US20210186308A1 - Endoscope with detachable handle module - Google Patents

Abstract

A modular endoscopy system comprises a first modular section comprising control and navigation functionality, and a patient-insertable second modular section user-detachably connectable to the first modular section via an attachment mechanism, wherein the first modular section is positionable at a proximal end section of the second modular section and is configured to steer and bend a portion of the second modular section. A method of using a modular endoscopy system comprises attaching a first modular section of to a second modular section of the modular endoscopy system, positioning a portion of the modular endoscopy system within a patient, steering a portion of the second modular section to an anatomy location of the patient via the first modular section, removing the modular endoscopy system from the patient, and detaching the second modular section from the first modular section after removal of the modular endoscopy system from the patient.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS
• This patent application claims the benefit of priority to U.S. Provisional Patent Application Ser. No. 62/951,157 filed Dec. 20, 2019 tided “MODULAR ENDOSCOPE WITH DETACHABLE AND SELECTIVELY DISPOSABLE COMPONENTS”; U.S. Provisional Patent Application Ser. No. 63/031,312 filed May 28, 2020 titled “ENDOSCOPE WITH DETACHABLE CAMERA MODULE”; and U.S. Provisional Patent Application Ser. No. 63/031,316 filed May 28, 2020 titled “ENDOSCOPE WITH DETACHABLE HANDLE MODULE”, the entire contents of which are hereby incorporated by reference.
TECHNICAL FIELD
• The present disclosure relates generally to medical devices comprising elongate bodies configured to be inserted into incisions or openings in anatomy of a patient to provide diagnostic or treatment operations.
• More specifically, the present disclosure relates to endoscopes for imaging and/or providing passage of therapeutic devices toward various anatomical portions, including gastrointestinal tract (e.g., esophagus, stomach, duodenum, pancreaticobiliary duct, intestines, colon, and the like), renal area (e.g., kidney(s), ureter, bladder, urethra) and other internal organs (e.g., reproductive systems, sinus cavities, submucosal regions, respiratory tract), and the like.
BACKGROUND
• Conventional endoscopes can be involved in a variety of clinical procedures, including, for example, illuminating, imaging, detecting and diagnosing one or more disease states, providing fluid delivery (e.g., saline or other preparations via a fluid channel) toward an anatomical region, providing passage (e.g., via a working channel) of one or more therapeutic devices for sampling or treating an anatomical region, and providing suction passageways for collecting fluids (e.g., saline or other preparations) and the like.
• In conventional endoscopy, the distal portion of the endoscope can be configured for supporting and orienting a therapeutic device, such as with the use of an elevator. However, such distal portions can, in a few instances, lead to difficulty in sterilizing or reprocessing the distal portion after use. For example, conventional endoscopy devices can be completely reusable such that crevices between components or spaces within functional components of the distal portion can be difficult to access and clean.
SUMMARY
• The present inventors have recognized that problems to be solved with conventional medical devices, and in particular endoscopes and duodenoscopes, include, among other things, particularly those that are difficult or not configured to be easily disassembled, 1) the need and difficulty of cleaning and sterilizing endoscopes after usage, 2) the cost of maintaining multiple endoscopes in inventory to perform different surgical techniques or therapeutic methods on different patients, and 3) the cost of purchasing medical devices having excess capacity or unwanted capabilities for a particular patient. The present disclosure can help provide solutions to these and other problems by providing systems, devices and methods for designing, building, using and deconstructing modular endoscopes. In particular, the present application is directed to attachment systems for detachable camera modules and detachable control modules for medical devices such as endoscopes and duodenoscopes. The camera modules and control modules can be configured for reuse after appropriate cleaning and sterilization, while the insertion sheaths and shafts to which they can be configured to connect can be configured for one-time use. As such, more expensive camera and control components can be modularly attached to inexpensive, disposable insertion sheaths and shafts. Said modular camera and control components can be configured for cleaning, e.g., by being encapsulated, while the insertion sheath and shafts can be inexpensively made to perform only the desired procedure and then disposed of after use. Such configurations can eliminate the need to clean in difficult to reach places in fully assembled devices and the need to maintain a large inventory of devices with different or excess capabilities.
• The present inventors have also recognized that problems to be solved with conventional medical devices, and in particular endoscopes and duodenoscopes, include, among other things, the potential difficulty presented by having to attach modular components and the associated need to have attached modular components remain attached during a procedure. The present disclosure can help provide solutions to these and other problems by providing systems, devices and methods comprising attachment mechanisms for modular components, particularly modular imaging and illuminating units. The attachment systems described herein can facilitate simple and easy assembly such that, if needed, surgeons and other personnel can assemble the camera module to an insertion module in an operating room environment, yet can still provide adequate coupling to prevent unintended or accidental dislodgement of the camera module from the insertion module, such as when the insertion module is being used to insert the camera module into a patient.
• The present inventors have additionally recognized that problems to be solved with conventional medical devices, and in particular endoscopes and duodenoscopes, include, among other things, the need for controlling endoscopes having different capabilities. In particular, modular endoscopes can be built with modular functional components that perform a wide variety of tasks, including different treatment options such as cutting, cauterizing, ablating and the like. As such, conventional endoscope control devices can be limited in accommodating additional functionality or adapting to modular accessories. The present disclosure can help provide solutions to these and other problems by providing systems, devices and methods comprising module control modules that can be coupled to proximal ends of insertion modules to control different functional modules attached to distal ends of the insertion modules. The control modules of the present disclosure can be provided with a wide variety of inputs, e.g., buttons, joysticks and touchscreens, that can be configured to control a variety of outputs.
• In an example, modular endoscopy system can comprise a first modular section comprising control and navigation functionality, and a second modular section user-detachably connectable to the first modular section via an attachment mechanism, the second modular section being patient insertable, wherein the first modular section is positionable at a proximal end section of the second modular section and is configured to steer and bend a portion of the second modular section.
