US20160081529A1 - Steerable electronic stereoscopic endoscope - Google Patents

Abstract

A steerable stereoscopic endoscope comprising:

• • a shaft having a distal end, a proximal end, and an articulating region therebetween;
  • stereo image acquisition means disposed at the distal end of the shaft for acquiring stereo images of a remote site; and
  • means for steering the portion of the shaft distal to the articulating region.

Description

REFERENCE TO PENDING PRIOR PATENT APPLICATION
• This patent application claims benefit of pending prior U.S. Provisional Patent Application Ser. No. 61/550,095, filed Oct. 21, 2011 by Douglas D. Sjostrom et al. for STEERABLE STEREOSCOPIC ELECTRONIC ENDOSCOPE (Attorney's Docket No. VIKING-7 PROV), which patent application is hereby incorporated herein by reference.
FIELD OF THE INVENTION
• This invention relates to visualization systems in general, and more particularly to stereoscopic endoscopes which may be articulated and directed by the user.
BACKGROUND OF THE INVENTION
• Typically endoscopes that may be articulated are limited to single channel optical or electronic image transmission means.
• Optical endoscopes that are flexible currently rely upon coherent optical fiber bundles to transmit coarsely pixilated images, giving the user the impression of viewing a scene through a grid, not unlike viewing a scene through a window screen.
• Electronic endoscopes (also known as “chip-on-tip” or “chip-on-stick” endoscopes) that are flexible feature a single, highly miniaturized image sensor disposed at the distal end of the device.
• Both types of endoscopes (i.e., optical and electronic) typically include fiber optic illumination means for illuminating the operative field which is being directly visualized.
• Due to challenges in adequately sealing flexible and articulating endoscopes, these types of devices are limited to cold sterilization techniques. Typically such flexible and articulating endoscopes are hand-held and steered directly by the user.
• Stereoscopic (i.e., 3D) endoscopes differ from their non-stereo counterparts in that they are more sensitive to optical misalignments. Not only must each channel be optically aligned for the best image, but also key optical parameters for each channel (such as magnification, bore-sight, image rotation, image focus, etc.) must be identical between the two channels—otherwise, an unwanted parallax will be created in the system, causing depth distortions and user eye strain/fatigue in converging the two images.
DESCRIPTION OF THE INVENTION
• The present invention addresses the forgoing issues and provides a steerable electronic stereoscopic endoscope which appropriately maintains channel alignment, and which appropriately maintains key optical parameters for each channel, so as to avoid unwanted parallax and thus minimize user eye strain/fatigue. In addition, the steerable electronic stereoscopic endoscope of the present invention is able to withstand the pressure and elevated temperatures of steam autoclave sterilization, so that the steerable electronic stereoscopic endoscope may be sterilized with both hot and cold sterilization techniques.
• In one preferred form of the invention, there is provided a steerable stereoscopic endoscope comprising:
• a shaft having a distal end, a proximal end, and an articulating region therebetween;
• stereo image acquisition means disposed at the distal end of the shaft for acquiring stereo images of a remote site; and
• means for steering the portion of the shaft distal to the articulating region.
• In another preferred form of the invention, there is provided a steerable endoscope comprising:
• a shaft having a distal end, a proximal end, and an articulating region therebetween; and
• • image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;
• wherein the distal end of the shaft comprises at least two decks sealably connected by flexible metal bellows.
• In another preferred form of the invention, there is provided a steerable endoscope comprising:
• a shaft having a distal end, a proximal end, and an articulating region therebetween; and
• image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;
• wherein the distal end of the shaft comprises a wire spine having a distal end and a proximal end, a first deck mounted to the distal end of the wire spine and a second deck mounted to the proximal end of the wire spine.
• In another preferred form of the invention, there is provided a steerable endoscope comprising:
• a shaft having a distal end, a proximal end, and an articulating region therebetween;
• image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;
• a steering and brake assembly mounted to the proximal end of the shaft; and
• a plurality of actuating wires extending between the distal end of the shaft and the steering and brake assembly;
• wherein the steering and brake assembly comprises:
• • a base having a spherical seat;
  • a bearing ball rotatably mounted within the spherical seat of the base;
  • a joystick core mounted to the ball;
  • a swash plate mounted to the joystick core, wherein the plurality of actuating wires are attached to the swash plate;
  • a brake for selectively locking the bearing ball in position within the spherical seat of the base; and
