Steerable, flexible robotic endoscopic instruments for minimally invasive procedures

Abstract

The probe component (100) includes a base member (110) defining a first bore (112). A first elongated elastic member (120) includes a proximal end (126) secured to the base member (110) and extends from the proximal end to a distal end (128) to define a channel (125) communicating with the first bore (112) and extending along the length of the elastic member. A first tendon (130) has a first end and an opposite second end secured to a portion of the first elongated elastic member (120) adjacent the distal end (128). The first tendon (130) extends into the first channel (125) adjacent the first side (122) of the first elongate elastic member and extends through the first bore (112) to extend outside the first bore. Applying tension to the first tendon (130) causes the first elongate elastic member (120) to bend toward the first side (122).

Description

Technical Field

[0001] Cross - reference to Related Applications This application claims the benefit of U.S. Provisional Patent Application No. 62 / 813,444, filed on March 4, 2019, the entire content of which is incorporated herein by reference.

[0002] The present invention relates to an endoscopic instrument, and more particularly to a steerable probe component.

Background Art

[0003] Hydrocephalus is a common pediatric disease that occurs at a rate of 0.7 cases per 1000 people in developed countries. The incidence is even higher in developing countries. This disease occurs when cerebrospinal fluid (CSF) accumulates in the brain, causing the ventricles to expand and the intracranial pressure to rise. Cerebrospinal fluid (CSF) is thought to be produced in the lateral ventricles and passes through the third ventricle, the cerebral aqueduct, and the fourth ventricle in sequence before flowing into the subarachnoid space around the cranio - cervical junction. Obstruction of the circulation of cerebrospinal fluid (CSF) at the stage of the cerebral aqueduct connecting the third and fourth ventricles is one of the most common causes of hydrocephalus. If the treatment of hydrocephalus is delayed, it may lead to loss of motor function, epilepsy, chronic headache, sensory neuropathy, and death. The technique of implanting a silicon tube between the brain and the abdomen to redirect cerebrospinal fluid (CSF) (cerebrospinal fluid (CSF) shunt) is the most common in the treatment of hydrocephalus by clinicians. However, from 60 years of knowledge regarding cerebrospinal fluid (CSF) shunts, it has been found that the shunt is an imperfect device, and shunt occlusion is the leading cause of morbidity and death.

[0004] An alternative to cerebrospinal fluid (CSF) shunt placement is endoscopic surgery aimed at removing or bypassing obstructions in the brain, which completely avoids the implantation of a CSF shunt. One of the most common endoscopic surgeries is endoscopic third ventricle fenestration (ETV). During endoscopic third ventricle fenestration (ETV), the surgeon first creates an inlet in the ventricle using an endoscope consisting of a high-resolution camera and light source. Next, under direct visualization, a rigid instrument passing through the working channel of the endoscope is used to create a perforation in the floor wall of the third ventricle. This perforation allows cerebrospinal fluid (CSF) to flow into the anterior pontine cistern, located below the cerebral aqueduct, by bypassing the obstruction. Although this procedure has been shown to have a success rate of over 80% in infants, it can be difficult to reach the correct position in the third ventricle to create the perforation during endoscopic third ventricle fenestration (ETV). Because the endoscope has rigid properties, a straight path is required from the scalp through the brain parenchyma to the floor of the third ventricle. To avoid bleeding, this straight path must avoid important blood vessels, functional areas, and cranial nerves. Furthermore, the progression of the disease often leads to deformation of brain structures, further complicating this problem. Due to these constraints, finding the optimal straight path is not always possible.

[0005] Therefore, a maneuverable endoscopic probe assembly capable of avoiding obstacles is required. [Overview of the project] [Means for solving the problem]

[0006] The shortcomings of the prior art are overcome in one respect by the present invention, which is a probe component including a base member defining a first hole that penetrates through the interior. The first elongated elastic member has a first side and a second side opposite to the first side, and the first elongated elastic member includes a proximal end fixed to the base member and extends from the proximal end to the distal end. The first elongated elastic member communicates with the first hole and defines a first channel extending along the length of the elastic member. A first tendon portion, partly located within the first channel adjacent to the first side of the first elongated elastic member, has a first end and a second end opposite to the first end. The second end is fixed to the portion of the first elongated elastic member adjacent to the distal end. The first tendon portion penetrates the first hole in the base member, and thereby the first end of the first tendon portion extends outward from the first hole. By applying tension to the first tendon portion, the first elongated elastic member is bent in the direction of the first side.

