continuous grabbing robot with hidden tail end grippers and control method thereof
US20230346205A1 (en) 2022-04-27 2023-11-02 Neptune Medical Inc. Multi-lumen port adapter manifold devices and methods of use

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0165718A2 (en) * 1984-05-22 1985-12-27 Pilkington Medical Systems Limited (formely Minvade Limited) Endoscopes
DE4102211A1 (en) * 1990-01-26 1991-08-01 Asahi Optical Co Ltd Endoscope bending guide - has coaxial cylindrical components joined by pair of metal spirals
EP1101442A2 (en) * 1999-11-19 2001-05-23 Marconi Caswell Limited Endoscope suitable for magnetic resonance imaging
WO2004019769A1 (en) * 2002-08-27 2004-03-11 Neoguide Systems, Inc. Tendon-dirven endoscope and methods of insertion
EP1681013A1 (en) * 2004-09-03 2006-07-19 Olympus Corporation Endoscope

Family Cites Families (394)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US593369A (en) * 1897-11-09 Return-wire connection for electric railways
US616672A (en) 1898-12-27 kelling
US1133070A (en) * 1914-08-19 1915-03-23 Lawrence A Subers Flexible interlocking spring-tube.
US2087373A (en) * 1934-02-23 1937-07-20 Bendix Brake Co Conduit
US2510198A (en) 1947-10-17 1950-06-06 Earl B Tesmer Flexible positioner
US2533494A (en) 1949-02-18 1950-12-12 Jr Iverson O Mitchell Adjustable article support
US2874722A (en) * 1952-10-06 1959-02-24 Eva F Hamblin Buoyant, insulated flexible tubing and method of making same
US2767705A (en) 1954-10-08 1956-10-23 Technical Oil Tool Corp Sigmoidoscope with suction attachment for immobilizing adjacent tissue
US3060972A (en) 1957-08-22 1962-10-30 Bausch & Lomb Flexible tube structures
NL106631C (en) 1960-02-04 1963-11-15 Pieter Johannes Meijs SUPPORT AND LOCKING DEVICE, IN PARTICULAR FOR A TIMER
US3071161A (en) 1960-05-16 1963-01-01 Bausch & Lomb Bidirectionally flexible segmented tube
US3190286A (en) 1961-10-31 1965-06-22 Bausch & Lomb Flexible viewing probe for endoscopic use
GB983560A (en) 1962-09-18 1965-02-17 Polymathic Engineering Company Supporting stand for instruments, tools and the like
US3162214A (en) 1963-01-16 1964-12-22 American Optical Corp Flexible tubular structures
US3266059A (en) 1963-06-19 1966-08-16 North American Aviation Inc Prestressed flexible joint for mechanical arms and the like
US3430662A (en) 1964-09-21 1969-03-04 Stephen Guarnaschelli Flexible segmented tube
US3435634A (en) * 1967-03-06 1969-04-01 Newton L Chatham Wire cable housing
US3610231A (en) 1967-07-21 1971-10-05 Olympus Optical Co Endoscope
US3546961A (en) 1967-12-22 1970-12-15 Gen Electric Variable flexibility tether
US3497083A (en) * 1968-05-10 1970-02-24 Us Navy Tensor arm manipulator
JPS4831554B1 (en) 1968-12-24 1973-09-29
US3625084A (en) 1970-09-21 1971-12-07 Nasa Flexible/rigidifiable cable assembly
US3739770A (en) 1970-10-09 1973-06-19 Olympus Optical Co Bendable tube of an endoscope
US3946727A (en) 1971-06-15 1976-03-30 Olympus Optical Co., Ltd. Flexible tube assembly for an endoscope
US3773034A (en) 1971-11-24 1973-11-20 Itt Research Institute Steerable catheter
US3871358A (en) 1972-08-04 1975-03-18 Olympus Optical Co Guiding tube for the insertion of an admissible medical implement into a human body
US3780740A (en) 1972-11-01 1973-12-25 J Rhea Intubation device and method of advancing a tube past the pylorus
JPS506192A (en) 1973-05-18 1975-01-22
US3897775A (en) 1973-09-07 1975-08-05 Olympus Optical Co Endoscope with facile bending operation
US3858578A (en) 1974-01-21 1975-01-07 Pravel Wilson & Matthews Surgical retaining device
US3990434A (en) 1975-02-18 1976-11-09 The United States Of America As Represented By The Department Of Health, Education And Welfare Reversible intravasal occlusive device
US4054128A (en) 1976-09-28 1977-10-18 Universite De Sherbrooke Device for carrying observation and/or manipulation instruments
DE2657255A1 (en) 1976-12-17 1978-06-29 P H Dr Schomacher DEVICE FOR CLOSING SEPARATED BODY BARRELS
JPS5940002Y2 (en) 1976-12-28 1984-11-12 株式会社メドス研究所 Bending device in endoscope
US4176662A (en) 1977-06-17 1979-12-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Apparatus for endoscopic examination
DE2823025C2 (en) 1978-05-26 1986-02-06 Rolf 2300 Quarnbek Emeis Device for transporting an instrument (colonoscope) for colon diagnostics and / or therapy
JPS5754724Y2 (en) 1978-10-03 1982-11-26
SU871786A1 (en) 1978-12-04 1981-10-15 Сктб Средств Неразрушающего Контроля Pipe for endoscopy
JPS5586435A (en) 1978-12-22 1980-06-30 Olympus Optical Co Endoscope
SE419421B (en) 1979-03-16 1981-08-03 Ove Larson RESIDENTIAL ARM IN SPECIAL ROBOT ARM
US4494417A (en) 1979-03-16 1985-01-22 Robotgruppen Hb Flexible arm, particularly a robot arm
JPS6041203Y2 (en) 1979-04-03 1985-12-14 富士写真光機株式会社 Curved tube part of endoscope
JPS606652B2 (en) 1979-11-16 1985-02-19 オリンパス光学工業株式会社 Flexible tube for endoscope
US4366810A (en) 1980-08-28 1983-01-04 Slanetz Jr Charles A Tactile control device for a remote sensing device
US4483326A (en) * 1981-04-21 1984-11-20 Kabushiki Kaisha Medos Kenkyusho Curvature control mechanism in endoscopes
DE3277287D1 (en) 1981-10-15 1987-10-22 Olympus Optical Co Endoscope system with an electric bending mechanism
DE3278275D1 (en) 1981-10-22 1988-05-05 Olympus Optical Co Endoscope apparatus with motor-driven bending mechanism
JPS5878639A (en) 1981-11-04 1983-05-12 オリンパス光学工業株式会社 Endoscope
US4601283A (en) 1981-12-07 1986-07-22 Machida Endoscope Co., Ltd. Endoscope with a memory shape alloy to control tube bending
