DIRECT DRIVE ENDOSCOPY SYSTEMS AND METHODS

The present invention relates to a medical system comprising: a guide tube for directing instruments including an elongate guide tube body extending between a proximal end and a distal end, the guide tube body defining a first working channel for a first medical instrument, the first working channel extending from a first proximal opening to a first distal opening, and the guide tube body defining a second working channel for a second medical instrument, the second working channel extending from a second proximal opening to a second distal opening; an articulation portion articulated via a guide tube controller; a first steerable instrument having an elongate body and slidably disposed within the first working channel; and a second steerable instrument having an elongate body and slidably disposed within the second working channel; wherein a distal portion of the first working channel is angled relative to a distal portion of the second working channel, such that the first instrument exits the first distal opening at an angle relative to an axis along which the second instrument exits the second distal opening.