[0007] In another view, the present invention is a probe assembly including a base member defining a first, second, third, and fourth hole that penetrates through its interior. The first elongated elastic member has a first side and a second side opposite the first side. The first elongated elastic member includes a proximal end fixed to the base member and extends from the proximal end to the distal end. The first elongated elastic member defines a first passage that is aligned with the first hole and extends along the length of the elastic member adjacent to the first side. The first elongated elastic member also defines a second passage that is aligned with the second hole and extends along the length of the elastic member adjacent to the second side. An intermediate rigid member is attached to the distal end of the first elongated elastic member. The second elongated elastic member is attached to the intermediate rigid member on the side opposite to the side to which the first elongated elastic member is attached. The second elongated elastic member has a first side and a second side opposite to the first side. The second elongated elastic member defines a third passage extending along the length of the elastic member adjacent to the first side. The second elongated elastic member also defines a fourth passage extending along the length of the elastic member adjacent to the second side. The first tendon portion has a first end and a second end opposite to the first end. The second end of the first tendon portion is fixed to the portion of the first elongated elastic member adjacent to the distal end. The first tendon portion extends through the first passage of the first elongated elastic member and through the first hole of the base member, so that the first end of the first tendon portion extends outward from the first hole. By applying tension to the first tendon portion, the first elongated elastic member is bent in the direction of the first side. The second tendon portion has a first end and a second end opposite to the first end. The second end of the second tendon portion is fixed to the portion of the first elongated elastic member adjacent to the distal end. The second tendon portion extends through the second passage of the first elongated elastic member and through the second hole of the base member, so that the first end of the second tendon portion extends outward from the second hole.By applying tension to the second tendon portion, the first elongated elastic member is bent in the direction of the second side. The third tendon portion has a first end and a second end opposite to the first end. The second end of the third tendon portion is fixed to the portion of the second elongated elastic member adjacent to the distal end. The third tendon portion extends through the third passage defined by the second elongated elastic member and the third passage defined by the first elongated elastic member, and by passing through the third hole of the base member, the first end of the third tendon portion extends outward from the third hole. By applying tension to the third tendon portion, the second elongated elastic member is bent in the direction of the first side. The fourth tendon portion has a first end and a second end opposite to the first end. The second end of the fourth tendon portion is fixed to the portion of the second elongated elastic member adjacent to the distal end. The fourth tendon portion extends through the fourth passage of the second elongated elastic member and the fourth passage defined by the first elongated elastic member, and the first end of the fourth tendon portion extends outward from the fourth hole of the base member by passing through the fourth hole. By applying tension to the fourth tendon portion, the second elongated elastic member is bent in the direction of the second side.

[0008] In yet another view, the present invention is an instrument for operating a probe assembly, the probe assembly comprising at least one elastic member for directional control by applying stress to at least one tendon. The instrument is configured for use with an endoscope that defines a longitudinal passage through its interior. The housing has an internal structure that is exposed by retracting a retractable portion of the housing. The housing has one end configured to connect to the endoscope. At least one input passage is defined by the housing and is configured to be linear with the longitudinal direction of the endoscope. The at least one input passage is configured to receive a portion of the at least one tendon internally, thereby the at least one elastic member is received in the longitudinal passage defined by the endoscope. An actuator assembly is attached to the housing and is configured to operate the at least one tendon by selectively applying stress to the at least one tendon.