US4489826A (en) 1982-02-05 1984-12-25 Philip Dubson Adjustable apparatus
JPS5953188A (en) 1982-09-22 1984-03-27 株式会社日立製作所 Multiple articulated manipulator
US4643184A (en) 1982-09-29 1987-02-17 Mobin Uddin Kazi Embolus trap
US4551061A (en) 1983-04-18 1985-11-05 Olenick Ralph W Flexible, extensible robot arm
GB2145691B (en) 1983-08-29 1987-06-03 Toshiba Kk Extendible and contractable arms
US4543090A (en) 1983-10-31 1985-09-24 Mccoy William C Steerable and aimable catheter
JPS60179713A (en) 1984-02-28 1985-09-13 Olympus Optical Co Ltd Endoscope device
JPS60176417U (en) 1984-05-02 1985-11-22 株式会社　町田製作所 Guide tube for endoscope insertion
JPS60187737U (en) 1984-05-23 1985-12-12 オリンパス光学工業株式会社 Indwelling tube guide device
US4651718A (en) 1984-06-29 1987-03-24 Warner-Lambert Technologies Inc. Vertebra for articulatable shaft
DE3426024A1 (en) 1984-07-14 1986-01-16 Robert 5442 Mendig Merkt KIT FOR MANUFACTURING AN ASSEMBLY GAUGE FOR PIPELINES, IN PARTICULAR PIPELINES FOR HYDRAULIC OR PNEUMATIC SWITCHING OR. WORKING PARTIES
US4754909A (en) 1984-08-09 1988-07-05 Barker John M Flexible stapler
US4577621A (en) 1984-12-03 1986-03-25 Patel Jayendrakumar I Endoscope having novel proximate and distal portions
US4646722A (en) 1984-12-10 1987-03-03 Opielab, Inc. Protective endoscope sheath and method of installing same
DE3447642C1 (en) 1984-12-28 1986-09-18 Bernhard M. Dr. 5600 Wuppertal Cramer Steerable guidewire for catheters
SU1256955A1 (en) 1985-01-17 1986-09-15 Всесоюзный Проектно-Технологический Институт Тяжелого Машиностроения Manipulator
JPH055529Y2 (en) 1985-03-25 1993-02-15
US4624243A (en) 1985-04-08 1986-11-25 American Hospital Supply Corp. Endoscope having a reusable eyepiece and a disposable distal section
US4601713A (en) * 1985-06-11 1986-07-22 Genus Catheter Technologies, Inc. Variable diameter catheter
US4683773A (en) 1985-06-27 1987-08-04 Gary Diamond Robotic device
SU1301701A1 (en) 1985-11-04 1987-04-07 Государственный Научно-Исследовательский Институт Машиноведения Им.А.А.Благонравова Industrial robot actuating device
JPS62113125A (en) 1985-11-13 1987-05-25 Olympus Optical Co Ltd Endoscope
JPS62139626A (en) 1985-12-13 1987-06-23 オリンパス光学工業株式会社 Flexible tube for endoscope
DE3704247A1 (en) 1986-02-14 1987-08-20 Olympus Optical Co ENDOSCOPE INSERTION DEVICE
JPS62192134A (en) 1986-02-17 1987-08-22 オリンパス光学工業株式会社 Curved part device for endoscope
US4686963A (en) 1986-03-05 1987-08-18 Circon Corporation Torsion resistant vertebrated probe of simple construction
US4799474A (en) 1986-03-13 1989-01-24 Olympus Optical Co., Ltd. Medical tube to be inserted in body cavity
DE3734979A1 (en) 1986-10-16 1988-04-28 Olympus Optical Co ENDOSCOPE
US4917114A (en) 1986-10-17 1990-04-17 United States Surgical Corporation Surgical fastener and surgical stapling apparatus
US4753223A (en) 1986-11-07 1988-06-28 Bremer Paul W System for controlling shape and direction of a catheter, cannula, electrode, endoscope or similar article
JPS63123011A (en) 1986-11-12 1988-05-26 Olympus Optical Co Ltd Endoscope
US4895431A (en) 1986-11-13 1990-01-23 Olympus Optical Co., Ltd. Method of processing endoscopic images
US4793326A (en) 1986-12-08 1988-12-27 Olympus Optical Co., Ltd. Endoscope having insertion end guide means
US4832473A (en) 1987-02-06 1989-05-23 Olympus Optical Co., Ltd. Endoscope with elastic actuator comprising a synthetic rubber tube with only radial expansion controlled by a mesh-like tube
EP0279316B1 (en) 1987-02-09 1994-05-25 Sumitomo Electric Industries Limited Mechanism for bending elongated body
JPS63136014U (en) 1987-02-25 1988-09-07
DE3707787A1 (en) 1987-03-11 1988-09-22 Patrik Dr Med Gruendler Endoscope
JPS63272322A (en) 1987-05-01 1988-11-09 Olympus Optical Co Ltd Apparatus for detecting curvature of leading end part of endoscope
US4807593A (en) 1987-05-08 1989-02-28 Olympus Optical Co. Ltd. Endoscope guide tube
US4884557A (en) 1987-05-15 1989-12-05 Olympus Optical Co., Ltd. Endoscope for automatically adjusting an angle with a shape memory alloy
US4796607A (en) 1987-07-28 1989-01-10 Welch Allyn, Inc. Endoscope steering section
IT1235460B (en) 1987-07-31 1992-07-30 Confida Spa FLEXIBLE ENDOSCOPE.
US4787369A (en) 1987-08-14 1988-11-29 Welch Allyn, Inc. Force relieving, force limiting self-adjusting steering for borescope or endoscope
US4890602A (en) 1987-11-25 1990-01-02 Hake Lawrence W Endoscope construction with means for controlling rigidity and curvature of flexible endoscope tube
US4815450A (en) 1988-02-01 1989-03-28 Patel Jayendra I Endoscope having variable flexibility
US4930494A (en) 1988-03-09 1990-06-05 Olympus Optical Co., Ltd. Apparatus for bending an insertion section of an endoscope using a shape memory alloy
JP2619912B2 (en) 1988-04-13 1997-06-11 オリンパス光学工業株式会社 Shape memory actuator
US4834068A (en) 1988-03-18 1989-05-30 Gottesman James E Barrier shield method and apparatus for optical-medical devices
US4987314A (en) 1988-04-21 1991-01-22 Olympus Optical Co., Ltd. Actuator apparatus utilizing a shape-memory alloy
US5005558A (en) 1988-05-16 1991-04-09 Kabushiki Kaisha Toshiba Endoscope
JPH067287Y2 (en) 1988-07-18 1994-02-23 マツダ株式会社 Seated shape memory member
US4873990A (en) 1988-09-23 1989-10-17 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Circumferential pressure probe
GB2226245A (en) 1988-11-18 1990-06-27 Alan Crockard Endoscope, remote actuator and aneurysm clip applicator.
