US616672A - kelling - Google Patents

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US616672A
US616672A US616672DA US616672A US 616672 A US616672 A US 616672A US 616672D A US616672D A US 616672DA US 616672 A US616672 A US 616672A
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tube
end
sections
section
insertion
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055Constructional details of insertion parts, e.g. vertebral elements
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20396Hand operated
    • Y10T74/20402Flexible transmitter [e.g., Bowden cable]
    • Y10T74/2042Flexible transmitter [e.g., Bowden cable] and hand operator
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20396Hand operated
    • Y10T74/20402Flexible transmitter [e.g., Bowden cable]
    • Y10T74/20456Specific cable or sheath structure

Description

N0. 6l6,672. Patented Dec. 27, I898. G. E. KELLING. SURGICAL INSTRUMENT.

(Application filed Dec. 30, 1897.]

2 Sheets-Sheet I.

(No Modei.)

W/ TN E SSE S A 770R E Y8.

N0. 6l6,672. Patented Dec. 27, I898. G. E. KELLING. SURGICAL INSTRUMENT.

(Application filed Dec. 30, 1897.1

2 Sheets-Sheet 2.

(No Model.)

INVENTOH f4 WITNESSES lJNrrn STATES ATENT SURGICAL INSTRUMENT.

SPECIFICATION forming part of Letters Patent No. 616,672, dated December 27, 1898.

Application filed December 30, 1897. Serial No. 664,556. (No model.)

To all whom it may concern.-

Be it kn own that I, Gnone EMIL KELLING, a citizen of Germany,residing at Dresden,in the Kingdom of SaXony,Ger1nan Empire, have invented certain new and useful Improvements in Surgical Instruments, of which the following is a specification.

This invention relates to improvements in surgical instruments of that class designed for insertion into the natural passages of the human or animal body forinspect'ion of the diseased or injured parts preparatory to further medical or surgical treatment.

The invention consists of a surgical instrument for insertion into the body, consisting of a flexible insertion-tube, a straighteningwire attached to said tube, and means for pulling the latter for straightening said insertiontube, and, further, in the specific construction of the insertion-tube itself.

XVhile the improvements forming the subject-matter of my invention may be applied to a tube of suitable size and shape for insertion into any of the passages of the body for the purpose stated, the invention will be described in connection with an esophagoscope designed to facilitate inspection of the human esophagus, as the instrument is illustrated in the accompanying drawings, in which Figure 1 represents a side elevation, partly in section, of an esophagoscope embodying my invention, showing the tube of the instrument in curved condition. Fig. 2 is a side elevation, partly in section, showing the instrument with the tube straightened. Fig. 3 is an end view. Fig. 4 is a top view of a portion of the esophagoscope, and Fig. 5 is a cross-section of the tube through one of the joints of the same.

Similar letters of reference indicate corresponding parts.

Referring to the drawings, 9 g represent short tube sections, preferably of circular cross-section, which are each provided at one end with diametrically opposite ears 1. The end of the tube-section, at one side of the ears, is not cut squarely off, but is cut back at a slant, as indicated at u u to, Fig. 2. At its opposite end the exterior of the tube-section is flattened, as indicated in Fig. 5, whereby the rear ends of each section are adapted to fit between the ears of the adjacent section. The tube-sections are movably connected to each other by pivots passed through the ears and flattened portions, as shown in Fig. 5, and when connected form the insertion-tube of the instrument, which it will be seen is capable of bending in one direction. The forward edge of the first or entering section D is preferably cut squarely off and the edge rounded to prevent abrasion of the tissues when the tube is inserted into the esophagus. The main tube-section H at the opposite end of the tube is preferably longer than the intermediate tube-sections and is provided with a longitudinal slot in its upper portion. A short sleeve H is mounted on this section and is provided with a guide-screw S, the lower end of which enters the slot, thereby guiding the sleeve H and preventing its rotation on the main tubesection H. To the outer end of the main tubesection is attached a lever 13, to which is pivoted a lever A, the upper end of which is movably attached to the sleeve H in any suitable manner. The lower ends of said levers A and B form handles, by the movement of which the sleeve is moved longitudinally on the main tube-section. Each of the tube-sections g is provided at its upper portion with an internal wire guide or eye 6, as shown in Fig. 5. A straightening-wire D is attached at one end to the entering-section D of the insertiontube and passes through the guides 0' of the successive tube-sections, as shown in Fig. 1 and is attached at its opposite end to the sleeve 1-1 This wire is of such length that when the sleeve is drawn back by the levers the insertion-tube will be straightened, as indicated in Fig. 2, while if the lever-handles be separated the tube will be free to bend in one direction until the abutting of the rear ends of the tube-sections upon the slanting portions of the adjacent sections prevents further curvature.