[0009] The above and other aspects of the present invention are expected to become apparent from the following description of preferred embodiments, along with the following drawings. As will be obvious to those skilled in the art, various modifications and changes to the present invention are expected to be made without departing from the essence and scope of the novel concepts of the present disclosure. [Brief explanation of the drawing]

[0010] This invention is best understood by reading the following detailed description together with the accompanying drawings. Following common practice, the various components in the drawings are not proportional to their actual size. Rather, the dimensions of the various components have been arbitrarily enlarged or reduced for clarity. [Figure 1A] Figures 1A and 1B are schematic diagrams of one representative embodiment of the probe component. [Figure 1B] Figures 1A and 1B are schematic diagrams of one representative embodiment of the probe component. [Figure 2] Figures 2A to 2C are schematic diagrams of a second embodiment of the probe component. [Figure 3] Figure 3 is a schematic diagram of one embodiment of the probe. [Figure 4] Figures 4A to 4B are schematic diagrams of a tubular elastic member with a small conical serration shape. [Figure 5] Figures 5A to 5C are schematic diagrams of different small conical sawtooth shapes. [Figure 6] Figure 6 is a schematic diagram of a probe using a tubular elastic member with a small conical serration shape. [Figure 7] Figures 7A to 7C are schematic diagrams of the instruments used in the probe. [Figure 8] Figure 8 is a schematic diagram illustrating an example of the use of a probe in conjunction with an endoscope. [Figure 9] Figure 9 is a schematic diagram of the probe control housing. [Figure 10] Figure 10 shows a detailed view of the housing shown in Figure 9, specifically the probe connection section. [Figure 11] Figure 11 shows details of the probe connected to the housing. [Figure 12] Figure 12 is an exploded view of a schematic diagram of the control device. [Figure 13] Figure 13 is a schematic diagram illustrating an example of the use of a probe and housing in conjunction with an endoscope. [Figure 14A-14B] Figures 14A to 14D are schematic diagrams illustrating different probe assembly designs. [Figure 14C-14D] Figures 14A to 14D are schematic diagrams illustrating different probe assembly designs. [Figure 15] Figure 15 is a micrograph of a nickel-titanium alloy tube with a small conical serration shape. [Figure 16] Figure 16 is a photograph of one experimental embodiment of the probe assembly. [Modes for carrying out the invention]

[0011] Hereinafter, preferred embodiments of the present invention will be described in detail. In the drawings, like reference numerals denote like parts throughout the drawings. Unless otherwise specified in the following disclosure, they are not drawn to scale. The present disclosure is not limited in any way to the exemplary embodiments and techniques shown in the drawings and the following description. The following terms used in the description of this specification and the claims have the meanings specifically associated herein unless clearly different in the context. That is, "a," "an," and "the" include the meaning of the plural form, and "in" includes the meanings of "in (inside)" and "on (above).

[0012] The steerable probe assembly operable by the robot of the present invention is designed to fit the small diameter of the working channel of a conventionally used endoscope (for example, the MINOP endoscope having a 2.2 mm working channel available from Acsculap Inc., and the HandyPro endoscope having a 1.3 mm working channel available from Karl Storz SE & Co. KG, etc.). Further, since the probe assembly is designed to have high mobility in its working space, the probability of avoiding obstacles is increased. In an operating room, it is often desirable for two surgeons to be involved in an endoscopic surgery, with one surgeon performing the insertion and retraction operations of the endoscope body, and the other surgeon performing the operation of the instrument itself, including insertion, retraction, and rotation of the instrument within the working channel of the endoscope. Therefore, the robotic solution needs to include an actuator operable within a small portable package.

[0013] The robotic probe system of the present invention includes three main components: 1) a proximal joint portion composed of an elongated elastic member having high resistance and flexibility against lateral forces, 2) a tendon phase shift unit that minimizes the connection between joint portions by enabling the path change of distal tendons, and 3) a distal joint portion composed of an elongated elastic member having high flexibility.