EP0382974A1 (en) 1989-01-23 1990-08-22 C.R. Bard, Inc. Braided guide wire and method for the use thereof
US4977886A (en) 1989-02-08 1990-12-18 Olympus Optical Co., Ltd. Position controlling apparatus
US5018509A (en) 1989-02-21 1991-05-28 Olympus Optical Co., Ltd. Endoscope insertion controlling apparatus
JP2981556B2 (en) 1989-02-28 1999-11-22 旭光学工業株式会社 Endoscope tip
US4919112B1 (en) * 1989-04-07 1993-12-28 Low-cost semi-disposable endoscope
US5421337A (en) 1989-04-14 1995-06-06 Massachusetts Institute Of Technology Spectral diagnosis of diseased tissue
JPH0651018B2 (en) 1989-05-02 1994-07-06 株式会社東芝 Endoscope
US5014709A (en) 1989-06-13 1991-05-14 Biologic Systems Corp. Method and apparatus for high resolution holographic imaging of biological tissue
US5207695A (en) 1989-06-19 1993-05-04 Trout Iii Hugh H Aortic graft, implantation device, and method for repairing aortic aneurysm
DE3921233A1 (en) * 1989-06-28 1991-02-14 Storz Karl Gmbh & Co ENDOSCOPE WITH A VIDEO DEVICE AT THE DISTAL END
US5005559A (en) 1989-07-27 1991-04-09 Massachusetts Institute Of Technology Video-graphic arthroscopy system
DE3925484A1 (en) 1989-08-01 1991-02-07 Bob Konstantin DEVICE FOR INSERTING A MEDICAL ENDOSCOPE INTO A BODY CHANNEL
US5060632A (en) 1989-09-05 1991-10-29 Olympus Optical Co., Ltd. Endoscope apparatus
US4957486A (en) 1989-10-02 1990-09-18 Davis Emsley A Rectal-stomal insert apparatus and method
US4949927A (en) 1989-10-17 1990-08-21 John Madocks Articulable column
DE3935256C1 (en) 1989-10-23 1991-01-03 Bauerfeind, Peter, Dr., 8264 Waldkraiburg, De
US5257617A (en) 1989-12-25 1993-11-02 Asahi Kogaku Kogyo Kabushiki Kaisha Sheathed endoscope and sheath therefor
JPH03218723A (en) 1990-01-24 1991-09-26 Toshiba Corp Endoscope
US5025778A (en) 1990-03-26 1991-06-25 Opielab, Inc. Endoscope with potential channels and method of using the same
US5253647A (en) 1990-04-13 1993-10-19 Olympus Optical Co., Ltd. Insertion position and orientation state pickup for endoscope
US5092901A (en) 1990-06-06 1992-03-03 The Royal Institution For The Advancement Of Learning (Mcgill University) Shape memory alloy fibers having rapid twitch response
JPH04122233A (en) 1990-09-11 1992-04-22 Toshiba Corp Endoscope
US5125395A (en) 1990-09-12 1992-06-30 Adair Edwin Lloyd Deflectable sheath for optical catheter
GB9023394D0 (en) 1990-10-26 1990-12-05 Gore W L & Ass Uk Segmented flexible housing
JP2598568B2 (en) * 1990-11-20 1997-04-09 オリンパス光学工業株式会社 Electronic endoscope device
JP3136630B2 (en) 1991-03-05 2001-02-19 株式会社日立製作所 Nuclear magnetic resonance equipment
US5531664A (en) 1990-12-26 1996-07-02 Olympus Optical Co., Ltd. Bending actuator having a coil sheath with a fixed distal end and a free proximal end
US5228429A (en) 1991-01-14 1993-07-20 Tadashi Hatano Position measuring device for endoscope
US5250058A (en) 1991-01-17 1993-10-05 Ethicon, Inc. Absorbable anastomosic fastener means
US5188111A (en) 1991-01-18 1993-02-23 Catheter Research, Inc. Device for seeking an area of interest within a body
US5400769A (en) 1991-02-18 1995-03-28 Olympus Optical Co., Ltd. Electrically bendable endoscope apparatus having controlled fixed bending speed
JP3063784B2 (en) 1991-03-26 2000-07-12 オリンパス光学工業株式会社 Endoscope device
US5347987A (en) 1991-04-08 1994-09-20 Feldstein David A Self-centering endoscope system
JP3065702B2 (en) 1991-04-23 2000-07-17 オリンパス光学工業株式会社 Endoscope system
US6485413B1 (en) 1991-04-29 2002-11-26 The General Hospital Corporation Methods and apparatus for forward-directed optical scanning instruments
US5251611A (en) 1991-05-07 1993-10-12 Zehel Wendell E Method and apparatus for conducting exploratory procedures
CA2042075C (en) 1991-05-08 2001-01-23 Branko Palcic Endoscopic imaging system
US5127393A (en) 1991-05-28 1992-07-07 Medilase, Inc. Flexible endoscope with rigid introducer
US5159446A (en) 1991-06-21 1992-10-27 Olympus Optical Co., Ltd. Electronic endoscope system provided with a separate camera controlling unit and motor controlling unit
US5769792A (en) 1991-07-03 1998-06-23 Xillix Technologies Corp. Endoscopic imaging system for diseased tissue
US5456714A (en) 1991-07-04 1995-10-10 Owen; Earl R. Tubular surgical implant having a locking ring and flange
JPH0523291A (en) 1991-07-24 1993-02-02 Machida Endscope Co Ltd Curved tube of endoscope
JPH05184526A (en) 1991-09-17 1993-07-27 Olympus Optical Co Ltd Bending mechanism for flexible tube
US5343874A (en) 1991-09-27 1994-09-06 Applied Medical Technology, Inc. Tract measuring device
US5370108A (en) 1991-10-02 1994-12-06 Asahi Kogaku Kogyo Kabushiki Kaisha Endoscope
JP3149219B2 (en) 1991-10-15 2001-03-26 旭光学工業株式会社 Covering structure of curved part of endoscope
US5197649A (en) 1991-10-29 1993-03-30 The Trustees Of Columbia University In The City Of New York Gastrointestinal endoscoptic stapler
US5271381A (en) 1991-11-18 1993-12-21 Vision Sciences, Inc. Vertebrae for a bending section of an endoscope
US5217001A (en) 1991-12-09 1993-06-08 Nakao Naomi L Endoscope sheath and related method
US5469840A (en) 1991-12-10 1995-11-28 Olympus Optical, Ltd. Electromotive warping type endoscope with velocity control
US6808520B1 (en) * 1991-12-13 2004-10-26 Endovascular Technologies, Inc. Dual valve, flexible expandable sheath and method
US5348259A (en) 1992-02-10 1994-09-20 Massachusetts Institute Of Technology Flexible, articulable column
US5658238A (en) 1992-02-25 1997-08-19 Olympus Optical Co., Ltd. Endoscope apparatus capable of being switched to a mode in which a curvature operating lever is returned and to a mode in which the curvature operating lever is not returned
US5234448A (en) 1992-02-28 1993-08-10 Shadyside Hospital Method and apparatus for connecting and closing severed blood vessels
US5279559A (en) 1992-03-06 1994-01-18 Aai Corporation Remote steering system for medical catheter
US5624380A (en) 1992-03-12 1997-04-29 Olympus Optical Co., Ltd. Multi-degree of freedom manipulator