For retaining the tube in straightened condition an adjustable catch device is used, which consists of a set-screw extending transversely through the handle of the lever A and provided with a lock-nut K and a latch t, which is hinged at one end to the inner end of the set-screw and provided with a notch E in its upper side, which is adapted to be engaged by the catch N. A spring attached to the lever B and indicated in dotted lines in Fig. 1 serves to keep the latch in contact with the catch. At its outer end a flanged stop prevents accidental withdrawal of the latch from the lever B. To close the joints between the tube-sections and render the tube water-tight and provide a smooth exterior, a sheath G, of rubber or similar material, extends upon the tube from the entering end to the main tube-section.

To insert the tube, the exterior is coated with a suitable lubricant and the entering end closed by means of a small rubber ball or sponge S attached to a wire or rod F, as shown in Fig. l. The tube in flexible condition is then gently inserted in the esophagus, the patient throwing his head back to bring the mouth in line therewith. The tube is inserted with the. curvature toward the front. To straighten the tube, the levers A and B are brought together and at the same time the instrument is given a quarter turn, so that the levers are in the direction of the patients side. The levers are pressed together until the catch N enters the notch E. The sponge is then withdrawn and by means of a small incandescent lamp inserted into the instrument the examination of the parts below the end of the esophagoscope may be made.

The advantages of my device are that it may be inserted without causing pain by reason of its flexibility in the direction of the natural curve of the passage into which it is inserted, and, further, that the joints of the instrument are so constructed that the quarter-turning of the same brings the strain when the instrument is straightened largely upon the pivots of the joints and not so much upon the straightening-wire or other parts of the instrument. The tube is thus retained in a perfectly straight condition without danger of breakage, and the surgeon is enabled to look directly through the tube to make the examination.

Having thus described my invention, I claim as new and desire to secure by Letters Patent V 1. A surgical instrument for insertion into the body, consisting of a flexible insertiontube, a sleeve on said tube, a straightening wire attached at one end to said tube and at the opposite end to said sleeve, and means for shifting said sleeve, substantially as set forth.

2. In a surgical instrument for insertion into the body, an insertion-tube composed of end sections and a series of intermediate tube-sections, each of said intermediate tubesections being provided at one of its ends with ears and at the other end with flattened portions adapted to fit between the ears of the next adjacent tube-section, pivots passing through said ears and flattened portions, wire guides in said tube-sections, and a sheath ex tending upon said tube and closing the joints between said tube-sections, substantially as set forth.

3. In a surgical instrument for insertion into the body, an insertion-tube composed of end sections and a series of intermediate tube sections, each of said tube-sections being provided at one of its ends with ears and at the other end with flattened portions adapted to fit between the ears of the next adjacent tubesection, and having its ear-bearing end at one side of said ears out back at an angle, pivots passing through said ears and flattened p01.- tions, and a sheath extending upon said tube and closing the joints between said tube-sections, substantially as set forth.

In witness whereof I have hereunto set my hand in presence of two Witnesses.

GEORG EMIL KELLING.

lVitnesses:

W ILLY KELLING, J OHANNES KELLING.