[0014] As shown in FIG. 1, one embodiment of the probe component 100 includes a base member 110 having a first hole 112 penetrating therethrough. The first elongated elastic member 120 (also referred to herein as the "articulation part") extends from the base member 110 and has a first side 122, a second side 124 on the opposite side, a proximal end 126, and a distal end 128. The first elongated elastic member 120 defines a channel 125 that extends along the first side 122 and is in line with the hole 112. The first tendon part 130 passes through the hole 112 and the channel 125 and is fixed to the first elongated elastic member 120 near the distal end 128. As shown in FIG. 1B, by applying stress to the first tendon part 130 in the direction shown, the first elongated elastic member 120 bends inward toward the first side 122.

[0015] As shown in FIGS. 2A - 2C, the first elongated elastic member 220 can define a first passage 127 and a second passage 129 along the second side, and the base member can define a second hole 113 through which the second tendon part 132 passes. In this embodiment, the first elongated elastic member 120 can be bent in both the direction of the first side 122 and the direction of the second side 124 by pulling the tendon part. In one embodiment, a nickel-titanium alloy wire (such as those available from part number WSE000450000DG from https: / / shop.confluentmedical.com / ) can be included in the tendon part. It should also be understood that other materials, including other types of conductors, wires, and cords, can be included in the tendon part according to specific applications without departing from the scope of the present invention.

[0016] As shown in Figure 3, the probe assembly 300 may include a first elongated elastic member 120a (controlled by tendon portions 330, 332) and a second elongated elastic member 120b (controlled by tendon portions 334, 336), the elastic members 120a and 120b being separated by an intermediate rigid member 310 configured as a phase shift unit. The first elongated elastic member 120a defines a channel 125a, and the second elongated elastic member 120b defines a channel 125b. The probe assembly 300 may take the form of an "S" curve or other shape as shown. Furthermore, an instrument 330 may be fixed to the end of the probe assembly for use when the probe assembly 300 is applied (the probe assembly 300 may include a passage for a conductor used to control the instrument 330). In certain embodiments, more complex motion patterns of the probe assembly can be achieved by continuously connecting multiple elongated elastic members separated from each other by a corresponding multiple intermediate rigid members. The elongated elastic member shown in the illustration has a substantially tubular shape, but it can be tapered along its length or have a variable diameter depending on the specific application. In yet another embodiment, the elongated member can have a non-tubular shape, such as a rectangular beam.

[0017] As shown in Figures 4A-4B, the elongated elastic member may include an elastic tubular portion 420, on which a first set of small cone teeth is machined on one side and a second set of small cone teeth is machined on the other side. In one embodiment, the elastic tubular portion 420 is made of a nickel-titanium alloy (it should be understood that the elastic tubular portion 420 may be made of other materials exhibiting elastic properties, depending on the specific application, without departing from the scope of the present invention). As shown in Figure 4B, when one of the tendons 130 is pulled outward, the compression causes the adjacent cone teeth to bend, and the elongated elastic member bends toward the tendon 130 to which tension is applied. When the tension is released, the elongated elastic member returns to its original shape due to the superelastic properties of the nickel-titanium alloy. However, this mobility can be observed in other materials as well, and is therefore not necessarily limited to nickel-titanium alloys. Furthermore, to reduce the cost of the component, the elastic member may be joined to the inelastic member by micro-welding.

[0018] Figure 5A shows a small cone-shaped pattern applied to only one side, allowing bending in only one direction. Figure 5B shows an asymmetrical small cone-shaped pattern, and Figure 5C shows a symmetrical small cone-shaped pattern, both allowing bending in two directions. Figure 6 shows a probe assembly 200 equipped with small cone-shaped elastic members 120, 220 (several other forms are shown in Figures 14A to 14D). Referring to Figure 6, a portion of the intermediate member 310 connecting the joints is shown open to illustrate the phase transition path of the tendon portions 334, 336.

[0019] Different instruments, including a bipolar electric cautery device 232, a gripping device 234, and a scissor device 236, are shown in Figures 7A-7C. It should also be noted that other types of instruments, such as excision devices, basket-type devices, loop devices, and scalpel devices, are also available.

[0020] Figure 8 shows a probe assembly 300 used during brain surgery on patient 10, which is used in conjunction with a rigid endoscope 810. As can be seen from the details of this figure, the probe assembly 300 can be manipulated to move along the periphery of an obstacle 12 to reach a target area, and can also be further manipulated to avoid a tumor, for example.