• In another example, a method of using a modular endoscopy system can comprise attaching a first modular section of the modular endoscopy system to a second modular section of the modular endoscopy system, positioning at least a portion of the modular endoscopy system within a patient, steering a portion of the second modular section to an anatomy location of the patient via the first modular section, removing the modular endoscopy system from the patient, and detaching the second modular section from the first modular section after removal of the modular endoscopy system from the patient.
• In an additional example, a navigation and control module for an endoscope can comprise an ergonomically shaped housing, a joystick mounted to the housing in an articulable manner, and an angulation wire connected to the joystick.
• In another example, a method of controlling an endoscope comprises coupling an insertion section module of the endoscope to a motorized drive device, establishing a wireless communication connection between the motorized drive device and a navigation and control module, executing gestures on a touchscreen of the navigation and control module to control axial movement of the insertions section module with the motorized drive device.
BRIEF DESCRIPTION OF DRAWINGS
• FIG. 1 is a schematic diagram of an endoscopy system comprising an imaging and control system and an endoscope, such as duodenoscope.
• FIG. 2 is a schematic diagram of the endoscopy system ofFIG. 1 comprising the endoscope connected to a control unit of the imaging and control system.
• FIG. 3A is a schematic top view of a camera module including optical components for a side-viewing endoscope and an elevator mechanism.
• FIG. 3B is an enlarged cross-sectional view taken along theplane3B-3B ofFIG. 3A showing the optical components.
• FIG. 3C is an enlarged cross-sectional view taken along theplane3C-3C ofFIG. 3A showing the elevator mechanism.
• FIG. 4A is an end view of a camera module including optical components for an end-viewing endoscope.
• FIG. 4B is a cross-sectional view taken along theplane4B-4B ofFIG. 4A showing the optical components.
• FIG. 5 is a schematic view of a modular endoscope suitable for use as the endoscope ofFIGS. 1-4B comprising a camera module, an insertion section module, and a navigation and control module that are configured to be detachable from each other.
• FIG. 6A is a schematic illustration of an example of a camera module of the modular endoscope ofFIG. 5.
• FIG. 6B is schematic illustration of the camera module ofFIG. 6A comprising a communication circuit, a rechargeable power source, an imaging unit and an illumination unit.
• FIG. 7 is a schematic illustration of the modular camera ofFIGS. 6A and 6B connected to a wireless imaging and control system according to an example.
• FIG. 8A is a schematic illustration of a first example of an attachment mechanism for securing detachable camera modules of the present disclosure to a distal portion of the insertion section module of the modular endoscope ofFIG. 5, the attachment mechanism comprising a retention band.
• FIG. 8B is a schematic illustration of the camera module ofFIG. 6 secured with the attachment mechanism ofFIG. 8A.
• FIG. 8C is a perspective view of a clasp mechanism suitable for use with the retention band ofFIGS. 8A and 8B.
• FIG. 9A is a schematic illustration of a second example of an attachment mechanism for securing detachable camera modules of the present disclosure to a distal portion of the insertion section module of the modular endoscope ofFIG. 5, the attachment mechanism comprising a retention clip system.
• FIG. 9B is a schematic illustration of a clip for the retention clip system ofFIG. 9A.
• FIG. 9C is a schematic illustration of the camera module ofFIG. 6 secured with the attachment mechanism ofFIG. 9A.
• FIG. 9D is a schematic illustration of the retention clip system ofFIG. 9A showing retention clips mounted to a platform.
• FIG. 10A is a schematic illustration of a third example of an attachment mechanism for securing detachable camera modules of the present disclosure to a distal portion of the insertion section module of the modular endoscope ofFIG. 5, the attachment mechanism comprising a hinged basket.
• FIG. 10B is a schematic illustration of the hinged basket ofFIG. 10A in an expanded state.
• FIG. 11A is a schematic illustration of a fourth example of an attachment mechanism for securing detachable camera modules of the present disclosure to a distal portion of the insertion section module of the modular endoscope ofFIG. 5, the attachment mechanism comprising an expandable sleeve.
• FIG. 11B is a schematic illustration of the expandable sleeve ofFIG. 11A in an expanded state.
• FIG. 12A is a schematic illustration of a fifth example of an attachment mechanism for securing detachable camera modules of the present disclosure to a distal portion of the isnertion section module of the modular endoscope ofFIG. 5, the attachment mechanism comprising a screw-on holder.
• FIG. 12B is a schematic illustration of the camera module ofFIG. 6 coupled to the attachment mechanism ofFIG. 12A, which is shown exploded form the insertion section module of the modular endoscope.
• FIG. 13A is a schematic illustration of a navigation and control module for the modular endoscope ofFIG. 5 according to a first example.
• FIG. 13B is a schematic illustration of a control circuit for the navigation and control module ofFIG. 13A.
• FIG. 14A is a schematic illustration of a sectional view of the navigation and control module ofFIG. 13A taken along theplane14A-14A.
• FIG. 14B is a schematic illustration of a sectional view of the navigation and control module ofFIG. 13A taken along theplane14B-14B.
• FIG. 15 is a schematic illustration of a navigation and control module for controlling the modular endoscope ofFIG. 5 according to another example.
• FIG. 16 is a block diagram of an example machine configured as the navigation and control module ofFIG. 15 and upon which any one or more of the techniques discussed herein can be performed and with which any of the devices discussed herein can be used.
• FIG. 17 is a schematic illustration of a sterilization apparatus for sterilizing the camera modules according to the present disclosure.
• FIG. 18 is a block diagram illustrating a method of processing modular endoscope components for performing one or more surgical procedures.