  • means for actuating the brake.
• In another preferred form of the invention, there is provided a steerable endoscope comprising:
• a shaft having a distal end, a proximal end, and an articulating region therebetween;
• image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site; and
• a control joystick for steering the portion of the shaft distal to the articulating region.
• In another preferred form of the invention, there is provided a method for acquiring an image of a remote site, the method comprising:
• providing a steerable stereoscopic endoscope comprising:
• • a shaft having a distal end, a proximal end, and an articulating region therebetween;
  • stereo image acquisition means disposed at the distal end of the shaft for acquiring stereo images of a remote site; and
  • means for steering the portion of the shaft distal to the articulating region; and
• using the steerable stereoscopic endoscope to acquire an image of a remote site.
• In another preferred form of the invention, there is provided a method for acquiring an image of a remote site, the method comprising:
• providing a steerable endoscope comprising:
• • a shaft having a distal end, a proximal end, and an articulating region therebetween; and
  • image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;
  • wherein the distal end of the shaft comprises at least two decks sealably connected by flexible metal bellows; and
• using the steerable endoscope to acquire an image of a remote site.
• In another preferred form of the invention, there is provided a method for acquiring an image of a remote site, the method comprising:
• providing a steerable endoscope comprising:
• • a shaft having a distal end, a proximal end, and an articulating region therebetween; and
  • image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;
  • wherein the distal end of the shaft comprises a wire spine having a distal end and a proximal end, a first deck mounted to the distal end of the wire spine and a second deck mounted to the proximal end of the wire spine; and
• using the steerable endoscope to acquire an image of a remote site.
• In another preferred form of the invention, there is provided a method for acquiring an image of a remote site, the method comprising:
• providing a steerable endoscope comprising:
• • a shaft having a distal end, a proximal end, and an articulating region therebetween;
  • image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;
  • a steering and brake assembly mounted to the proximal end of the shaft; and
  • a plurality of actuating wires extending between the distal end of the shaft and the steering and brake assembly;
  • wherein the steering and brake assembly comprises:
    • a base having a spherical seat;
    • a bearing ball rotatably mounted within the spherical seat of the base;
    • a joystick core mounted to the ball;
    • a swash plate mounted to the joystick core, wherein the plurality of actuating wires are attached to the swash plate;
    • a brake for selectively locking the bearing ball in position within the spherical seat of the base; and
    • means for actuating the brake; and using the steerable endoscope to acquire an image of a remote site.
• In another preferred form of the invention, there is provided a method for acquiring an image of a remote site, the method comprising:
• providing a steerable endoscope comprising:
• • a shaft having a distal end, a proximal end, and an articulating region therebetween;
  • image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site; and
  • a control joystick for steering the portion of the shaft distal to the articulating region; and
• using the steerable endoscope to acquire an image of a remote site.
• In another preferred form of the invention, there is provided a steerable endoscope comprising:
• a shaft having a distal end, a proximal end, and an articulating region therebetween;
• image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site; and
• means for steering the portion of the shaft distal to the articulating region;
• wherein the image acquisition means are isolated within a capsule configured to protect the image acquisition means against multiple steam autoclave cycles.
• In another preferred form of the invention, there is provided a method for acquiring an image of a remote site, the method comprising:
• providing a steerable endoscope comprising:
• • a shaft having a distal end, a proximal end, and an articulating region therebetween;
  • image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site; and
  • means for steering the portion of the shaft distal to the articulating region;
  • wherein the image acquisition means are isolated within a capsule configured to protect the image acquisition means against multiple steam autoclave cycles; and
• using the steerable endoscope to acquire an image of a remote site.
BRIEF DESCRIPTION OF THE DRAWINGS
• These and other objects and features of the present invention will be more fully disclosed or rendered obvious by the following detailed description of the preferred embodiments of the invention, which is to be considered together with the accompanying drawings wherein like numbers refer to like parts, and further wherein:
• FIG. 1 is a schematic view showing a steerable electronic stereoscopic endoscope formed in accordance with the present invention;
• FIGS. 2 and 2A are schematic views showing the articulating region of the shaft of the endoscope;
• FIGS. 3,3A,3B and3C are schematic views showing the endoscope's sealed camera module and details thereof;
• FIG. 4 is a schematic view showing the distal end of the endoscope;
• FIGS. 5,5A,5B,5C,5D and5E are schematic views showing the endoscope's steering and brake assembly and details thereof;
• FIGS. 6 and 6A are schematic views showing the endoscope's handle and details thereof; and
• FIGS. 7A and 7B are schematic views showing an alternative configuration of the endoscope's camera head featuring improved resistance to degradation from steam autoclave sterilization.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
• Looking first atFIG. 1, there is shown a steerable electronicstereoscopic endoscope5 formed in accordance with the present invention.Endoscope5 generally comprises ashaft10 having adistal end15 and aproximal end20.Shaft10 is flexible in the articulatingregion25 as will hereinafter be discussed in further detail. Theproximal end20 ofshaft10 is mounted to ahandle30.
• FIG. 2 showsshaft10 in the articulatingregion25. Articulatingregion25 generally comprises adistal joiner deck35, at least oneintermediate deck40 and abase joiner deck45. Further elements in the articulatingregion25 include a central supporting Nitinolsuper-elastic wire50 captively supported withindistal joiner deck35 andbase joiner deck45.Intermediate deck40 is slidably supported byNitinol superelastic wire50. A plurality of stacked spacer elements (e.g., rings)55 are coaxially mounted onNitinol superelastic wire50 betweendistal joiner deck35 and the at least oneintermediate deck40, and between the at least oneintermediate deck40 andbase joiner deck45, so as to ensure a fixed spacing betweendistal joiner deck35 and the at least oneintermediate deck40, and between the at least oneintermediate deck40 andbase joiner deck45, regardless of endoscope articulation.
• Four actuating wires60 (only three of which are seen inFIG. 2) are bonded securely withindistal joiner deck35 and slidably pass through the at least oneintermediate deck40 andbase joiner deck45. Fourconduit tubes65, joined tobase joiner deck45 and extending proximally therefrom, maintain straightness and proper orientation of actuatingwires60 as the actuating wires pass through the axial length ofendoscope5.
• Looking now atFIGS. 2 and 2A, two metal bellows70 are hermetically joined (at joints75) to theirrespective decks35 and40, and40 and45, providing rotational rigidity toendoscope5 and hermetically sealing the elements within.
• Holes80 indecks35,40 and45 allow electronic leads85 (seeFIG. 3) to slide freely withindecks35,40 and45, and holes90 indecks35,40 and45 allow fiber optic illumination bundles95 (seeFIG. 3) to slide freely withindecks35,40 and45 during endoscope articulation.
• FIG. 3 shows the sealedcamera module100 which is disposed inshaft10 distal todistal joiner deck35, withelectronic leads85 and fiber optic illumination bundles95 passing throughholes80 and90 withindecks35,40 and45.Sealed camera module100 comprises anouter sleeve105, anelastomer seal110 and the aforementioned electronic leads85 (from the camera module's image sensor assemblies, see below) and optical fiber illumination bundles95.
• FIGS. 3A,3B and3C show interior construction details of sealedcamera module100.
• FIG. 3A shows themodule body115 which is disposed coaxially withinouter sleeve105 of sealedcamera module100, and animage sensor assembly120, as well as the aforementioned electronic leads85 and fiber optic illumination bundles95.
• FIG. 3C illustrates the interior elements of sealedcamera module100 aligned and bonded withinmodule body115. Shown are pairs of CCDimage sensor assemblies120,camera lens cells125 and optical fiber illumination bundles95 bonded and polished withinferrules130.
• FIG. 3B illustrates the foregoing elements bonded withinmodule body115. The pair ofimage sensor assemblies120 are carefully optically aligned and then bonded (e.g., at116) tomodule body115. Note thatcamera lens cells125, and fiber optic illumination bundles95 (mounted within ferrules130), open on the distal end ofmodule body115. Thus it will be seen that sealedcamera module100 comprises amodule body115 which carriesimage sensor assemblies120 andferrules130 supporting fiber optic illumination bundles95, and thismodule body115 is secured withinouter sleeve105 and sealed withelastomer seat110, with the electronic leads85 ofimage sensor assemblies120 and fiber optic illumination bundles95 extending throughelastomer seal110.
• FIG. 4 illustrates the assembleddistal end15 ofendoscope5, including articulatingregion25. Note that the distal end ofdistal joiner deck35 is received withinouter sleeve105 of sealedcamera module100, with the distal end ofdistal joiner deck35 abuttingelastomer seal110 and with theouter sleeve105 of sealedcamera module100 being hermetically bonded to the outside diameter ofdistal joiner deck35. Note also that electronic leads85 ofimage sensor assemblies120 and fiber optic illumination bundles95 extend throughdecks35,40 and45, with metal bellows70 cooperating withdecks35,40 and45 so as to render the distal end ofshaft10 hermetically sealed.