[0021] As shown in Figure 9, the control device 800 can use two (or more) motors 820 to drive a gear assembly 824 used to apply tension to (and release tension from) the tendon portion. A joystick 822 operated by the user controls the movement of the motors 820. Circuit 826 is used to transmit control commands from the joystick 822 and a remote computer to the motors 820. This provides intuitive control of the probe assembly by the user. The quick connect assembly shown in Figure 10 includes a retractable housing portion 804 in which the tendon portions (130, 132, 134, 136) of the probe assembly 300 expose an input passage 830 in which they are located. (In one embodiment, it includes two or more passages in which two or more probe assemblies can be located, thereby allowing two or more instruments to pass through the endoscope.) The probe-side tendon portion connector 834 engages with the actuator-side connector 832, and these connectors are operated by a pulley and a gear assembly 824. In one embodiment, the immediate-connection assembly 802 snaps into place by insertion and twisting motion. In another embodiment, the snap connection may be performed by magnetic force. This immediate-connection assembly 802 allows for the removal and pre-positioning of probes equipped with different instruments within the endoscope during surgery. The size of the control device 800 that operates the tip of the robotic instrument must be within the range of existing devices used with commercially available endoscopes. Therefore, in experimental embodiments, the control device module has a diameter of 32 mm and a length of 178.85 mm to correspond to the size of existing products. The control device of this embodiment can be easily coupled to a connection module that connects to a MINOP (Minimally Invasive Procedure) neuroendoscope. This connection has a female socket that slides along the endoscope, allowing for fine adjustment of the instrument tip position and can be fixed to the endoscope by a set screw for hands-free operation. The outer sheath of the control device has a window that allows the clinician to rotate the motor and the entire robotic assembly along the central axis of the control device.Figure 12 shows an exploded assembly view of yet another embodiment of the control device. In this design, the entire joint is driven by tendons. All tendons are controlled by linear motion realized by DC motors having lead screws. Each tendon is routed to a single DC motor by placing a pulley, so two motors are used per joint. In designs using two to four motors, the control device has space to accommodate up to four 8mm diameter DC motors (Maxon Precision Motors, Massachusetts, USA) with lead screws 50mm in length and 0.5mm in pitch. Nuts that hold the tendons are attached to the four lead screws, and these nuts are mounted on a single central rod. This central rod prevents the nuts from rotating, and the nuts slide along the length of the rod, thus realizing linear motion. The entire motor and lead screw assembly is mounted on two bearings at either end of the control device and is also located within an inner housing. These bearings allow the housing to rotate along the central axis of the cylindrical assembly, thereby enabling the rotational motion described above. Figure 11 shows this type of probe system. Figure 13 shows the system being used during surgery.

[0022] In one experimental embodiment, due to constraints on the robot's diameter, a flex joint (a long, slender elastic member) was fabricated by machining material from a tubular section to form a specific pattern. In one embodiment, a unidirectional asymmetric notched joint was fabricated by removing material from the tubular section in an asymmetric manner. However, it was found that when all notches were located on only one side of the central axis of the tubular section, the neutral axis of the joint was shifted toward the far end. This made the joint more susceptible to lateral forces and other external forces. This problem did not occur with bidirectional symmetric joints, but due to the constraints of the moment arm, it was found that these joints lacked a high degree of flexibility. To maintain a high degree of flexibility in the bending plane while keeping external forces low, a flex joint known as a bidirectional asymmetric notched joint was adopted, as shown in Figure 15. In this design, a flexible bending segment was created between the notches by fabricating asymmetric notches on both sides of the central axis. This type of joint has a high degree of resistance to axial forces and forces acting in a plane traversing the bending plane. This resistance to lateral forces at the notched joint allows for a tendon routing method that minimizes the connection between joints.