DETAILED DESCRIPTION
• FIG. 1 is a schematic diagram ofendoscopy system10 comprising imaging andcontrol system12 andendoscope14. The system ofFIG. 1 is an illustrative example of an endoscopy system suitable for use with the systems, devices and methods described herein, such as modular endoscopy systems, modular endoscopes and methods for designing, building, using, deconstructing and reusing endoscope modules. According to some examples,endoscope14 can be insertable into an anatomical region for imaging and/or to provide passage of one or more sampling devices for biopsies, or one or more therapeutic devices for treatment of a disease state associated with the anatomical region.Endoscope14 can, in advantageous aspects, interface with and connect to imaging andcontrol system12. In the illustrated example,endoscope14 comprises a duodenoscope, though other types of endoscopes can be used with the features and teachings of the present disclosure.
• Imaging andcontrol system12 can comprisecontroller16,output unit18,input unit20,light source22,fluid source24 andsuction pump26.
• Imaging andcontrol system12 can include various ports for coupling withendoscopy system10. For example,controller16 can include a data input/output port for receiving data from and communicating data toendoscope14.Light source22 can include an output port for transmitting light toendoscope14, such as via a fiber optic link.Fluid source24 can include a port for transmitting fluid toendoscope14.Fluid source24 can comprise a pump and a tank of fluid or can be connected to an external tank, vessel or storage unit.Suction pump26 can comprise a port used to draw a vacuum fromendoscope14 to generate suction, such as for withdrawing fluid from the anatomical region into whichendoscope14 is inserted.Output unit18 andinput unit20 can be used by an operator ofendoscopy system10 to control functions ofendoscopy system10 and view output ofendoscope14.Controller16 can additionally be used to generate signals or other outputs from treating the anatomical region into whichendoscope14 is inserted. In examples,controller16 can generate electrical output, acoustic output, a fluid output and the like for treating the anatomical region with, for example, cauterizing, cutting, freezing and the like.
• Endoscope14 can compriseinsertion section28,functional section30 and handlesection32, which can be coupled tocable section34 andcoupler section36.
• Insertion section28 can extend distally fromhandle section32 andcable section34 can extend proximally fromhandle section32.Insertion section28 can be elongate and include a bending section, and a distal end to whichfunctional section30 can be attached. The bending section can be controllable (e.g., bycontrol knob38 on handle section32) to maneuver the distal end through tortuous anatomical passageways (e.g., stomach, duodenum, kidney, ureter, etc.).Insertion section28 can also include one or more working channels (e.g., an internal lumen) that can be elongate and support insertion of one or more therapeutic tools offunctional section30. The working channel can extend betweenhandle section32 andfunctional section30. Additional functionalities, such as fluid passages, guide wires, and pull wires can also be provided by insertion section28 (e.g., via suction or irrigation passageways, and the like).
• Handle section32 can compriseknob38 as well asports40.Knob38 can be coupled to a pull wire extending throughinsertion section28.Ports40 can be configured to couple various electrical cables, fluid tubes and the like to handlesection32 for coupling withinsertion section28.
• Imaging andcontrol system12, according to examples, can be provided on a mobile platform (e.g., cart41) with shelves forhousing light source22,suction pump26,image processing unit42, etc. Alternatively, several components of imaging andcontrol system12 shown inFIGS. 1 and 2 can be provided directly onendoscope14 so as to make the endoscope “self-contained.”
• FIG. 2 is a schematic diagram ofendoscopy system10 ofFIG. 1 comprising imaging andcontrol system12 andendoscope14.FIG. 2 schematically illustrates components of imaging andcontrol system12 coupled toendoscope14, which in the illustrated example comprises a duodenoscope. Imaging andcontrol system12 can comprisecontroller16, which can include or be coupled toimage processing unit42,treatment generator44 and driveunit46, as well aslight source22,input unit20 andoutput unit18.
• Image processing unit42 andlight source22 can each interface withendoscope14 by wired or wireless electrical connections. Imaging andcontrol system12 can accordingly illuminate an anatomical region, collect signals representing the anatomical region, process signals representing the anatomical region, and display images representing the anatomical region ondisplay unit18. Imaging andcontrol system12 can includelight source22 to illuminate the anatomical region using light of desired spectrum (e.g., broadband white light, narrow-band imaging using preferred electromagnetic wavelengths, and the like). Imaging andcontrol system12 can connect (e.g., via an endoscope connector) toendoscope14 for signal transmission (e.g., light output from light source, video signals from imaging system in the distal end, and the like).
• Fluid source24 can comprise one or more sources of air, saline or other fluids, as well as associated fluid pathways (e.g., air channels, irrigation channels, suction channels) and connectors (barb fittings, fluid seals, valves and the like). Imaging andcontrol system12 can also includedrive unit46, which can be an optional component.Drive unit46 can comprise a motorized drive for advancing a distal section ofendoscope14, as described in at least PCT Pub. No. WO 2011/140118 A1 to Frassica et al., titled “Rotate-to-Advance Catheterization System,” which is hereby incorporated in its entirety by this reference.
• FIGS. 3A-3C illustrate a first example offunctional section30 ofendoscope14 ofFIG. 2.FIG. 3A illustrates a top view offunctional section30 andFIG. 3B illustrates a cross-sectional view offunctional section30 taken alongsection plane3B-3B ofFIG. 3A.FIGS. 3A and 3B each illustrate “side-viewing endoscope” (e.g., duodenoscope)camera module50. In side-viewingendoscope camera module50, illumination and imaging systems are positioned such that the viewing angle of the imaging system corresponds to a target anatomy lateral to central longitudinal axis A1 ofendoscope14.