• FIG. 5 shows the endoscope's steering andbrake assembly135 which is contained within, and extends out of, handle30. Using steering andbrake assembly135, the user may direct the viewing angle of the endoscope by manipulating thecontrol joystick140, which comprisesshaft members145 and150 andknob155. The control joystick position also provides an external indication of the endoscope's viewing position, with the shaft (145,150) ofcontrol joystick140 representing the axis of a pointer andknob155 representing the “tail” of the pointer.
• Control joystick140 is secured by a captive ball joint160 (FIG. 5A) formed by abase165, abearing ball170 and abraking element175. Viewing may be directed in a 360 degree conic arc of up to, but not limited to, an included angle of 140 degrees without altering the disposition of the main body ofendoscope5 itself.FIG. 1 shows the actual device with the viewing angle being held in place by the brake feature.
• Manipulatingcontrol joystick140 deflects the distal end of the endoscope, whereby to appropriately direct its camera, by pulling one or more of the four actuating wires60 (FIG. 5D) held in position within aswash plate180 by four ball-ended terminations185 (FIGS. 5D and 5E) bonded or swaged to their respective Nitinol pullwires60.
• FIGS. 5A and 5E represent sectional views of the steering andbrake assembly135. When the desired view position is achieved, the brake is applied by rotatingknob155 clockwise.
• Knob155 drives the brake cam190 (FIG. 5B) through adrive pin195. A Nitinol brake pull wire200 (FIG. 5A) passes through a threaded tubularcontrol joystick core205 and is fixed within thebraking element175 by two non-scoring set screws210 (FIG. 5A). Nitinol (a superelastic nickel titanium alloy) is used for its high strength inbrake pull wire200 as well as in the aforementionedNitinol superelastic wire50 disposed within the distal end of the endoscope (see above). Nitinol's unique elastic properties resist fatigue and contribute to maintaining straightness when the brake is not engaged.
• Braking element175 (FIG. 5E) features a partial precision hemispherical socket covering approximately one third of the control stick precision bearing ball170 (FIG. 5A). With the brake released, thebraking element175 serves as the distal element of the control stick bearing socket. The movable braking element175 (FIG. 5A) is constrained by the main tube sleeve215 (FIG. 5E). Proximally, the Nitinol brake pull wire200 (FIG. 5A) is attached to the cam follower body220 (FIG. 5A) by two non-scoring set screws225 (only one of which is shown inFIG. 5A). Two cam follower pins230 (FIG. 5A) are inserted through slots in the cam235 (FIG. 5A) and restraininggrooves240 in the knob body245 (FIG. 5C).
• FIG. 5A shows, at250, the exit point of the hole through the threadedcore205 ofcontrol joystick140 located at the center point of thebearing ball170. This is done to minimize any effective length change caused by the excursion made by the control joystick during use. Minimizing this length change effect removes unwanted friction and/or, conversely, sudden accidental brake release.
• Referring toFIG. 5A, it will be seen that rotating theknob155 clockwise will place increasing tension on thebraking element175 viabrake pull wire200, which in turn clamps upon the controlstick bearing ball170 with sufficient friction to effectively holdswash plate180, and hence the distal end of the endoscope's shaft, with the desired view orientation, yet light enough to allow overriding movement of the control joystick.
• Undesirable rotation of theswash plate180 is prohibited by a restraining tab255 (FIGS. 5A and 5B) which is disposed within a parallel pair of dowel pins260 joined tobase165.
• As shown inFIGS. 5D and 5E, the effective leverage of theswash plate180 when acting upon thepull wires60 is maintained by the fourrounded grooves265 inbase165.
• FIGS. 6 and 6A show the proximal hand control end ofendoscope5.Handle30 may be gripped by the user and thecontrol joystick140 operated with the thumb of the gripping hand of the user, or thecontrol joystick140 may be operated with the other hand of the user.
• The fiber optic illumination bundles95 are terminated and polished at270 in aninput connector275 to which an input light guide (not shown) from the accessory light source (not shown) is connected. The electronic leads (cable)85 (FIG. 3) connect the image sensor assemblies120 (FIG. 3C) to the main 3D video control unit (not shown) and are routed through (at280) asuitable strain relief285.
• Both the electroniccable strain relief285 and the fiberoptic input connector275 are sealably bonded at290,295, respectively, to handle30.Control joystick140 is movably sealed to handle30 by anelastomer seal300 which is configured so as to minimize resistance to movement ofcontrol joystick140.Area305 ofelastomer seal300 is preferably made slightly undersized so as to grasp and seal to handle30, andarea310 ofelastomer seal300 is preferably made slightly undersized so as to grasp and seal to controljoystick140. This sealing may be further augmented by adding compression collars and/or suitable adhesives toareas305,310.