US5425738A (en) 1992-04-08 1995-06-20 American Cyanamid Company Endoscopic anastomosis ring insertion device and method of use thereof
US5602449A (en) 1992-04-13 1997-02-11 Smith & Nephew Endoscopy, Inc. Motor controlled surgical system and method having positional control
US6096289A (en) 1992-05-06 2000-08-01 Immunomedics, Inc. Intraoperative, intravascular, and endoscopic tumor and lesion detection, biopsy and therapy
US5325845A (en) 1992-06-08 1994-07-05 Adair Edwin Lloyd Steerable sheath for use with selected removable optical catheter
US5482029A (en) 1992-06-26 1996-01-09 Kabushiki Kaisha Toshiba Variable flexibility endoscope system
US5297443A (en) 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
US5402768A (en) 1992-09-01 1995-04-04 Adair; Edwin L. Endoscope with reusable core and disposable sheath with passageways
WO1994005200A1 (en) * 1992-09-01 1994-03-17 Adair Edwin Lloyd Sterilizable endoscope with separable disposable tube assembly
US5772597A (en) 1992-09-14 1998-06-30 Sextant Medical Corporation Surgical tool end effector
US5337732A (en) 1992-09-16 1994-08-16 Cedars-Sinai Medical Center Robotic endoscopy
US5662587A (en) 1992-09-16 1997-09-02 Cedars Sinai Medical Center Robotic endoscopy
US5279610A (en) 1992-11-06 1994-01-18 Cook Incorporated Oroesophageal, instrument introducer assembly and method of use
US5439000A (en) 1992-11-18 1995-08-08 Spectrascience, Inc. Method of diagnosing tissue with guidewire
US5383467A (en) 1992-11-18 1995-01-24 Spectrascience, Inc. Guidewire catheter and apparatus for diagnostic imaging
US5383852A (en) 1992-12-04 1995-01-24 C. R. Bard, Inc. Catheter with independent proximal and distal control
DE4244990C2 (en) 1992-12-15 2002-03-14 Stm Medtech Starnberg Device for moving an endoscope shaft along a channel-like cavity
US5460168A (en) 1992-12-25 1995-10-24 Olympus Optical Co., Ltd. Endoscope cover assembly and cover-system endoscope
US5653690A (en) * 1992-12-30 1997-08-05 Medtronic, Inc. Catheter having a balloon with retention enhancement
US5405337A (en) 1993-02-24 1995-04-11 The Board Of Trustees Of The Leland Stanford Junior University Spatially distributed SMA actuator film providing unrestricted movement in three dimensional space
US5460166A (en) 1993-03-11 1995-10-24 Olympus Optical, Ltd. Endoscope of an endoscope cover system wherein, at the time of the maximum curvature, a fluid tube path will be curved as twisted so as to move to the side on which the radius of curvature will become larger
US5551945A (en) 1993-03-16 1996-09-03 Olympus Optical Co., Ltd. Endoscope system including endoscope and protection cover
US5413108A (en) 1993-04-21 1995-05-09 The Research Foundation Of City College Of New York Method and apparatus for mapping a tissue sample for and distinguishing different regions thereof based on luminescence measurements of cancer-indicative native fluorophor
US5507717A (en) 1993-05-24 1996-04-16 Olympus Optical Co., Ltd. Device for bending the insertion section of an endoscope
US5487757A (en) 1993-07-20 1996-01-30 Medtronic Cardiorhythm Multicurve deflectable catheter
US5415633A (en) 1993-07-28 1995-05-16 Active Control Experts, Inc. Remotely steered catheterization device
US5556370A (en) 1993-07-28 1996-09-17 The Board Of Trustees Of The Leland Stanford Junior University Electrically activated multi-jointed manipulator
CA2170729A1 (en) 1993-08-30 1995-03-09 Andreas Grundl Endoscope with a movable frontal end area
US5389222A (en) 1993-09-21 1995-02-14 The United States Of America As Represented By The United States Department Of Energy Spring-loaded polymeric gel actuators
US5577992A (en) 1993-10-05 1996-11-26 Asahi Kogaku Kogyo Kabushiki Kaisha Bendable portion of endoscope
US5558091A (en) 1993-10-06 1996-09-24 Biosense, Inc. Magnetic determination of position and orientation
US5451221A (en) * 1993-12-27 1995-09-19 Cynosure, Inc. Endoscopic light delivery system
US5449206A (en) 1994-01-04 1995-09-12 Lockwood Products, Inc. Ball and socket joint with internal stop
US5860581A (en) 1994-03-24 1999-01-19 United States Surgical Corporation Anvil for circular stapler
US5590660A (en) 1994-03-28 1997-01-07 Xillix Technologies Corp. Apparatus and method for imaging diseased tissue using integrated autofluorescence
US5429118A (en) 1994-04-07 1995-07-04 Cook (Canada) Incorporated Disposable medical scope sheath
US5662585A (en) * 1994-05-05 1997-09-02 Imagyn Medical, Inc. Endoscope with protruding member and method of utilizing the same
US5842973A (en) 1994-05-17 1998-12-01 Bullard; James Roger Nasal intubation apparatus
US5558665A (en) 1994-06-24 1996-09-24 Archimedes Surgical, Inc. Surgical instrument and method for intraluminal retraction of an anatomic structure
US5624381A (en) 1994-08-09 1997-04-29 Kieturakis; Maciej J. Surgical instrument and method for retraction of an anatomic structure defining an interior lumen
EP0776176B1 (en) 1994-08-19 1999-12-29 Biosense, Inc. Medical diagnosis, treatment and imaging systems
US5765561A (en) * 1994-10-07 1998-06-16 Medical Media Systems Video-based surgical targeting system
EP0869745B8 (en) 1994-10-07 2003-04-16 St. Louis University Surgical navigation systems including reference and localization frames
US5645520A (en) 1994-10-12 1997-07-08 Computer Motion, Inc. Shape memory alloy actuated rod for endoscopic instruments
US5728044A (en) 1995-03-10 1998-03-17 Shan; Yansong Sensor device for spacial imaging of endoscopes
DE19510962C2 (en) 1995-03-25 1998-02-05 Winter & Ibe Olympus Medical endoscopic device with super elastic element
FR2732225A1 (en) 1995-03-27 1996-10-04 Mazars Paul Catheter with externally controlled deformation
JP3543027B2 (en) 1995-04-10 2004-07-14 オリンパス株式会社 Curved sheath for probe
US5620408A (en) 1995-04-14 1997-04-15 Vennes; Jack A. Endoscopic over-tube