• In the example ofFIGS. 3A and 3B, side-viewingendoscope camera module50 can comprisehousing52,elevator54,fluid outlet56,illumination lens58 andobjective lens60.Housing52 can form a fluid tight coupling withinsertion section28.Housing52 can comprise opening forelevator54.Elevator54 can comprise a mechanism for moving a device inserted throughinsertion section28. In particular,elevator54 can comprise a device that can bend an elongate device extended throughinsertion section28 along axis A1, as is discussed in greater detail with reference toFIG. 3C.Elevator54 can be used to bend the elongate device at an angle to axis A1 to thereby treat the anatomical region adjacent side-viewingendoscope camera module50.Elevator54 is located alongside, e.g., radially outward of axis A1,illumination lens58 andobjective lens60.
• As can be seen inFIG. 3B,insertion section28 can comprisecentral lumen62 through which various components can be extended to connectfunctional section30 with handle section32 (FIG. 2). For example,illumination lens58 can be connected tolight transmitter64, which can comprise a fiber optic cable or cable bundle extending to light source22 (FIG. 1). Likewise,objective lens60 can be coupled toprism66 andimaging unit67, which can be coupled towiring68. Also,fluid outlet56 can be coupled tofluid line69, which can comprise a tube extending to fluid source24 (FIG. 1). Other elongate elements, e.g., tubes, wires, cables, can extend throughlumen62 to connectfunctional section30 with components ofendoscopy system10, such as suction pump26 (FIG. 1) and treatment generator44 (FIG. 2).
• FIG. 3C a schematic cross-sectional view taken alongsection plane3C-3C ofFIG. 30 showing anelevator54.Elevator54 can comprisedeflector55 that can be disposed in space53 ofhousing52.Deflector55 can be connected to wire57, which can extend throughtube59 to connect to handlesection32.Wire57 can be actuated, such as by rotating a knob, pulling a lever, or pushing a button onhandle section32. Movement ofwire57 can cause rotation, e.g., clockwise, from a first position ofdeflector55 aboutpin61 to a second position ofdeflector55, indicated by55′.Deflector55 can be actuated bywire57 to move the distal portion ofinstrument63 extending throughwindow65 inhousing52.
• Housing52 can comprise accommodation space53 that housesdeflector55.Instrument63 can comprise forceps, a catheter, or the like that extends throughlumen62. A proximal end ofdeflector55 can be attached tohousing62 at pin618 provided to the rigid tip21. A distal end ofdeflector55 can be located belowwindow65 withinhousing62 whendeflector55 is in the lowered, or un-actuated, state. The distal end ofdeflector55 can at least partially extend out ofwindow65 whendeflector55 is raised, or actuated, bywire57.Instrument63 can slide on angledramp surface51 ofdeflector55 to initially deflect the distal end ofinstrument63 towardwindow65.Angled ramp surface51 can facilitate extension of the distal portion ofinstrument63 extending fromwindow65 at a first angle relative to the axis oflumen62.Angled ramp surface51 can includegroove69, e.g. a v-notch, to receive and guideinstrument63.Deflector55 can be actuated to bendinstrument63 at a second angle relative to the axis oflumen62, which is closer to perpendicular that the first angle. Whenwire57 is released,deflector55 can be rotated, e.g., counter-clockwise, back to the lowered position, either by pushing or relaxing ofwire57.
• FIGS. 4A and 4B illustrate a second example offunctional section30 ofendoscope14 ofFIG. 2.FIG. 4A illustrates and end view offunctional section30 andFIG. 4B illustrates a cross-sectional view offunctional section30 taken alongsection plane4B-4B ofFIG. 4A.FIGS. 4A and 4B each illustrate “end-viewing endoscope” (e.g., gastroscope, colonoscope, cholangioscope, etc.)camera module70. In end-viewingendoscope camera module70, illumination and imaging systems are positioned such that the viewing angle of the imaging system corresponds to a target anatomy located adjacent an end ofendoscope14 and in line with central longitudinal axis A2 ofendoscope14.
• In the example ofFIGS. 4A and 4B, end-viewingendoscope camera module70 can comprisehousing72,therapy unit74,fluid outlet76,illumination lens78 andobjective lens80.Housing72 can comprise and endcap forinsertion section28, thereby providing a seal to lumen82.
• As can be seen inFIG. 4B,insertion section28 can compriselumen82 through which various components can be extended to connectfunctional section30 with handle section32 (FIG. 2). For example,illumination lens78 can be connected tolight transmitter84, which can comprise a fiber optic cable or cable bundle extending to light source22 (FIG. 1). Likewise,objective lens80 can be coupled toimaging unit87, which can be coupled towiring88. Also,fluid outlets76 can be coupled tofluid lines89, which can comprise a tube extending to fluid source24 (FIG. 1). Other elongate elements, e.g., tubes, wires, cables, can extend throughlumen82 to connectfunctional section30 with components ofendoscopy system10, such as suction pump26 (FIG. 1) and treatment generator44 (FIG. 2). For example,therapy unit74 can comprise a wide-diameter lumen for receiving other treatment components, such as cutting devices and therapeutic devices.
• Both side-viewingendoscope camera module50 ofFIGS. 3A and 3B and end-viewingendoscope camera module70 ofFIGS. 4A and 4B have several elements in common. In particular,endoscope camera modules50 and70 can include optical components (e.g.,objective lenses60 and80,prism66,imaging units67 and87,wiring68 and88) for collection of image signals, lighting components (e.g.,illumination lenses58 and78,light transmitters64 and84) for transmission or generation of light.Endoscope camera modules50 and70 can also include a photosensitive element, such as a charge-coupled device (“CCD” sensor) or a complementary metal-oxide semiconductor (“CMOS”) sensor. In either example,imaging units67 and87 can be coupled (e.g., via wired or wireless connections) to image processing unit42 (FIG. 2) to transmit signals from the photosensitive element representing images (e.g., video signals) toimage processing unit42, in turn to be displayed on a display such asoutput unit18. In various examples, imaging andcontrol system12 andimaging units67 and87 can be configured to provide outputs at desired resolution (e.g., at least 480p, at least 720p, at least 1080p, at least 4K UHD, etc.) suitable for endoscopy procedures.
