Patent ID: 7837620

Claim:
A medical instrument assembly comprising: a medical tubular assembly with four medical coilpipes together having a distal end portion insertable within a patient, wherein the four medical coilpipes include a central coilpipe and three peripheral coilpipes disposed outward of the central coilpipe, wherein the four medical coilpipes are wound from a continuous length of wire, and wherein the three peripheral coilpipes each surround a separate peripheral lumen; a proximal medical instrument member connected to the medical tubular assembly; a distal medical instrument member connected to the distal end portion; and a separate and lengthwise translatable medical-instrument-member articulation cable disposed in each of the separate peripheral lumens, wherein the medical-instrument-member articulation cables are attached to the distal medical instrument member to articulate the distal medical instrument member with respect to the proximal medical instrument member.