JPH08322786A (en) 1995-05-30 1996-12-10 Toshiba Medical Eng Co Ltd Diagnosing/treating apparatus for inside of organism
US5667476A (en) 1995-06-05 1997-09-16 Vision-Sciences, Inc. Endoscope articulation system to reduce effort during articulation of an endoscope
US5759151A (en) 1995-06-07 1998-06-02 Carnegie Mellon University Flexible steerable device for conducting exploratory procedures
US6210337B1 (en) 1995-06-07 2001-04-03 Atl Ultrasound Inc. Ultrasonic endoscopic probe
US5752912A (en) 1995-06-26 1998-05-19 Asahi Kogaku Kogyo Kabushiki Kaisha Manipulator for flexible portion of an endoscope
JPH0928662A (en) 1995-07-17 1997-02-04 Olympus Optical Co Ltd Endscope shape sensing system
US5776050A (en) 1995-07-24 1998-07-07 Medical Media Systems Anatomical visualization system
GB9519194D0 (en) 1995-09-20 1995-11-22 Univ Wales Medicine Anorectal angle measurement
DE19535179A1 (en) 1995-09-22 1997-03-27 Wolf Gmbh Richard Angled pipe and process for its manufacture
US5810717A (en) 1995-09-22 1998-09-22 Mitsubishi Cable Industries, Ltd. Bending mechanism and stereoscope using same
US5810715A (en) 1995-09-29 1998-09-22 Olympus Optical Co., Ltd. Endoscope provided with function of being locked to flexibility of insertion part which is set by flexibility modifying operation member
IL124037A (en) * 1995-10-13 2003-01-12 Transvascular Inc Device and system for interstitial transvascular intervention
US5651769A (en) 1995-10-16 1997-07-29 The Beth Israel Hospital Association Method for retrieving pancreatic juice utilizing and endoscopically wire-guided catheter
AU708568B2 (en) 1995-12-11 1999-08-05 Zoob Corporation Construction system
JP3221824B2 (en) 1995-12-19 2001-10-22 富士写真光機株式会社 Endoscope with bending section protection mechanism
US5749828A (en) 1995-12-22 1998-05-12 Hewlett-Packard Company Bending neck for use with invasive medical devices
CA2242356C (en) 1996-01-08 2005-08-23 Biosense, Inc. Methods and apparatus for myocardial revascularization
US5989230A (en) 1996-01-11 1999-11-23 Essex Technology, Inc. Rotate to advance catheterization system
US5810776A (en) * 1996-02-13 1998-09-22 Imagyn Medical, Inc. Method and apparatus for performing laparoscopy
US6321109B2 (en) 1996-02-15 2001-11-20 Biosense, Inc. Catheter based surgery
AU709081B2 (en) 1996-02-15 1999-08-19 Biosense, Inc. Medical procedures and apparatus using intrabody probes
EP0883375B1 (en) 1996-02-15 2005-05-11 Biosense Webster, Inc. Precise position determination of endoscopes
ES2243976T3 (en) 1996-02-15 2005-12-01 Biosense Webster, Inc. MOBILE TRANSMISSION OR RECEPTION COILS FOR LOCATION SYSTEM.
DE69719030T2 (en) 1996-02-15 2003-10-23 Biosense Inc METHOD FOR CONFIGURING AND USING A PROBE
US5647368A (en) 1996-02-28 1997-07-15 Xillix Technologies Corp. Imaging system for detecting diseased tissue using native fluorsecence in the gastrointestinal and respiratory tract
US5813976A (en) 1996-04-02 1998-09-29 Filipi; Charles J. Stabilizing instrumentation for the performing of endoscopic surgical procedures
US5762613A (en) 1996-05-07 1998-06-09 Spectrascience, Inc. Optical biopsy forceps
US5773835A (en) 1996-06-07 1998-06-30 Rare Earth Medical, Inc. Fiber optic spectroscopy
US6119913A (en) 1996-06-14 2000-09-19 Boston Scientific Corporation Endoscopic stapler
DE19626433A1 (en) 1996-06-19 1998-01-15 Jan Henrik Dr Wilkens Endoscope head arrangement with integrated image production arrangement
US5902254A (en) 1996-07-29 1999-05-11 The Nemours Foundation Cathether guidewire
US6016440A (en) 1996-07-29 2000-01-18 Bruker Analytik Gmbh Device for infrared (IR) spectroscopic investigations of internal surfaces of a body
US5685822A (en) 1996-08-08 1997-11-11 Vision-Sciences, Inc. Endoscope with sheath retaining device
US5993447A (en) * 1996-08-16 1999-11-30 United States Surgical Apparatus for thermal treatment of tissue
US7018331B2 (en) * 1996-08-26 2006-03-28 Stryker Corporation Endoscope assembly useful with a scope-sensing light cable
DE69726166T2 (en) 1996-08-27 2004-07-08 C.R. Bard, Inc. GUIDE WIRE WITH LOW MASS FOR TORQUE TRANSMISSION
US6096009A (en) 1996-09-13 2000-08-01 Boston Scientific Corporation Guidewire and catheter locking device and method
US5971767A (en) 1996-09-16 1999-10-26 The Research Foundation Of State University Of New York System and method for performing a three-dimensional virtual examination
IT1285533B1 (en) 1996-10-22 1998-06-08 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant Anna ENDOSCOPIC ROBOT
US6058323A (en) 1996-11-05 2000-05-02 Lemelson; Jerome System and method for treating select tissue in a living being
US5941908A (en) 1997-04-23 1999-08-24 Vascular Science, Inc. Artificial medical graft with a releasable retainer
US5810716A (en) 1996-11-15 1998-09-22 The United States Of America As Represented By The Secretary Of The Navy Articulated manipulator for minimally invasive surgery (AMMIS)
DE19748795B4 (en) 1996-11-18 2006-08-17 Olympus Corporation endoscope
GB9624486D0 (en) 1996-11-26 1997-01-15 Univ Bristol Control means
US5968052A (en) * 1996-11-27 1999-10-19 Scimed Life Systems Inc. Pull back stent delivery system with pistol grip retraction handle
JP3615890B2 (en) * 1996-12-04 2005-02-02 フジノン株式会社 Electronic endoscope device
US5779624A (en) 1996-12-05 1998-07-14 Boston Scientific Corporation Sigmoid splint device for endoscopy
US5885208A (en) 1996-12-24 1999-03-23 Olympus Optical Co., Ltd. Endoscope system
PT893967E (en) * 1997-01-03 2004-07-30 Biosense Inc CATHETER CONFORMAVEL
US5928136A (en) 1997-02-13 1999-07-27 Karl Storz Gmbh & Co. Articulated vertebra for endoscopes and method to make it
US5893369A (en) 1997-02-24 1999-04-13 Lemole; Gerald M. Procedure for bypassing an occlusion in a blood vessel
EP0971624A1 (en) 1997-03-13 2000-01-19 Biomax Technologies, Inc. Methods and apparatus for detecting the rejection of transplanted tissue
US5876373A (en) 1997-04-04 1999-03-02 Eclipse Surgical Technologies, Inc. Steerable catheter