• As mentioned, the present inventors have recognized that conventional endoscopes, particularly, duodenoscopes, can include elevator sections that comprise elaborate and intricate constructions that can be expensive and difficult to clean. The present inventors have developed solutions to these and other problems by developing endoscopes that can have attachment mechanisms and systems that facilitate simple and easy-to-operate attachment and detachment of camera modules and control modules that can be separated from a disposable insertion section sheath. As such, the camera and control modules can include high-quality or high-performance components that can be reused and enveloped in an easy to clean housing. For example, the cameral module can include a 4K, high-imaging unit that can be contained in a sealed container having cut-outs or windows for imaging and illumination lenses, thereby eliminating or reducing cracks and crevices for biological matter to become lodged. Furthermore, the control module can include a multitude of inputs for fixed or programmable control of functional module outputs, such as buttons or a touchscreen connected to a programmable computer system including, at least, a processor and memory. Furthermore, the control module can be encapsulated for easy cleaning and can wirelessly communicate with the functional module so to be operable from a sterile or non-sterile environment.
• FIG. 5 is a schematic view ofmodular endoscope100 suitable for use asendoscope14 and withendoscope camera module50 ofFIGS. 3A and 3B orcamera module70 ofFIGS. 4A and 4B.Modular endoscope100 can comprise a modular detachablefunctional module102,insertion section module104 and navigation andcontrol module106.Modules102,104 and106 can comprise components including customizable features and components. As such,modular endoscope100 can be custom-built to perform a specific procedure for a specific patient. Individual modular components can be configured as reusable or disposable components. Therefore, inexpensive or difficult to clean components can be disposed of and expensive or easy to clean components can be reused after appropriate cleaning and sterilizing.
• Functional module102 can comprisefunctional module30,camera module50, camera module150 (FIG. 6) or other types of modules.Functional module30 can include one or both of an imaging device, a therapeutic device, and an ancillary therapeutic device, as well as other devices as is described herein.
• Insertion section module104 can comprise a tubular element, sheath or shaft upon and within whichfunctional module102 can be mounted for insertion into anatomy of a patient.
• Navigation andcontrol module106 can comprisehandle section32,cable section34 andcoupler section36 ofFIGS. 1 and 2, as well as navigation andcontrol module300 ofFIG. 13A and navigation andcontrol module400 ofFIG. 14.
• In examples,functional module102 can comprisecamera module150 as described herein, or the camera modules of the endoscopes described in U.S.provisional patent application 63/024,674 filed on May 14, 2020, titled, “Endoscope with a Low-Profile Distal Section,” the entire contents of which is hereby incorporated by reference.
• In examples,insertion section module104 can compriseinsertion section28, which can be configured to include one or more of the sheath and shaft components of U.S.provisional patent application 63/017,901 filed on Apr. 30, 2020, titled, “Insertion Sheath for Modular Endoscope with Detachable and Selectively Disposable Components,” the entire contents of which is hereby incorporated by reference.
• As mentioned previously, components ofendoscope14 can be modular, as shown bymodular endoscope100 ofFIG. 5, such that they can be attached by an operator to initially configure the device for use with a patient, and can be detached by the operator after use with the patient. In other examples, the modular components can be assembled and disassembled by a manufacturer or a decommissioning service without action from the operator. In an example,FIG. 5 illustratesendoscope14 ofFIG. 2, wherein components thereof are shown in a detached state. WhileFIG. 5 illustratesendoscope14 as being constructed from three modular components (functional module102 [functional section30]), navigation and control module106 [handle section32], insertion section module104 [insertion section28]), additional or fewer components are contemplated, depending on the surgical procedure to be performed with the configuration ofendoscope14 constructed or designed by the operator. Each offunctional module102, navigation andcontrol module106, andinsertion section module104 can be detachable from each other. Furthermore, each ofmodules102,104 and106 can be disposed after a single clinical use. Alternatively, each ofmodules102,104 and106 can be constructed using materials that would permit several clinical uses. In such cases,modules102,104 and106 can be constructed to withstand sterilization after each clinical use.
• In certain advantageous aspects, the modular construction ofendoscope14 ofFIG. 2 andmodular endoscope100 ofFIG. 5, and as discussed herein, can permit mixing and matching of disposable and reusable modules such that some modules can be reused, such as expensive and/or easy to clean modules, and some modules can be disposable, such as simple and/or difficult to clean modules. For example, certain modules can be detached from the endoscope after a clinical use for sterilization, reprocessing, and reuse for subsequent clinical uses, while the remaining modules can be disposed. For instance, there have been concerns with inadequate reprocessing of portions of duodenoscopes (e.g., elevator portions). As a result, single-use endoscopes that can be disposed after a single clinical use (to prevent infection between uses) have been developed. However, currently available single-use endoscopes, wherein the entire endoscope is disposed of, can be constructed using lower cost materials resulting in a lower price for the endoscope in order to remain competitive per clinical use. In many clinical instances, lower cost materials can lead to poorer clinical performance (e.g., lower quality images, inadequate maneuverability, insertion section module damage during insertion, poorer ergonomic of endoscope handle, etc.). As such, inferior components can result in practitioners preferring not to use such devices.
• Accordingly,modular endoscopes14 and100 ofFIGS. 2 and 5, and others described herein are advantageously constructed such that the end user (e.g., health care providers and facilities) can recover certain modules ofendoscope14 for reuse, while disposing infection prone areas after a single clinical use. In addition, portions of the endoscope that are intended for reuse can be constructed to reduce accumulation of biological materials (such as be being fully encapsulated), and can additionally be fluidly isolated from infection prone areas. Such configurations promote the use of a combination of higher quality (higher cost) reusable components usable over multiple clinical uses, and lower cost, disposable portions, while reducing infection risk, and achieving desired clinical performance. Not only can the disposable components be constructed to include features only needed for the specifically-built procedure, but the materials and construction can be built to only survive one-time use, both of which help reduce the cost of the disposable components. For example, insertion sheaths can be built to survive the stress of only a single operation and does not need to be robustly constructed to survive repetitive stresses of multiple procedures.