• Astainless steel collar315 provides additional support for themain tube320 ofshaft10 wheremain tube320 emerges fromhandle30. Note thatmain tube320 ofshaft10 is bonded and sealed to handle30.
• Handle30 may be formed from two halves which are united during manufacturing, e.g., by bonding at325.FIG. 6A shows the proximal portion ofendoscope5 as it appears with the left side ofhandle30 removed. The fiber optic illumination bundles95 pass through theelongated hole330 inouter tube320 and then extend down toinput connector275. The shieldedelectronic leads85 from theimage sensor assemblies120 also pass through theelongated hole330 inouter tube320 and then extend down tosuitable strain relief285. The flange332 (FIGS. 5A and 6A) ofbase165 is retained and supported within matching receiving features335 within each handle half. Unwanted rotation of the steering mechanism is prevented by two opposingmachined slots340 formed inflange332 and fitting over mating tabs (not shown) formed in receiving features335. The halves ofhandle30 are sealed at all of the mating edge surfaces (e.g., at325).
• Thus it will be seen thatshaft10 ofendoscope5 comprises a sealed camera module100 (FIG. 3) which has its distal working components (e.g., the image-forming optics and electronics shown inFIGS. 3A,3B and3C) disposed withinouter sleeve105 so as to present itsobjective lens cells125 and the distal ends of its fiber optic illumination bundles95 to the region distal toouter sleeve105, with fiber optic illumination bundles95 andelectronic leads85 extending proximally therefrom.Shaft10 further comprises threedecks35,40 and45 (FIGS. 2 and 2A) which are connected together by aninterior wire spine50 and exterior metal bellows70 so as to provide an articulating region to the shaft.Wire spine50 further comprises a plurality of stacked spacer elements (e.g., rings)55 coaxially mounted on thewire spine50 so as to ensure consistent shaft length when the shaft is articulated.Distal deck35 is received within and mated toouter sleeve105 of sealedcamera module100, andmain tube320 ofshaft10 extends proximally fromproximal deck45. The proximal end ofmain tube320 is secured to handle30.Actuating wires60 are provided to articulate the distal end ofshaft10 and, to this end, the distal end of articulatingwires60 are secured todistal deck35 and extend proximally along the shaft, terminating atswash plate180 of the steering andbrake assembly135. The disposition ofswash plate180, and hence the disposition of the distal end ofshaft10, is adjusted by manipulatingknob155 at the proximal end of steering andbrake assembly135. The disposition ofswash plate180, and hence the view position of the distal end of the shaft, is adjusted by movingcontrol joystick140, and is locked in position by turningknob155 ofcontrol joystick140, which applies a proximal force to brakepull wire200, which causesbrake175 to lockbearing ball170 in position, whereby to lock swash plate180 (and hence the distal end of the shaft) in position.
Other Embodiments
• As shown,endoscope5 is hand-operated. However, by linking at least two electromechanical, remotely-operated servos to at least two quadrants of theswash plate180 and replacinghandle30 with a suitable adapter, steerable electronicstereoscopic endoscope5 may be adapted for utilization with remotely-operated surgical robot systems.
• It is well known in the art that endoscopes capable of withstanding multiple autoclave cycles must be sealed in such a way that all image-forming optics and electronics (e.g., the image sensor assemblies) are hermetically sealed by means of welding, high temperature soldering, brazing or other types of “hard” sealing methods, as opposed to elastomer seals or adhesives that are permeable to hot steam. Even very small amounts of moisture, if present in the optical path from the distal tip to the image sensor, will cause condensation and render the image unusable. The present invention lends itself to a complete hermetically-sealed autoclavable design. As seen inFIGS. 2 and 2A, the steerable distal portion of the endoscope comprises metal bellows70 soldered or welded to themetal decks35,40 and45. Typically, prior art flexible or distally-steerable endoscopes include plastic steerable outer sheath portions that preclude attaining a fully autoclavable design. Referring back toFIG. 3C,objective lens cells125 may be designed in such a way that the distal optical lens or window is fabricated out of optical grade sapphire and soldered to the metal barrel of the lens cell. Note that this type of sapphire-to-metal sealing technology is well known in the art. The metal barrels of thecamera lens cells125 may then be welded to the module body115 (FIG. 3B). Alternatively the front lens of eachobjective lens assembly125 may be soldered directly to themodule body115. Similarly, thin sapphire windows may be soldered to themodule body115 at the distal ports ofillumination fibers95, thereby providing for autoclavable hermetic seals at the distal surface ofmodule body115. The outer sleeve105 (FIG. 3) may be welded or brazed tomodule body115 at its distal end. Referring toFIG. 3,elastomer seal110 may be replaced with a metal part welded or brazed toouter sleeve105 and having hermetic feed-through connections forillumination fiber bundles95 andimage sensor cables85. Such hermetic feed-through connectors are known in the art. The modifications described above will encapsulate the most critical distal portion of the endoscope, which contains the optics and image sensors, into a fully hermetic assembly amenable to multiple autoclave cycles. The remaining portions of the endoscope are much less critical for small amounts of moisture and may be sealed by conventional sealing methods using elastomers and adhesives.