JPH10337274A (en) 1997-04-09 1998-12-22 Olympus Optical Co Ltd Endoscopic spectrometry device
DE19880445D2 (en) 1997-04-16 2002-08-14 Storz Karl Gmbh & Co Kg Endoscopic system
US5921915A (en) 1997-04-30 1999-07-13 C.R. Bard, Inc. Directional surgical device for use with endoscope, gastroscope, colonoscope or the like
US5908381A (en) 1997-04-30 1999-06-01 C. R. Bard Inc. Directional surgical device for use with endoscope, gastroscope, colonoscope or the like
US5879297A (en) 1997-05-08 1999-03-09 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device
US6149581A (en) 1997-06-12 2000-11-21 Klingenstein; Ralph James Device and method for access to the colon and small bowel of a patient
DE19729499A1 (en) 1997-07-10 1999-01-14 Friedrich Schiller Uni Jena Bu Guide for flexible endoscope, with reinforcements
JP3723327B2 (en) 1997-07-25 2005-12-07 田淵 和久 Internal / external medical examination table
US5921926A (en) 1997-07-28 1999-07-13 University Of Central Florida Three dimensional optical imaging colposcopy
JPH1156754A (en) 1997-08-18 1999-03-02 Asahi Optical Co Ltd Operating part of endoscope
US5916147A (en) 1997-09-22 1999-06-29 Boury; Harb N. Selectively manipulable catheter
ATE520356T1 (en) 1997-09-26 2011-09-15 Cryolife Inc SEAMLESS ANASTOMOTIS DEVICE
US6147480A (en) 1997-10-23 2000-11-14 Biosense, Inc. Detection of metal disturbance
JP3231707B2 (en) 1997-10-28 2001-11-26 譲 土井 Endoscope measuring tool
US6348058B1 (en) 1997-12-12 2002-02-19 Surgical Navigation Technologies, Inc. Image guided spinal surgery guide, system, and method for use thereof
US5989182A (en) 1997-12-19 1999-11-23 Vista Medical Technologies, Inc. Device-steering shaft assembly and endoscope
WO1999033392A1 (en) 1997-12-29 1999-07-08 Falko Skrabal Deformable probe with automatic detection of the position of the probe
ATE391451T1 (en) 1998-01-26 2008-04-15 Massachusetts Inst Technology ENDOSCOPE FOR CAPTURE FLUORESCENCE IMAGES
US6129667A (en) 1998-02-02 2000-10-10 General Electric Company Luminal diagnostics employing spectral analysis
EP1054634A4 (en) 1998-02-10 2006-03-29 Artemis Medical Inc Entrapping apparatus and method for use
US20020138082A1 (en) 1998-02-24 2002-09-26 Brock David L. Surgical instrument
US6174291B1 (en) 1998-03-09 2001-01-16 Spectrascience, Inc. Optical biopsy system and methods for tissue diagnosis
US6066102A (en) 1998-03-09 2000-05-23 Spectrascience, Inc. Optical biopsy forceps system and method of diagnosing tissue
DE19815598B4 (en) 1998-04-07 2007-01-18 Stm Medizintechnik Starnberg Gmbh Flexible access tube with everting tube system
US6249076B1 (en) 1998-04-14 2001-06-19 Massachusetts Institute Of Technology Conducting polymer actuator
JPH11299725A (en) 1998-04-21 1999-11-02 Olympus Optical Co Ltd Hood for endoscope
US6106510A (en) 1998-05-28 2000-08-22 Medtronic, Inc. Extruded guide catheter shaft with bump extrusion soft distal segment
US6616600B2 (en) 1998-06-11 2003-09-09 Fritz Pauker Endoscope shaft
US6503194B2 (en) * 1998-06-11 2003-01-07 Fritz Pauker Endoscope shaft comprising a movable distal end
US6066132A (en) 1998-06-30 2000-05-23 Ethicon, Inc. Articulating endometrial ablation device
EP2279692A3 (en) 1998-08-02 2011-02-23 Super Dimension Ltd. Intrabody navigation system for medical applications
JP3514979B2 (en) * 1998-08-06 2004-04-05 オリンパス株式会社 Endoscope device
US6511417B1 (en) 1998-09-03 2003-01-28 Olympus Optical Co., Ltd. System for detecting the shape of an endoscope using source coils and sense coils
DE19840986A1 (en) 1998-09-08 2000-03-09 Etm Endoskopische Technik Gmbh Quick release for an endoscope
US6185448B1 (en) * 1998-09-29 2001-02-06 Simcha Borovsky Apparatus and method for locating and mapping a catheter in intracardiac operations
US6544215B1 (en) 1998-10-02 2003-04-08 Scimed Life Systems, Inc. Steerable device for introducing diagnostic and therapeutic apparatus into the body
WO2000027462A1 (en) 1998-11-06 2000-05-18 The Furukawa Electric Co., Ltd. NiTi-TYPE MEDICAL GUIDE WIRE AND METHOD OF PRODUCING THE SAME
US6174280B1 (en) 1998-11-19 2001-01-16 Vision Sciences, Inc. Sheath for protecting and altering the bending characteristics of a flexible endoscope
JP3448228B2 (en) 1998-11-30 2003-09-22 富士写真光機株式会社 Endoscope insertion guide tube
IE991013A1 (en) * 1998-12-01 2000-07-12 Atropos Ltd A Device
US6162171A (en) 1998-12-07 2000-12-19 Wan Sing Ng Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures
US7125403B2 (en) 1998-12-08 2006-10-24 Intuitive Surgical In vivo accessories for minimally invasive robotic surgery
JP2000193893A (en) 1998-12-28 2000-07-14 Suzuki Motor Corp Bending device of insertion tube for inspection
US6203494B1 (en) 1999-03-02 2001-03-20 Olympus Optical Co., Ltd. Endoscope capable of varying hardness of flexible part of insertion unit thereof
US6179776B1 (en) 1999-03-12 2001-01-30 Scimed Life Systems, Inc. Controllable endoscopic sheath apparatus and related method of use
US6902528B1 (en) 1999-04-14 2005-06-07 Stereotaxis, Inc. Method and apparatus for magnetically controlling endoscopes in body lumens and cavities
US6569173B1 (en) 1999-12-14 2003-05-27 Integrated Vascular Interventional Technologies, L.C. Compression plate anastomosis apparatus
US6459481B1 (en) 1999-05-06 2002-10-01 David F. Schaack Simple system for endoscopic non-contact three-dimentional measurement
US6482149B1 (en) 1999-05-12 2002-11-19 Fuji Photo Optical Co., Ltd. Curved part of endoscope
DE60037731T2 (en) 1999-06-05 2009-01-15 Wilson-Cook Medical Inc. Markers for a medical endoscopic device
JP3490932B2 (en) 1999-06-07 2004-01-26 ペンタックス株式会社 Swallowable endoscope device
DE19932022A1 (en) * 1999-07-09 2001-02-08 Etm Endoskopische Technik Gmbh Endoscopic device, especially for emergency intubation
JP3365981B2 (en) 1999-08-05 2003-01-14 オリンパス光学工業株式会社 Endoscope shape detector