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Cited By (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2917944A (en) * 1955-08-31 1959-12-22 Rca Corp Control means
US3040137A (en) * 1958-07-17 1962-06-19 John A Simmons Adjustable microphone stand
US3190286A (en) * 1961-10-31 1965-06-22 Bausch & Lomb Flexible viewing probe for endoscopic use
US3854473A (en) * 1973-05-29 1974-12-17 Olympus Optical Co Stilet for endoscopes
US5656011A (en) * 1994-04-28 1997-08-12 Epflex Feinwerktechnik Gmbh Endoscope tube system
US6248088B1 (en) * 1990-07-24 2001-06-19 Inbae Yoon Methods for performing endoscopic procedures
US20030171650A1 (en) * 2000-04-03 2003-09-11 Tartaglia Joseph M. Endoscope with adjacently positioned guiding apparatus
US20030233066A1 (en) * 2002-06-13 2003-12-18 Ewers Richard C. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20040186350A1 (en) * 2003-01-13 2004-09-23 Usgi Medical Corp. Apparatus and methods for guiding an endoscope via a rigidizable wire guide
US20040249367A1 (en) * 2003-01-15 2004-12-09 Usgi Medical Corp. Endoluminal tool deployment system
US20050107663A1 (en) * 2003-01-15 2005-05-19 Usgi Medical Inc. Endoluminal tool deployment system
US20050103179A1 (en) * 2003-11-19 2005-05-19 Makoto Mori Multifunction punch apparatus
US20050137454A1 (en) * 2002-06-13 2005-06-23 Usgi Medical Corp. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US6974411B2 (en) 2000-04-03 2005-12-13 Neoguide Systems, Inc. Endoscope with single step guiding apparatus
US20060058582A1 (en) * 2002-06-13 2006-03-16 Usgi Medical Inc. Disposable shapelocking system
US7041052B2 (en) 2002-06-13 2006-05-09 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20060178562A1 (en) * 2005-02-10 2006-08-10 Usgi Medical Inc. Apparatus and methods for obtaining endoluminal access with a steerable guide having a variable pivot
US20080091170A1 (en) * 2003-09-12 2008-04-17 Vargas Jaime S Cannula system for free-space navigation and method of use
US20080154288A1 (en) * 2002-01-09 2008-06-26 Neoguide Systems, Inc. Apparatus and method for endoscopic colectomy
US7571729B2 (en) 2004-03-09 2009-08-11 Usgi Medical, Inc. Apparatus and methods for performing mucosectomy
US20090275798A1 (en) * 2008-05-01 2009-11-05 Olympus Medical Systems Corp. Overtube and endoscope system suitable for treatment such as submucosal dissection
US7704264B2 (en) 1999-06-25 2010-04-27 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
US20100116081A1 (en) * 2008-11-11 2010-05-13 Intuitive Surgical, Inc. Robotic linkage
US7918869B2 (en) 2004-05-07 2011-04-05 Usgi Medical, Inc. Methods and apparatus for performing endoluminal gastroplasty
US7942884B2 (en) 2002-12-11 2011-05-17 Usgi Medical, Inc. Methods for reduction of a gastric lumen
US7942898B2 (en) 2002-12-11 2011-05-17 Usgi Medical, Inc. Delivery systems and methods for gastric reduction
US8062212B2 (en) 2000-04-03 2011-11-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8216260B2 (en) 2002-12-11 2012-07-10 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
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
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
US8726909B2 (en) 2006-01-27 2014-05-20 Usgi Medical, Inc. Methods and apparatus for revision of obesity procedures
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
US9265514B2 (en) 2012-04-17 2016-02-23 Miteas Ltd. Manipulator for grasping tissue
US9808597B2 (en) 2002-09-12 2017-11-07 Intuitive Surgical Operations, Inc. Shape-transferring cannula system and method of use
US10143362B2 (en) 2002-09-12 2018-12-04 Intuitive Surgical Operations, Inc. Shape-transferring cannula system and method of use