[0023] To manufacture the joint used in the experimental embodiment described above, a nickel-titanium alloy tubular section with an outer diameter (OD) of 2 mm and an inner diameter (ID) of 1.43 mm was machined on a 3-axis CNC milling machine (Okuma Millac, available from Okuma America Corporation, North Carolina, USA) equipped with a 500-micron diameter 4-flute end mill (875-TJ-.020, available from Richards Micro Tool, Massachusetts, USA). The rated cutting speed was 19 m / min and the feed speed was 4.2 mm / second. In another embodiment of the robot, the robot joint was machined from a nickel-titanium alloy tubular section with an outer diameter (OD) of 1.93 mm and an inner diameter (ID) of 1.49 mm. Micromachining of the small circular teeth was performed with a femtosecond laser (WS-Flex Ultra-Short Pulse Laser Workstation, available from Optec, Flammley, Belgium). The robot probe assembly itself includes two joints, both configured to flex by the drive of two tendons along parallel axes in the same plane. Each joint could be flexed in its respective direction in the flexion plane by the two tendons. However, the two tendons driving the distal joint were routed together with the tendons driving the proximal joint. The tendons for the distal joint were routed on a plane that crosses the flexion plane of the proximal joint. Because the proximal joint has high flexibility in the flexion plane but low flexibility in the cross plane, planned decoupling was achieved by activating the distal tendons without causing significant bending of the proximal joint. The tendon phase shift block is a 3D printed tubular part with a 0.2 mm channel spirally formed inside, which allows the distal tendon to shift its phase by 90°, so that it can move from the cross plane to the flexion plane of the distal tendon. With this configuration, as shown in Figure 16, a tendon-driven multi-degree-of-freedom (DoF) system is achieved, in which disconnection is realized by a spring-like joint that is flexible in a direction, and a routing method for tendons between continuous joints is realized.

[0024] While specific advantages have been listed above, various embodiments may include some, omit, or include all of the listed advantages. Those skilled in the art will likely find other technical advantages obvious from the drawings and description. Although the drawings and description illustrate exemplary embodiments, the principles of this disclosure can be realized using any number of currently known or unknown technologies. Without departing from the scope of the invention, the systems, apparatuses, and methods described herein may be modified, added to, or omitted. Components of the systems and apparatuses may be integrated or separated. The operation of the systems and apparatuses disclosed herein may be realized with more, fewer, or other components, and the methods described herein may include more, fewer, or other steps. Furthermore, the steps may be performed in any suitable order. As used herein, "each" refers to each member of a set, or each member of a subset of a set. The claims and elements set forth below are not intended to exercise 35 U.S.C. § 112(f) unless the terms “means for” or “process for” are expressly used in a particular claim. The embodiments described above include preferred embodiments known to the invention at the time of filing, and the best mode of the invention, but are provided only as illustrative embodiments. It will be readily apparent that various modifications can be made to the specific embodiments disclosed herein without departing from the scope of the invention. Accordingly, the scope of the invention is not limited to the specific embodiments described above, but is determined by the following claims.

Claims

1. A probe component comprising: (a) a base member defining a first bore therethrough; (b) a first elongate elastic member having a first side and a second side opposite the first side; a proximal end secured to the base member and extending from the proximal end to a distal end; the first elongated elastic member defines a first channel in communication with the first bore and extending along the length of the elastic member; the first elongated elastic member; (c) a first tendon portion, a portion of the first tendon disposed within the first channel adjacent the first side of the first elongated elastic member; the first tendon has a first end and a second end opposite the first end, the second end being secured to a portion of the first elongated elastic member adjacent the distal end; the first tendon portion passes through the first hole portion of the base member, whereby the first end portion of the first tendon portion extends outside the first hole portion; Applying tension to the first tendon portion causes the first elongated elastic member to bend toward the first side. the first tendon portion; A probe component having:

2. 10. The probe component of claim 1, wherein the probe component has a diameter smaller than the diameter of the working channel of a rigid endoscope.

3. 2. The probe assembly of claim 1, wherein the first elongated resilient member has a crenulated tubular portion including a plurality of crenulated portions machined into the first side of the resilient member.