• In examples,endoscope100 ofFIG. 5 can comprise a duodenoscope,functional module102 can be configured as a reusable camera module, navigation and thecontrol module106 can comprise a reusable handle module, andinsertion section module104 can comprise a disposable unit having multiple lumens. Accordingly, the camera module and the navigation and control module can each include connectors that can maintain each of the camera module and the navigation and control module in an attached state to the insertion section module during use with a patient. After each use, the camera module and the navigation and control module can be separated (e.g., using the connectors such asattachment mechanisms200,220,240,260 and260 ofFIGS. 8A-12B), and reprocessed for subsequent use with a new insertion section module. Conversely, the used insertion section module can be disposed after a single use.
• Additionally, the connectors of the camera module and the navigation and the control module as well as the camera module and the navigation and the control module can be constructed of materials and engineered to reduce any ingress of biological materials and can optionally be constructed in a fluid-tight manner.
• Modular endoscope100 can be configured for either a “side-viewing” configuration (as shown inFIGS. 3A-3B) or an “end-viewing” configuration (as shown inFIGS. 4A-4B). In examples, whereinmodular endoscope100 is configured as a side-viewing device (e.g., side-viewing duodenoscope), the distal modular section (e.g., camera module) can be offset from a longitudinal axis of the middle modular section (e.g., insertion module), to accommodate additional components (e.g., elevator mechanisms and the like). In other examples, whereinmodular endoscope100 is configured as an end-viewing device (e.g., gastroscope, colonoscope, cholangioscope, etc.), the distal modular section (e.g., camera module) can be generally co-axially positioned along a longitudinal axis of the middle modular section (e.g., insertion module).
• FIG. 6A is a perspective view ofdetachable camera module150 comprisinghousing152,groove154,imaging lens156,illumination lens158, anirrigation jets160A and160B.
• FIG. 6B is a schematic view ofdetachable camera module150 comprisingwireless communication circuit162,memory163,rechargeable power source164,imaging unit166 andillumination unit168.FIG. 7 is a schematic illustration ofcamera module150 ofFIGS. 6A and 6B connected to wireless imaging and control system12 (FIGS. 1 and 2) according to an example. Wireless imaging andcontrol system12 can comprisewireless communication unit172,rechargeable power source174, image processing unit42 (FIG. 2) and light source unit22 (FIG. 2).FIG. 6A-7 are discussed concurrently.
• Camera module150 can be attached toinsertion section module104 ofFIG. 5 using any of the attachment mechanisms described herein, such as those shown inFIGS. 8A-12B. FIGS.6 and7 illustratedetachable camera module150 with orifices forirrigation jets160A and160B to provide lens cleaning functionalities, etc. However, in other examples,irrigation jets160A and160B can be omitted.
• Housing152 can comprise a sturdy, fluid-tight enclosure can be formed to limit accumulation of biofilm or other biological substances during clinical use. In the illustrated examples,camera module150 can include ports that permit passage of fluids, however, the remainder ofhousing152 can be fluid-tight to reduce the chances of fluid ingress or egress, and also can not include seams or other crevices which have a tendency for accumulation of biological substances. In an example,housing152 can comprisefirst shell153A andsecond shell153B that can be brought together atgroove154, such as via a snap fit coupling. A seal, such as an O-ring can be positioned ingroove154. Additionally,shells153A and153B can be fabricated of a clear or transparent material that can allow light to pass into and out oflenses156 and158, thereby avoiding external cracks and crevices where fluid can ingress intohousing152. Alternatively,shell153A can be provided with ports forlenses156 and156 that can be sealed with O-rings. Accordingly,housing152 ofFIGS. 6 and 7 can be detached frominsertion section module104 after each clinical use, and reprocessed before a subsequent clinical use, such as by using the attachment mechanism described with reference toFIGS. 8A-12B.
• Camera module150 can be “self-contained.” For instance,detachable camera module150 can includewireless communication circuit162,rechargeable power source164,imaging unit166 andillumination unit168 in operative communication with one another, as schematically illustrated inFIG. 7. As such,camera module150 can be capable of powering itself, capturing images withimaging unit166, generating light withillumination unit168, and transmitting captures images to external devices withwireless communication circuit162 without the aid or intervention of an external device or system.
• Rechargeable power source164 can include one or more batteries (e.g., Lithium ion) that can provide power for the entire duration of clinical procedures (e.g., up to about 8 hours, inclusive).Power source164 can be “recharged” between use, during sterilization or reprocessing, as explained herein with reference toFIG. 17.Rechargeable power source164 can be wirelessly recharged throughhousing152 or can include a plug or socket into which a power cord or cable, such as power cable510 (FIG. 17) can be inserted.
• Illumination unit168 can include one or more lamps e.g., LED, as illustrated inFIGS. 6B and 7, or other suitable light sources in a desired spectrum to permit imaging of patient anatomy, for instance according to Olympus Corporation's Narrow Band Imaging or other technologies.Illumination unit168 can be coupled torechargeable power source164 to provide power toillumination unit168 for the duration of one or more clinical procedures.
• Imaging unit166 can include one or more of a CCD or CMOS photosensitive element.Imaging unit166 can be coupled torechargeable power source164 to provide power toimaging unit166 for the duration of one or more clinical procedures. Output ofimaging unit166, e.g., still digital images or digital video, can be conveyed towireless communication circuit162 for transmission to devices and systems external tocamera module150.