• Thus, for example,FIGS. 7A and 7B show an alternative configuration of the camera head featuring improved resistance to degradation from steam autoclave sterilization. More particularly, a distal stainless steel face (or deck)345 features twoholes350 closely fitted with theconduit tubes355 ofillumination fibers95.Conduit tubes355 are sealably soldered about their distal perimeter to eachhole350. Also shown are two sapphireoptical windows360 with metalized edges which are also sealably soldered inholes365 instainless steel face345. Thesesapphire windows360 are aligned with the optical axis of the twocamera lens cells125. A second stainless steel face (or deck)370 constrains the proximal ends of theconduit tubes355 ofillumination fiber optics95, i.e.,conduit tubes355 are sealably soldered inholes375 inmetal deck370. The camera heads120, and theircorresponding lens cells125, are constrained and held in proper alignment within module body115 (shown transparent inFIGS. 7A and 7B). This assembled camera module is adhesively bonded within the inner diameter of theouter sleeve105. In addition to having the illumination fiber optic conduits sealably soldered,deck370 also has two glass-to-metal sealed headers380 (FIG. 7B) sealably soldered withinholes385 formed indeck370. The electronic leads85 from the twoimage sensor assemblies120 are conductively joined to the glass-sealed feed-through leads within the two glass-to-metal sealedheaders380. The twoillumination fiber bundles95 are seen exiting their corresponding sealedconduits355 inFIG. 7B. The twodecks345,370 are sealably soldered within theinner diameter385 ofouter sleeve105, resulting in an assembly sealed by solder about the perimeters of thefiber optic conduits355,sapphire windows360 andglass headers380.
• FIGS. 6 and 6A show two connections, i.e.,connection275 for theillumination fibers95 andconnection285 forelectrical cable85. In an alternative embodiment, these two connectors may be combined into one universal cable carrying both illumination fibers and electrical wires, and may be permanently affixed to handle30. The proximal end of such a universal cable connects to a universal control unit (not shown) comprising a light source and the camera processor. Alternatively, such a universal cable may be detachably connected to handle30.
• In another embodiment of the present invention, rather than connecting theillumination fiber bundles95 to an external light source via connector275 (FIG. 6), the proximal portion of the endoscope (e.g. handle30) may contain an illumination engine based on white LEDs optically coupled to illumination fiber bundles95 (FIG. 3). As a result, an external light source will be no longer needed. The electrical power and control signals for the LEDs may be supplied viaconnector285. Alternatively, miniature white LEDs may be disposed at the distal end of the shaft of the endoscope, thereby eliminatingillumination fiber bundles95 altogether, or coupled to very short segments of illumination fiber.
• In yet another embodiment of the present invention, the proximal portion of the endoscope contains a portable electrical power supply (e.g., a battery) and a wireless transceiver for providing a wireless video link to a corresponding transceiver in the external camera control unit. Thus, electrical cable connector285 (FIG. 6) may be eliminated. This embodiment, combined with the one described above in which LEDs are used for illumination, will render the endoscope completely untethered, thereby significantly improving user interface and freedom of movement for the operator of the device. The portable power supply (i.e., battery) will provide electrical power for image sensor assemblies, the LED light engine and the wireless video link circuitry.
• In another embodiment, the proximal portion of the endoscope contains the entire video processing circuitry using highly integrated SoC (“system-on-a-chip”) or CoC (“camera-on-a-chip”) electronics. This embodiment, if combined with the two embodiments previously described (i.e., on-board light source, portable power supply and wireless communications), will eliminate the need for an external light source, external camera processing unit, light guide and electrical cable. The wireless video link will be established directly with a wireless device built into a video display, or with a wireless device external to, and electrically coupled to, the video display.
MODIFICATIONS
• It should also be understood that many additional changes in the details, materials, steps and arrangements of parts, which have been herein described and illustrated in order to explain the nature of the present invention, may be made by those skilled in the art while still remaining within the principles and scope of the invention.