4. 2. The probe assembly of claim 1, wherein the base member defines a second bore therethrough; the probe component further includes a second tendon having a first end and a second end opposite the first end, the second end being secured to a portion of the first elongated elastic member adjacent the distal end; the second tendon portion passes through the first channel along the second side of the first elongated elastic member and further passes through the second hole in the base member such that the first end of the second tendon portion extends outside the second hole; Applying tension to the second tendon portion causes the first elongated elastic member to bend toward the second side. Probe parts.

5. 5. The probe component of claim 4, wherein the first elongated resilient member has a crenulated tubular portion with a first plurality of crenulated portions machined on the first side of the resilient member and a second plurality of crenulated portions machined on the second side of the resilient member.

6. 6. The probe assembly of claim 5, wherein the first plurality of small circular serrations are symmetrical to the second plurality of small circular serrations.

7. 6. The probe assembly of claim 5, wherein the first plurality of small circular serrations have an asymmetrical shape with respect to the second plurality of small circular serrations.

8. The probe component according to claim 1, further comprising: a probe assembly including a device attached to the distal end of the first elongated resilient member;

9. The probe component according to claim 1, further comprising: (a) an intermediate rigid member attached to the distal end of the first elongated elastic member; (b) a second elongated elastic member attached to the intermediate rigid member on an opposite side to the first elongated elastic member, a first side and a second side opposite the first side; the second elongated elastic member defining a second channel extending along the length of the elastic member; the second elongated elastic member; a third tendon portion having a first end and a second end opposite the first end, the second end of the third tendon portion is secured to a portion of the second elongate elastic member adjacent the distal end; the third tendon portion extends along the second channel defined by the second elongated elastic member and passes through a third hole in the base member, such that the first end of the third tendon portion extends outside the third hole; Applying tension to the third tendon portion causes the second elongated elastic member to bend toward the first side. Probe parts.

10. 10. The probe assembly of claim 9, wherein the second elongated resilient member comprises a crenulated tubular portion including a plurality of crenulated portions machined into the first side of the resilient member.

11. The probe component according to claim 9, further comprising: a fourth tendon having a first end and a second end opposite the first end; the second end of the fourth tendon portion is secured to a portion of the second elongate elastic member adjacent the distal end; the fourth tendon portion extends through the second channel along the second side of the second elongated elastic member and further through the fourth hole in the base member such that the first end of the fourth tendon portion extends outside the fourth hole; Applying tension to the fourth tendon portion causes the second elongated elastic member to bend toward the second side. Probe parts.

12. 10. The probe component of claim 9, wherein the second elongated resilient member has a crenulated tubular portion with a first plurality of crenulated portions machined into the first side of the resilient member and a second plurality of crenulated portions machined into the second side of the resilient member.

13. 13. The probe assembly of claim 12, wherein the first plurality of small circular serrations are mirror images of the second plurality of small circular serrations.

14. 13. The probe assembly of claim 12, wherein the first plurality of small serrations has an asymmetrical shape with respect to the second plurality of small serrations.

15. The probe component according to claim 9, further comprising: a probe assembly including a device attached to the distal end of the second elongated resilient member;

16. A probe assembly having a plurality of elongated elastic members, each of the plurality of elongated elastic members being the elongated elastic member of claim 1, spaced apart from one another by a plurality of intermediate rigid members and continuously connected to the first elongated elastic member.