• Wireless communication circuit162 can establish wireless communication betweenillumination unit168,imaging unit166,rechargeable power source164, and any of endoscope control unit16 (as seen inFIGS. 2 and 7).Wireless communication circuit162 can send and receive wireless signals that can transmit data or instructions betweencamera module150 andwireless communication unit172 ofendoscope controller16. The instructions can include navigational instructions directed towardinsertion section module104 to advance the distal end ofendoscope100 to a desired location within the anatomy. The instructions can also include commands toimaging unit166 orillumination unit168, such asturn illumination168 unit on or off, turnimaging unit166 on or off, capture image usingimaging unit166, capture video usingimaging unit166 and the like.Wireless communication circuit162 can further comprise, either integrated into or in communication with,memory163.Memory163 can comprise a non-transitory storage medium including information stored therein regarding manufacturing information, model identification information and serial number information related tocamera module150. Furthermore,insertion section module104 can include a wireless communication circuit and memory that can be configured similarly towireless communication circuit162 andmemory163 to transmit and store information relating to the manufacturing, model and serial number information of a particularinsertion section module104.Memory163 can comprise a tangible computer-readable media such as hard disks, removable magnetic disks, removable optical disks (e.g., compact disks and digital video disks), magnetic cassettes, memory cards or sticks, random access memories (RAMs), read only memories (ROMs), and the like.
• In advantageous examples, the wireless signals can include data (e.g., scope identification such as serial number), camera module location in the anatomy (e.g., using Olympus Corporation's ScopeGuide technology), battery power remaining, strength of wireless signal, and images or video recorded by the imaging unit, and the like.
• According to illustrative examples,wireless communication circuit162 can include transponders or beacons that can communicate using well-established wireless communication protocols, such as 3G, 4G, 5G, Bluetooth®, and wireless internet protocols such as 802.11 and WiFi. In advantageous aspects, Bluetooth can be used to achieve desirable data transfer rates and low power consumption rates.
• Additionally,wireless communication circuit162 can also include near-field communication (NFC or radiofrequency) chips or devices to communicate with other modules (e.g., an NFC chip provided on a insertion section module having memory) to validate identification data (e.g. serial number of the insertion section module) stored in the memory.Wireless communication circuit162 can transmit the identification data collected frominsertion section module104 to controlunit16 and verify thatinsertion section module104 is appropriate (e.g., compatible with camera module150) and ready for use. In addition, such examples can ensure that a correctinsertion section module104 has been used for a particular clinical procedure. In such cases,control unit16 can be programmed (e.g., using computer readable instructions) to:
• • receive identification data of the insertion section module read by the near-field communication chip of the camera module;
  • verify that the insertion section module is appropriate;
  • optionally, displaying specifications (size, manufacturer, serial number, prior use data etc.) of the insertion section module for a health care provider, such as ondisplay unit18;
  • optionally, displaying a message ondisplay unit18 that the device is ready for use if the specification data of the insertion section module matches one or more criteria (not previously used, correct size, type, manufacturer, valid serial number) for a clinical procedure; and
  • displaying a message ondisplay unit18 the device is not ready for use if the specification of the working section does not match one or more criteria (incorrect type, manufacture or size of scope, prior use, serial number is not authorized).
• According to advantageous aspects, in examples where an NFC chip is used, the above steps can be performed before the insertion and coupling ofcamera module150 toinsertion section module104. For example,wireless communication circuit162 ofcamera module150 can interrogate a wireless communication circuit ofinsertion section module104 and the wireless communication circuit ofinsertion section module104 can communicate withcontrol unit16 of imaging andcontrol system12 to, for example, ensure that only compatibleinsertion section modules104 are used withcamera module150 and are suitable for the intended medical procedure.
• In addition, or in the alternative, in certain examples,camera module150 can be constructed as being similar to the Olympus Corporation's Endocapsule endoscopy system.
• FIGS. 8-12 illustrate various attachment mechanisms for attachingdetachable camera module150, as well as any of the other examples disclosed or referenced herein, toinsertion section module104, as well as any of the other examples disclosed or referenced herein. In various examples, the disclosed attachment mechanisms can attach tocamera module150 viagroove154 or another attachment feature, such as a hole, socket, channel and the like.
• The attachment mechanisms ofFIGS. 8A-12B can each be configured to withstand loads experienced during insertion ofscope100 inside a patient anatomy. Furthermore, in examples wherecamera module150 is intended to be reusable, portions ofgroove154 oncamera module150 can be engineered to withstand mechanical loads, high pressure and temperature water washing, UV radiation and the like.
• FIG. 8A is a schematic illustration ofattachment mechanism200 for securingdetachable camera module150 of the present disclosure todistal portion202 of elongate insertion section module104 (FIG. 5) ofmodular endoscope100 ofFIG. 5.FIG. 8B is a schematic illustration ofcamera module150 ofFIG. 6 secured withretention band204 ofFIG. 8A. In the example ofFIGS. 8A and 8B,attachment mechanism200 can compriseretention band204.FIGS. 8A and 8B are discussed concurrently.
• Distal portion202 ofinsertion section module104 can comprise a tubularbody defining lumen206.Retention band204 can comprise a loop, r partial loop, havingfirst end208A connected todistal portion202 atattachment210A andsecond end208B connected todistal portion202 atattachment210B.
• Retention band204 can comprise a rigid or elastic member extending betweenfirst end208A andsecond end208B.Attachments210A and210B can comprise fixed or releasable connections betweenretention band204 anddistal portion202. In examples,attachments210A and210B can comprise metallurgical bonds (e.g., welds or solders), chemical bonds (e.g., adhesives or glues) or mechanical bonds (e.g., fasteners and pins).
• In an example,retention band204 can comprise an elastic band andattachments210A and210B can be fixed. As such, as shown inFIG. 8B,camera module150 can be slipped intoretention band204 withretention band204 expanded, e.g. by a user.Retention band204 can be released to be positioned withingroove154. As such, in a relaxed state,retention band204 can be smaller than the diameter ofhousing152, but can be expanded to be larger than the diameter ofhousing152.Retention band204 can additionally be smaller than the diameter ofgroove154 in a relaxed state such thatretention band204 can apply tension tohousing152.
