摘要:
A minimally invasive surgical instrument comprising: an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; an end effector; a wrist member having an inner spring which includes a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector, the wrist member having a plurality of annular disks distributed along an axis of the inner spring, the annular disks each having an inside edge connected with the inner spring; and a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion of the wrist member through the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.
摘要:
An endoscope 10 includes a bending portion 16 provided on a distal end side of an insertion portion 11, bending wires 21 and 22 fixed on a distal end side of the bending portion 16, wire insertion portions 23 and 44 into which the bending wires 21 and 22 are inserted in the bending portion 16, and a channel tube 18 inserted and disposed in the insertion portion 11 and including an axial-directional through-hole 18h into which a treatment instrument 60 is inserted. The bending portion 16 includes a bending portion set 20 including a first bending piece set 30 including a plurality of bending pieces 31 and 32 rotatably coupled with each other; a tubular bending tube 40 including a distal end portion rotatably coupled with a proximal end portion of the first bending piece set 30 and capable of bending through a plurality of arrayed slits 41 and 42; and a second bending piece set 50 including a plurality of bending pieces 52 and 53 rotatably coupled with a proximal end portion of the tubular bending tube 40.
摘要:
Apparatus described herein includes a tube, shaped to define a tube lumen and including a distal portion that has a plurality of articulated sections. The apparatus further includes a ribbon that passes longitudinally through the tube lumen and is connected to a distalmost one of the articulated sections, and a control handle disposed at a proximal end of the tube, the control handle being configured to flex the distal portion of the tube by pulling the ribbon. Other embodiments are also described.
摘要:
A deflectable medical device (1) includes a shape memory alloy wire (15) integrated into a flexible elongated body (11). The shape memory alloy wire (15) is arranged to shorten upon receiving energy from an energy supply (2,4), thereby deflecting the medical device (1). A rod (18) positioned in a lumen (14) of the flexible elongated body (11) and compressed between a fixture (16) in the proximal end (12) of the elongated body (11) and the distal end (13) of the elongated body (11) is responsible for the shape memory alloy wire (15) recovering its initial length upon discontinuation of energy supply.
摘要:
Apparatuses and methods for capsule endoscopes with tools actuated by a combination of a shape memory alloy (SMA) element and a biasing element (e.g., spring). Apparatuses and methods for biopsies actuated by an SMA element.