JP4454078B2 (en) 1999-10-08 2010-04-21 株式会社町田製作所 Endoscope bending tube and method of manufacturing the same
US6533752B1 (en) 2000-01-05 2003-03-18 Thomas C Waram Variable shape guide apparatus
US6517477B1 (en) 2000-01-27 2003-02-11 Scimed Life Systems, Inc. Catheter introducer system for exploration of body cavities
JP3765218B2 (en) 2000-02-03 2006-04-12 フジノン株式会社 Endoscope operation wire guide device
US7993368B2 (en) 2003-03-13 2011-08-09 C.R. Bard, Inc. Suture clips, delivery devices and methods
IL138632A (en) 2000-09-21 2008-06-05 Minelu Zonnenschein Multiple view endoscopes
IL139788A (en) 2000-11-20 2006-10-05 Minelu Zonnenschein Stapler for endoscopes
IL141665A (en) 2001-02-26 2007-02-11 Minelu Zonnenschein Ultrasonic positioning
US6817973B2 (en) 2000-03-16 2004-11-16 Immersion Medical, Inc. Apparatus for controlling force for manipulation of medical instruments
CA2403013C (en) 2000-03-16 2010-02-02 Medigus Ltd. Fundoplication apparatus and method
EP1267702A1 (en) 2000-03-23 2003-01-02 Atropos Limited An insertion device for an endoscope
US6428203B1 (en) 2000-03-23 2002-08-06 Ta Instruments, Inc. Power compensation differential scanning calorimeter
AU2001249647A1 (en) 2000-03-30 2001-10-15 The Board Of Trustees Of The Leland Standford Junior University Apparatus and method for calibrating an endoscope
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US6468203B2 (en) 2000-04-03 2002-10-22 Neoguide Systems, Inc. Steerable endoscope and improved method of insertion
US6610007B2 (en) 2000-04-03 2003-08-26 Neoguide Systems, Inc. Steerable segmented endoscope and method of insertion
US6984203B2 (en) 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
US6800056B2 (en) 2000-04-03 2004-10-05 Neoguide Systems, Inc. Endoscope with guiding apparatus
US20050165276A1 (en) 2004-01-28 2005-07-28 Amir Belson Methods and apparatus for accessing and treating regions of the body
US6837846B2 (en) 2000-04-03 2005-01-04 Neo Guide Systems, Inc. Endoscope having a guide tube
US6974411B2 (en) 2000-04-03 2005-12-13 Neoguide Systems, Inc. Endoscope with single step guiding apparatus
CA2536163A1 (en) 2000-04-03 2005-03-03 Neoguide Systems, Inc. Activated polymer articulated instruments and methods of insertion
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
DE60121316T2 (en) 2000-04-21 2007-08-02 Université Pierre et Marie Curie (Paris VI) DEVICE FOR POSITIONING, INVESTIGATION AND / OR TREATMENT, ESPECIALLY IN THE FIELD OF ENDOSCOPY AND / OR MINIMALLY INVASIVE SURGERY
US6309346B1 (en) 2000-06-29 2001-10-30 Ashkan Farhadi Creeping colonoscope
DE60042705D1 (en) 2000-07-13 2009-09-17 Wilson Cook Medical Inc MARKING SYSTEM FOR MEDICAL INSTRUMENT
WO2002007618A1 (en) 2000-07-21 2002-01-31 Atropos Limited A cannula
AU2002224519A1 (en) 2000-07-21 2002-02-05 Atropos Limited A surgical instrument
JP2002078674A (en) 2000-09-08 2002-03-19 Fuji Photo Optical Co Ltd Curved surface structure of endoscope
US6850794B2 (en) 2000-09-23 2005-02-01 The Trustees Of The Leland Stanford Junior University Endoscopic targeting method and system
US6423014B1 (en) * 2000-09-29 2002-07-23 University Of Vermont Therapeutic and diagnostic needling device and method
JP2002177198A (en) 2000-10-02 2002-06-25 Olympus Optical Co Ltd Endoscope
JP2002177201A (en) 2000-10-02 2002-06-25 Olympus Optical Co Ltd Endoscope
US6461294B1 (en) 2000-10-30 2002-10-08 Vision Sciences, Inc. Inflatable member for an endoscope sheath
US6569085B2 (en) 2001-08-16 2003-05-27 Syntheon, Llc Methods and apparatus for delivering a medical instrument over an endoscope while the endoscope is in a body lumen
JP2004524903A (en) 2001-03-08 2004-08-19 アトロポス・リミテッド Colon overtube
US20050203339A1 (en) 2001-03-08 2005-09-15 Atropos Limited Colonic overtube
US6793621B2 (en) 2001-03-08 2004-09-21 Atropos Limited Colonic overtube
WO2002089692A1 (en) 2001-05-04 2002-11-14 Areall Method and device for guiding the movement of at least one reference point in relation to a body
JP3720727B2 (en) 2001-05-07 2005-11-30 オリンパス株式会社 Endoscope shape detection device
FR2825013B1 (en) 2001-05-28 2004-01-09 Univ Paris Curie ORIENTABLE ACTIVE TUBULAR STRUCTURE AND ENDOSCOPE FORMED FROM SUCH A STRUCTURE
US20060199999A1 (en) * 2001-06-29 2006-09-07 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
EP1443851A1 (en) 2001-10-18 2004-08-11 Atropos Limited A device to aid advancement of a colonoscope
JP2003135381A (en) 2001-10-31 2003-05-13 Machida Endscope Co Ltd Curved tube and its manufacturing method
US6960161B2 (en) * 2001-12-28 2005-11-01 Karl Storz Imaging Inc. Unified electrical and illumination cable for endoscopic video imaging system
US7493156B2 (en) 2002-01-07 2009-02-17 Cardiac Pacemakers, Inc. Steerable guide catheter with pre-shaped rotatable shaft
WO2003059150A2 (en) 2002-01-09 2003-07-24 Neoguide Systems, Inc. Apparatus and method for spectroscopic examination of the colon
CA2472207A1 (en) * 2002-01-09 2003-07-24 Neoguide Systems, Inc. Apparatus and method for endoscopic colectomy
US7277833B2 (en) * 2002-02-06 2007-10-02 Siemens Corporate Research, Inc. Modeling of the workspace and active pending behavior of an endscope using filter functions
WO2003073921A1 (en) 2002-03-06 2003-09-12 Atropos Limited A steerable colonoscope probe with variable stiffness
EP1513440A2 (en) 2002-05-30 2005-03-16 The Board of Trustees of The Leland Stanford Junior University Apparatus and method for coronary sinus access
US7250027B2 (en) 2002-05-30 2007-07-31 Karl Storz Endovision, Inc. Articulating vertebrae with asymmetrical and variable radius of curvature
JP4054970B2 (en) 2002-05-31 2008-03-05 ブリヂストンスポーツ株式会社 Golf ball
US6783491B2 (en) 2002-06-13 2004-08-31 Vahid Saadat Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US7041052B2 (en) 2002-06-13 2006-05-09 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20050137455A1 (en) 2002-06-13 2005-06-23 Usgi Medical Corp. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20060089535A1 (en) 2002-07-11 2006-04-27 Dan Raz Piston-actuated endoscopic steering system