17. 1. A probe assembly comprising: (a) a base member defining a first hole, a second hole, a third hole, and a fourth hole therethrough; (b) a first elongate elastic member having a first side and a second side opposite the first side; a proximal end secured to the base member and extending from the proximal end to a distal end; the first elongated resilient member defining a first passageway aligned with the first aperture and extending along the length of the resilient member adjacent the first side; and the first elongated resilient member is aligned with the second aperture and defines a second passageway extending along the length of the resilient member adjacent the second side; the first elongated elastic member; (c) an intermediate rigid member attached to the distal end of the first elongated elastic member; (d) a second elongated elastic member attached to the intermediate rigid member opposite the first elongated elastic member, a first side and a second side opposite the first side; the second elongated resilient member defines a third passageway extending along the length of the resilient member adjacent the first side; and the second elongate resilient member defines a fourth passageway extending along the length of the resilient member adjacent the second side; the second elongated elastic member; (e) a first tendon portion having a first end and a second end opposite the first end; the second end of the first tendon is secured to a portion of the first elongate elastic member adjacent the distal end; the first tendon portion extends through the first passage of the first elongated elastic member and through the first hole portion of the base member, such that the first end of the first tendon portion extends outside the first hole portion; Applying tension to the first tendon portion causes the first elongated elastic member to bend toward the first side. the first tendon portion; (f) a second tendon portion having a first end and a second end opposite the first end; the second end of the second tendon portion is secured to a portion of the first elongate elastic member adjacent the distal end; A portion of the first elongated resilient member is secured adjacent the distal end. the second tendon portion extends through the second passage of the first elongated elastic member and through the second hole portion of the base member, such that the first end of the second tendon portion extends outside the second hole portion; Applying tension to the second tendon portion causes the first elongated elastic member to bend toward the second side. the second tendon portion; (g) a third tendon portion having a first end and a second end opposite the first end, the second end of the third tendon portion is secured to a portion of the second elongate elastic member adjacent the distal end; the third tendon portion extends through the third passage defined by the second elongated elastic member and the third passage defined by the first elongated elastic member, and through the third hole portion of the base member, such that the first end of the third tendon portion extends outside the third hole portion; Applying tension to the third tendon portion causes the second elongated elastic member to bend toward the first side. the third tendon portion; (h) a fourth tendon having a first end and a second end opposite the first end; the second end of the fourth tendon portion is secured to a portion of the second elongate elastic member adjacent the distal end; the fourth tendon portion extends through the fourth passage of the second elongated elastic member and the fourth passage defined by the first elongated elastic member, and through the fourth hole portion of the base member, such that the first end of the fourth tendon portion extends outside the fourth hole portion; Applying tension to the fourth tendon portion causes the second elongated elastic member to bend toward the second side. the fourth tendon portion; A probe assembly comprising:

18. 18. The probe assembly of claim 17, wherein the probe component has a diameter smaller than the diameter of a working channel of a rigid endoscope.

19. 18. The probe assembly of claim 17, wherein the first elongated resilient member and the second elongated resilient member each have a crenulated tubular portion including a first plurality of crenulated portions machined on the first side of the first elongated resilient member and the first side of the second elongated resilient member, and a second plurality of crenulated portions machined on the second side of the first elongated resilient member and the second side of the second elongated resilient member.

20. 18. The probe assembly of claim 17, further comprising: a probe assembly having a device attached to the distal end of the second elongated resilient member.

21. 1. An apparatus for operating a probe assembly, comprising: The probe assembly provides directional control by applying stress to at least one tendon portion, and the device is configured for use with an endoscope defining a longitudinal passage therethrough, the device comprising: (a) a housing having an internal structure exposed by retracting a retractable portion of the housing, the housing having one end configured to couple to the endoscope; (b) at least one input passage defined by the housing and configured to be aligned with the length of the endoscope, the at least one input passage configured to receive a portion of the probe assembly therein, whereby the probe assembly is received in the longitudinal passage defined by the endoscope; and (c) an actuator assembly attached to the housing and configured to manipulate the probe assembly by selectively stressing the at least one tendon; An apparatus having:

22. 22. The apparatus of claim 21 further comprising: a quick connect assembly connectable to the actuator assembly and attached to the probe assembly; the at least one tendon is connected to a probe tendon connection; the actuator assembly includes an actuator-side tendon connection portion complementary to the tendon-side tendon connection portion, and when the quick connect assembly is snap-connected in place to the actuator assembly, the actuator-side tendon connection portion engages with the tendon-side tendon connection portion, such that movement induced by the actuator assembly applied to the actuator-side tendon connection portion results in corresponding movement in the tendon-side tendon connection portion, resulting in manipulation of the at least one tendon. Device.

23. 22. The apparatus of claim 21 further comprising: The apparatus comprises at least one joystick configured to provide intuitive control input to the probe assembly.

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