Direct drive endoscopy systems and methods

A drive system for simultaneously controlling multiple degrees of freedom, the system comprising:

• a first tool including a first distal end effector connected with a first controller, wherein the first controller includes a handle that allows a user to simultaneously control at least three degrees of freedom of the first tool with a single hand;
• a second tool including a second distal end effector connected with a second controller, wherein the second controller includes a handle that allows a user to simultaneously control at least three degrees of freedom of the second tool with a single hand;
• and
• a frame, wherein the first and second tools are movably mated with the frame.

A drive system for simultaneously controlling multiple degrees of freedom, the system comprising:

• a first tool including a first distal end connected with a first controller, wherein the first controller includes a handle that allows a user to simultaneously control at least three degrees of freedom of the first tool with a single hand;
• a second tool including a second distal end connected with a second controller, wherein the second controller includes a handle that allows a user to simultaneously control at least three degrees of freedom of the second tool with a single hand;
• and
• a first and a second frame, wherein the first and second tools are movably mated with the first and second frames, respectively.

A direct drive system, comprising:

• an elongate guide tube extending between a proximal and distal end, the guide tube comprising at least one working channel for at least one tool, the guide tube having at least one distal opening and at least one proximal opening;
• a first tool including an elongate body extending between and proximal and distal end, a distal end effector, and a controller, the elongate body sized such that the distal end effector can be positioned proximate to the distal opening of the guide tube while the controller extends from the at least one proximal opening of the guide tube, the first tool including a connection between the controller and distal end effector for transmitting force to the end effector, wherein the connection can direct at least two degrees of freedom of the distal end effector;
• and
• a frame configured to support the first tool, wherein the controller of the first tool mates with the frame and allows a user to move the controller relative to the guide tube while manipulating the at least two degrees of freedom of the first tool via the controller.

A method of simultaneously controlling multiple degrees of freedom of a tool, the method comprising:

• providing a tool comprising a distal end, an elongate body, and a controller for controlling at least one degree of freedom of the distal end;
• moving the tool relative to a frame to control at least two degrees of freedom of the tool;
• and
• manipulating, simultaneously, the controller to control the at least one degree of freedom of the distal end.

A method of simultaneously controlling multiple degrees of freedom of a drive system, the method comprising:

• providing a drive system comprising:
• a tool having a distal end effector, an elongate body, and a controller for controlling at least one degree of freedom of the distal end effector;
• a frame movably mated with the controller;
• and a guide tube;
• moving the tool relative to the guide tube to control at least two degrees of freedom of the tool;
• and
• manipulating, simultaneously, the controller to control the at least one degree of freedom of the distal end effector.

A method of simultaneously controlling multiple degrees of freedom of a drive system, the method comprising:

• providing first and second tools movably mated with a frame, the first tool including a first distal end effector, a first elongate body, and a first controller and the second tool including a second distal end effector, a second elongate body, and a second controller;
• manipulating the first controller to simultaneously control at least three degrees of freedom of the system;
• and
• manipulating the second controller to simultaneously control at least three additional degrees of freedom of the system.

An adjustable frame for supporting a surgical instrument comprising:

• a surgical instrument comprising an elongate catheter body, a distal end, and a controller for controlling at least one degree of freedom of the distal end via user inputs to the controller;
• a frame for supporting the surgical instrument, the frame including a first and a second body member, the controller movably connected with the first body member and having at least two degrees of freedom with respect to the first body member, wherein the movable connection between the first body member and the controller constrains movement of the controller within a given volume, the second body member being fixedly connected to a point of reference;
• and
• an adjustable connection between the first and second body members, wherein movement of the first body member with respect to the second body member allows a user to change the location of the volume in which the controller is constrained.

A frame for supporting a guide tube comprising:

• a surgical instrument comprising an elongate catheter body, a distal end, and a controller for controlling at least one degree of freedom of the distal end;
• an elongate guide tube having at least one channel for the passage of the catheter body;
• and
• a frame, the controller movably and detachably connected with the frame and having at least two degrees of freedom of movement with respect to the frame and the guide tube detachably connected with the frame.

A guide tube for supporting an instrument comprising:

• a surgical instrument comprising an elongate catheter body, a distal end effector, and a controller for controlling at least one degree of freedom of the distal end effector;
• and
• an elongate guide tube having at least one channel for the passage of the catheter body, the guide tube including proximal controls and a distal articulating section, the controller movably connected with the guide tube and having at least two degrees of freedom with respect to the guide tube,
• wherein the guide tube supports the controller and the movable connection constrains movement of the controller with respect to the guide tube.