Claims (20)

1. A steerable stereoscopic endoscope comprising:

a shaft having a distal end, a proximal end, and an articulating region therebetween;

stereo image acquisition means disposed at the distal end of the shaft for acquiring stereo images of a remote site; and

means for steering the portion of the shaft distal to the articulating region.

2. A steerable stereoscopic endoscope according toclaim 1 wherein the stereo image acquisition means comprise a pair of electronic image sensor assemblies.

3. A steerable stereoscopic endoscope according toclaim 1 wherein the articulating region of the shaft comprises a wire spine having a distal end and a proximal end, a distal deck mounted to the distal end of the wire spine and a proximal deck mounted to the proximal end of the wire spine.

4. A steerable stereoscopic endoscope according toclaim 3 further comprising a plurality of stacked spacer elements coaxially mounted on the wire spine.

5. A steerable stereoscopic endoscope according toclaim 1 further comprising fiber optic illumination bundles for delivering light to the distal end of the shaft.

6. A steerable stereoscopic endoscope according toclaim 1 further comprising a steering and brake assembly mounted to the proximal end of the shaft for controlling the disposition of the portion of the shaft distal to the articulating region of the shaft.

7. A steerable endoscope comprising:

a shaft having a distal end, a proximal end, and an articulating region therebetween; and

image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;

wherein the distal end of the shaft comprises at least two decks sealably connected by flexible metal bellows.

8. A steerable endoscope according toclaim 7 further comprising a wire spine having a distal end and a proximal end, the distal end of the wire spine being mounted to a deck and the proximal end of the wire spine being mounted to a deck.

9. A steerable endoscope according toclaim 8 further comprising a plurality of stacked spacer elements coaxially mounted on the wire spine.

10. A steerable endoscope according toclaim 7 wherein the image acquisition means comprise a pair of electronic image sensor assemblies.

11. A steerable endoscope according toclaim 7 further comprising fiber optic illumination bundles for delivering light to the distal end of the shaft.

12. A steerable endoscope according toclaim 7 further comprising a steering and brake assembly mounted to the proximal end of the shaft for controlling the disposition of the portion of the shaft distal to the articulating region of the shaft.

13. A steerable endoscope comprising:

a shaft having a distal end, a proximal end, and an articulating region therebetween; and

image acquisition means disposed at the distal end of the shaft for acquiring an image of a remote site;

wherein the distal end of the shaft comprises a wire spine having a distal end and a proximal end, a first deck mounted to the distal end of the wire spine and a second deck mounted to the proximal end of the wire spine.

14. A steerable endoscope according toclaim 13 further comprising a plurality of stacked spacer elements coaxially mounted on the wire spine.

15. A steerable endoscope according toclaim 13 further comprising a third deck disposed intermediate the first deck and the second deck, and further wherein the third deck is slidably mounted on the wire spine.

16. A steerable endoscope according toclaim 15 wherein the first deck and the third deck are sealably connected by flexible metal bellows, and further wherein the second deck and the third deck are sealably connected by flexible metal bellows.

17. A steerable endoscope according toclaim 13 wherein the image acquisition means comprise a pair of electronic image sensor assemblies.

18. A steerable endoscope according toclaim 13 further comprising fiber optic illumination bundles for delivering light to the distal end of the shaft.

19. A steerable endoscope according toclaim 13 further comprising a steering and brake assembly mounted to the proximal end of the shaft for controlling the disposition of the portion of the shaft distal to the articulating region of the shaft.

20.-45. (canceled)

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