Cited By (74)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2917944A (en) * 1955-08-31 1959-12-22 Rca Corp Control means
US3040137A (en) * 1958-07-17 1962-06-19 John A Simmons Adjustable microphone stand
US3190286A (en) * 1961-10-31 1965-06-22 Bausch & Lomb Flexible viewing probe for endoscopic use
US3854473A (en) * 1973-05-29 1974-12-17 Olympus Optical Co Stilet for endoscopes
US6248088B1 (en) * 1990-07-24 2001-06-19 Inbae Yoon Methods for performing endoscopic procedures
US5656011A (en) * 1994-04-28 1997-08-12 Epflex Feinwerktechnik Gmbh Endoscope tube system
US7704264B2 (en) 1999-06-25 2010-04-27 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
US7955340B2 (en) 1999-06-25 2011-06-07 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
US8343175B2 (en) 1999-06-25 2013-01-01 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
US8574243B2 (en) 1999-06-25 2013-11-05 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
US7744613B2 (en) 1999-06-25 2010-06-29 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
US9138132B2 (en) 2000-04-03 2015-09-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US9427282B2 (en) 2000-04-03 2016-08-30 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US8834354B2 (en) 2000-04-03 2014-09-16 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
US8641602B2 (en) 2000-04-03 2014-02-04 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and 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
US6984203B2 (en) 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
US10105036B2 (en) 2000-04-03 2018-10-23 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US8226546B2 (en) 2000-04-03 2012-07-24 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8062212B2 (en) 2000-04-03 2011-11-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US20030171650A1 (en) * 2000-04-03 2003-09-11 Tartaglia Joseph M. Endoscope with adjacently positioned guiding apparatus
US6974411B2 (en) 2000-04-03 2005-12-13 Neoguide Systems, Inc. Endoscope with single step guiding apparatus
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US10327625B2 (en) 2000-04-03 2019-06-25 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US20080154288A1 (en) * 2002-01-09 2008-06-26 Neoguide Systems, Inc. Apparatus and method for endoscopic colectomy
US8361090B2 (en) 2002-01-09 2013-01-29 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8696694B2 (en) 2002-01-09 2014-04-15 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US9421016B2 (en) 2002-01-09 2016-08-23 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US7041052B2 (en) 2002-06-13 2006-05-09 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20030233066A1 (en) * 2002-06-13 2003-12-18 Ewers Richard C. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US6960162B2 (en) 2002-06-13 2005-11-01 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20030233058A1 (en) * 2002-06-13 2003-12-18 Ewers Richard C. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US6942613B2 (en) 2002-06-13 2005-09-13 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20030233057A1 (en) * 2002-06-13 2003-12-18 Vahid Saadat Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US6960163B2 (en) 2002-06-13 2005-11-01 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US7128708B2 (en) 2002-06-13 2006-10-31 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20050137454A1 (en) * 2002-06-13 2005-06-23 Usgi Medical Corp. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20060058582A1 (en) * 2002-06-13 2006-03-16 Usgi Medical Inc. Disposable shapelocking system
US10143362B2 (en) 2002-09-12 2018-12-04 Intuitive Surgical Operations, Inc. Shape-transferring cannula system and method of use
US10314465B2 (en) 2002-09-12 2019-06-11 Intuitive Surgical Operations, Inc. Shape-transferring cannula system and method of use
US9808597B2 (en) 2002-09-12 2017-11-07 Intuitive Surgical Operations, Inc. Shape-transferring cannula system and method of use
US7942898B2 (en) 2002-12-11 2011-05-17 Usgi Medical, Inc. Delivery systems and methods for gastric reduction
US8216260B2 (en) 2002-12-11 2012-07-10 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
US7942884B2 (en) 2002-12-11 2011-05-17 Usgi Medical, Inc. Methods for reduction of a gastric lumen
US20040186350A1 (en) * 2003-01-13 2004-09-23 Usgi Medical Corp. Apparatus and methods for guiding an endoscope via a rigidizable wire guide
US7918845B2 (en) 2003-01-15 2011-04-05 Usgi Medical, Inc. Endoluminal tool deployment system
US7637905B2 (en) 2003-01-15 2009-12-29 Usgi Medical, Inc. Endoluminal tool deployment system
US20050107663A1 (en) * 2003-01-15 2005-05-19 Usgi Medical Inc. Endoluminal tool deployment system
US20040249367A1 (en) * 2003-01-15 2004-12-09 Usgi Medical Corp. Endoluminal tool deployment system
US9980778B2 (en) 2003-03-07 2018-05-29 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US7947000B2 (en) 2003-09-12 2011-05-24 Intuitive Surgical Operations, Inc. Cannula system for free-space navigation and method of use
US20080091170A1 (en) * 2003-09-12 2008-04-17 Vargas Jaime S Cannula system for free-space navigation and method of use
US20050103179A1 (en) * 2003-11-19 2005-05-19 Makoto Mori Multifunction punch apparatus
US7703459B2 (en) 2004-03-09 2010-04-27 Usgi Medical, Inc. Apparatus and methods for mapping out endoluminal gastrointestinal surgery
US7571729B2 (en) 2004-03-09 2009-08-11 Usgi Medical, Inc. Apparatus and methods for performing mucosectomy
US7918869B2 (en) 2004-05-07 2011-04-05 Usgi Medical, Inc. Methods and apparatus for performing endoluminal gastroplasty
US20060178562A1 (en) * 2005-02-10 2006-08-10 Usgi Medical Inc. Apparatus and methods for obtaining endoluminal access with a steerable guide having a variable pivot
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US8726909B2 (en) 2006-01-27 2014-05-20 Usgi Medical, Inc. Methods and apparatus for revision of obesity procedures
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US9357901B2 (en) 2006-05-19 2016-06-07 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
US8608647B2 (en) 2008-02-25 2013-12-17 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8187170B2 (en) * 2008-05-01 2012-05-29 Olympus Medical Systems Corp. Overtube and endoscope system suitable for treatment such as submucosal dissection
US20090275798A1 (en) * 2008-05-01 2009-11-05 Olympus Medical Systems Corp. Overtube and endoscope system suitable for treatment such as submucosal dissection
US9737199B2 (en) 2008-11-11 2017-08-22 Intuitive Surgical Operations, Inc. Robotic linkage
US20100116081A1 (en) * 2008-11-11 2010-05-13 Intuitive Surgical, Inc. Robotic linkage
US9687986B2 (en) 2008-11-11 2017-06-27 Intuitive Surgical Operations, Inc. Robotic linkage
US9265514B2 (en) 2012-04-17 2016-02-23 Miteas Ltd. Manipulator for grasping tissue

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