Endoscopy system

Abstract

An endoscope system is provided, which comprises an endoscope having a hollow tube formed therein, a flexible elongate member having a first end for operational control and a second distal end for operation of robotic members, one or more actuators coupleable to the flexible elongate member at the first end thereof, and an anti-buckling tube arranged with respect to the hollow tube at the first end of the endoscope to prevent buckling of the flexible elongate member during translation of the one or more actuators. Different embodiments are also disclosed, including an endoscope comprising one or more flexible tendons having a wire coil sheath which includes wire having a substantially rectangular cross section, or an endoscope comprising a rotational-motion transmitting device, one or more flexible tendons and one or more electrical wires having anti-kink support thereon, a coupling means constraining the robotic member to an asymmetric range of motion, or torque joint means comprising a centrally aligned pulley for coupling the robotic member.

1 .- 13 . (canceled) 
     
     
         14 . An endoscope system comprising:
 an endoscope having a hollow tube formed therein; and   a flexible elongate member for insertion through the hollow tube, wherein the flexible elongate member has a first end for operational control and a second distal end for operation of robotic members at a distal end of the endoscope, the flexible elongate member including one or more flexible tendons to provide operational control from the first end to the robotic members at the second distal end, wherein each of the one or more flexible tendons has a wire coil sheath, the wire coil sheath comprising wire having a substantially rectangular cross section wound around the corresponding one of the one or more flexible tendons.   
     
     
         15 . The endoscope system in accordance with  claim 14  wherein the one or more flexible tendons comprise one or more cable pairs wrapped in the wire coil sheath. 
     
     
         16 . The endoscope system in accordance with  claim 14  wherein the wire coil sheath comprises wire having a substantially square cross section wound around the corresponding one of the one or more flexible tendons. 
     
     
         17 . The endoscope system in accordance with  claim 14  wherein the substantially rectangular cross section of the wire coil sheath is shorter in a direction of the wire coil sheath. 
     
     
         18 . The endoscope system in accordance with  claim 14  wherein the wire coil sheath comprises a super elastic material. 
     
     
         19 . The endoscope system in accordance with  claim 18  wherein the super elastic material is nitinol. 
     
     
         20 . A flexible elongate member for use in an endoscopy system, the flexible elongate member having a first end for operational control and a second distal end for operation of robotic members at the second distal end, the flexible elongate member comprising:
 one or more flexible tendons to provide operational control from the first end to the robotic members at the second distal end, wherein each of the one or more flexible tendons has a wire coil sheath, the wire coil sheath comprising wire having a substantially rectangular cross section wound around the corresponding one of the one or more flexible tendons.   
     
     
         21 . The flexible elongate member in accordance with  claim 20  wherein the one or more flexible tendons comprise one or more cable pairs wrapped in the wire coil sheath. 
     
     
         22 . The flexible elongate member in accordance with  claim 20  wherein the wire coil sheath comprises wire having a substantially square cross section wound around the corresponding one of the one or more flexible tendons. 
     
     
         23 . The flexible elongate member in accordance with  claim 20  wherein the substantially rectangular cross section of the wire coil sheath is shorter in a direction of the wire coil sheath. 
     
     
         24 . The flexible elongate member in accordance with  claim 20  wherein the wire coil sheath comprises a super elastic material. 
     
     
         25 . The flexible elongate member in accordance with  claim 24  wherein the super elastic material is nitinol. 
     
     
         26 .- 40 . (canceled) 
     
     
         41 . The endoscope system in accordance with  claim 15  wherein the wire coil sheath comprises a super elastic material. 
     
     
         42 . The endoscope system in accordance with  claim 16  wherein the wire coil sheath comprises a super elastic material. 
     
     
         43 . The endoscope system in accordance with  claim 17  wherein the wire coil sheath comprises a super elastic material. 
     
     
         44 . The flexible elongate member in accordance with  claim 21  wherein the wire coil sheath comprises a super elastic material. 
     
     
         45 . The flexible elongate member in accordance with  claim 22  wherein the wire coil sheath comprises a super elastic material. 
     
     
         46 . The flexible elongate member in accordance with  claim 23  wherein the wire coil sheath comprises a super elastic material.