US7442192B2 (en) 2002-07-14 2008-10-28 Knowlton Edward W Method and apparatus for surgical dissection
US6827108B2 (en) * 2002-11-12 2004-12-07 Daimlerchrysler Corporation Single wire cable conduit
US20040186350A1 (en) 2003-01-13 2004-09-23 Usgi Medical Corp. Apparatus and methods for guiding an endoscope via a rigidizable wire guide
DE602004015729D1 (en) 2003-02-11 2008-09-25 Olympus Corp ABOUT TUBE
US20040176683A1 (en) 2003-03-07 2004-09-09 Katherine Whitin Method and apparatus for tracking insertion depth
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8187288B2 (en) 2003-03-10 2012-05-29 Boston Scientific Scimed, Inc. Re-shapeable medical device
US20040199052A1 (en) * 2003-04-01 2004-10-07 Scimed Life Systems, Inc. Endoscopic imaging system
US7615005B2 (en) * 2003-05-16 2009-11-10 Ethicon Endo-Surgery, Inc. Medical apparatus for use with an endoscope
US7410483B2 (en) * 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US7134993B2 (en) * 2004-01-29 2006-11-14 Ge Inspection Technologies, Lp Method and apparatus for improving the operation of a remote viewing device by changing the calibration settings of its articulation servos
US20070142749A1 (en) 2004-03-04 2007-06-21 Oussama Khatib Apparatus for medical and/or simulation procedures
US7837615B2 (en) 2004-05-10 2010-11-23 Usgi Medical, Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US7662091B2 (en) * 2004-12-30 2010-02-16 General Electric Company Flexible borescope assembly for inspecting internal turbine components at elevated temperatures
US20060235458A1 (en) 2005-04-15 2006-10-19 Amir Belson Instruments having an external working channel
EP1892009B1 (en) 2005-06-14 2011-12-21 Olympus Medical Systems Corp. Endoscope treatment instrument
ITMI20051392A1 (en) * 2005-07-20 2007-01-21 Salpo S R L MODULE FOR THE REALIZATION OF ROBOTIZED HANDLING STRUCTURES AND MODULAR ROBOT HANDLING STRUCTURE
US20070135803A1 (en) 2005-09-14 2007-06-14 Amir Belson Methods and apparatus for performing transluminal and other procedures
US20070161857A1 (en) 2005-11-22 2007-07-12 Neoguide Systems, Inc. Method of determining the shape of a bendable instrument
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
WO2007137208A2 (en) 2006-05-19 2007-11-29 Neoguide Systems, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US8182418B2 (en) * 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
JP5011196B2 (en) 2008-04-14 2012-08-29 株式会社東芝 Semiconductor device and manufacturing method thereof
JP5305073B2 (en) 2008-07-16 2013-10-02 富士ゼロックス株式会社 Printing system, image forming apparatus, post-processing apparatus, image forming program, and post-processing program
JP5111458B2 (en) 2009-07-24 2013-01-09 帝人化成株式会社 Method for reducing pearl luster of aromatic polycarbonate resin composition

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0165718A2 (en) * 1984-05-22 1985-12-27 Pilkington Medical Systems Limited (formely Minvade Limited) Endoscopes
DE4102211A1 (en) * 1990-01-26 1991-08-01 Asahi Optical Co Ltd Endoscope bending guide - has coaxial cylindrical components joined by pair of metal spirals
EP1101442A2 (en) * 1999-11-19 2001-05-23 Marconi Caswell Limited Endoscope suitable for magnetic resonance imaging
WO2004019769A1 (en) * 2002-08-27 2004-03-11 Neoguide Systems, Inc. Tendon-dirven endoscope and methods of insertion
EP1681013A1 (en) * 2004-09-03 2006-07-19 Olympus Corporation Endoscope

Also Published As

Publication number Publication date
US20090099420A1 (en) 2009-04-16
US20160151908A1 (en) 2016-06-02
US9220398B2 (en) 2015-12-29
WO2009048796A2 (en) 2009-04-16

Similar Documents

Publication Publication Date Title
WO2009048796A3 (en) System for managing bowden cables in articulating instruments
PL2292152T3 (en) Surgical instrument having an articulating end effector
HK1124747A1 (en) Surgical stapling instrument with an articulating end effector
EP1964228A4 (en) A device for sealing of inserted cables, conduits or pipes
EP1924197A4 (en) System, method and devices for navigated flexible endoscopy
WO2009073507A3 (en) Methods, devices, kits and systems for defunctionalizing the gallbladder
WO2011027183A3 (en) Surgical device and accessories
WO2011083450A3 (en) Systems and methods for cleaning body cavities and for endoscopic steering
EP2296559B8 (en) Surgical instrument with automatically reconfigurable articulating end effector
EP2180840A4 (en) Multiple end effectors ultrasonic surgical instruments
WO2004105578A3 (en) Articulating mechanism for remote manipulation of a surgical or diagnostic tool
PL1767157T3 (en) Surgical stapling instrument having end effector gripping surfaces
PL2034848T3 (en) Streptococcus thermophilus bacterium
HK1103794A1 (en) Service and diagnostic tool for hvac systems
DE50204467D1 (en) Pipe coupling for pipelines
WO2006057702A3 (en) Hand-actuated device for remote manipulation of a grasping tool
GB2441066B (en) Flexible tubular pipe with an anti-wear sheath
IL201605A0 (en) Methods, devices and systems for automated movements involving medical robots
DE602004021108D1 (en) CONNECTION ARRANGEMENT FOR FLEXIBLE AND HALF-STAR PIPELINES
WO2007136630A3 (en) Endoscope tool coupling
IL176190A0 (en) Lead-through means for cables or pipes
AU313125S (en) Valve component for an elbow assembly
IL201595A0 (en) Devices for interfacing between manipulators and surgical tools
EP2153102A4 (en) Pipe coupling having movable gripping bodies
WO2007103773A3 (en) Gastrointestinal implant and methods for use

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08838012

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 20/08/2010)

122 Ep: pct application non-entry in european phase

Ref document number: 08838012

Country of ref document: EP

Kind code of ref document: A2