• In another example,retention band204 can comprise a rigid band and one or both ofattachments210A and210B can comprise releasable connections. In particular, one or each ofattachments210A and210B can comprise a clasp, such as the one described with reference toFIG. 8C. As such,retention band204 can extend betweenfirst end208A andsecond end208B to have a radius smaller thanhousing152 and just greater than the radius ofgroove154. Thus, when both ofattachments210A and210B are closed or clasped,retention band204 can be trapped withingroove154 such thathousing152 cannot be released fromretention band204. In examples, theclasps comprising attachments210A and210B can be spring-loaded. Thus,attachment mechanism200 can be actuated by pressing open a spring-loaded clasp, to dislodge an indent at the distal edge. The dislodged indent can allow arms of the clasp to spread laterally allowing placement ofcamera module150. Oncecamera module150 is placed, the arms can be closed, and the indent reinstated.
• FIG. 8C is a perspective view ofclasp mechanism212 suitable for use withretention band204 ofFIGS. 8A and 8B.Clasp mechanism212 can compriseeyelets213A and213B,hook214, handle215,ring216,latch218 andspring219.Ring216 can be attached tosecond end208B ofretention band204. Hook214 can be releaseably attached tofirst end208A ofretention band204. Handle215 can be actuated to movelatch218 toward ring216 (to the right with reference toFIG. 8C) to openhook214. Assuch eyelet213A can be positioned insidehook214. Handle215 can be released to closehook214. Force fromspring219 can pushlatch218 back into engagement withhook214 to closehook214.
• FIG. 9A is a schematic illustration ofattachment mechanism220 for securingdetachable camera module150 of the present disclosure todistal portion202 of elongateinsertion section module104 ofmodular endoscope100 ofFIG. 5.FIG. 9B is a schematic illustration ofattachment mechanism220 comprisingretention clip222.FIG. 9C is a schematic illustration ofcamera module150 ofFIG. 6 secured withattachment mechanism220 ofFIG. 9A.FIG. 9D is a schematic illustration ofattachment mechanism220 ofFIG. 9A showingretention clips222 mounted toplatform228.FIGS. 9A-9D are discussed concurrently.
• Retention clip222 can comprise a springbracket comprising base224 and first and second ends226A and226B.Attachment mechanism220 can comprise one ormore retention clips222 mounted toplatform228.Platform228 can comprise a flange or hoop coupled todistal portion202 upon which retention clips222 can be mounted.Platform228 can be attached todistal portion202 by any suitable means, including via the use of fasteners, metallurgical bonding methods, glues and adhesives.Bases224 ofretention clips222 can be secured toplatform228 such that ends226A and226B extend radially inward towardcenterline230. First and second ends226A and226B can be contoured to match the shape ofhousing152 includinggroove154. Retention clips22 can be actuated (e.g., by manual force during attachment of camera module150) ontogroove154 inhousing152 of camera module150 (as illustrated inFIG. 6). As such,housing152 ofcamera module150 can be pushed down radially in betweenends226A and226B such that ends232A and232B penetrate intogroove154.
• As can be seen inFIG. 9D,platform228 can comprisebase234. In the illustrated examples,base234 can comprise a hoop having ends236A and236B that can be coupled todistal portion202 by any suitable means, such as those described herein. As such,bases224 ofretention clips222 can be seated in the hoop ofbase234 withends226A and226B projecting outward fromplatform228 to receivehousing152.Bases224 can be coupled tobase234 via metallurgical, chemical or mechanical fastening means.
• FIG. 10A is a schematic illustration ofattachment mechanism240 for securingdetachable camera module150 of the present disclosure todistal portion202 of elongateinsertion section module104 ofmodular endoscope100 ofFIG. 5.FIG. 10B is a schematic illustration ofattachment mechanism240 ofFIG. 10A in an expanded state.FIGS. 10A and 10B are discussed concurrently.
• Attachment mechanism240 can comprise a hingedmechanism including base242, fixedjaw244 andmovable jaw246.Fixed jaw244 can be rigidly secured tobase242.Fixed jaw244 andmoveable jaw246 can be coupled by one or more devices acting as hinges and springs, such ashinges248A and248B at joint250. In the illustrated example, hinges248A and248B can comprise elastic bands.Hinges248A and248B are shown in one side ofjaws244 and246 and an analogous pair can be disposed on the opposed side ofjaws244 and246.Fixed jaw244 andmoveable jaw246 can comprise a holder or housing for receivingcamera module150 and, as such, can comprise an internal volume that conforms or substantially conforms to the outer shape ofhousing152 ofcamera module150.Hinges248A and248B can have opposite ends connected to fixedjaw244 andmoveable jaw246, respectfully.Hinges248A and248B can comprise both spring properties and hinge properties. For example, hinges248A and248B can comprise elastic bands that can be stretched to positionmoveable jaw246 in the extended or expanded position ofFIG. 10B. In other examples,moveable jaw246 can be connected to fixedjaw244 via separate spring mechanisms that pullmoveable jaw246 into engagement with fixedjaw244 as shown inFIG. 10A and hinge mechanisms that allowmoveable jaw246 to be pivoted relative to fixedjaw244 at a fixed pivot axis, such as pinnedaxis254 Whenmoveable jaw246 is pulled away from fixedjaw244, e.g., indistal direction252, or rotated ataxis254,moveable jaw246 can be disrupted at joint250 to expand the internal volume of the holder formed by fixedjaw244 andmoveable jaw246. As a result,housing152 ofcamera module150 can be positioned between fixedjaw244 andmoveable jaw246 within the internal volume. Whenmoveable jaw246 is released and returned to the closed position ofFIG. 10,housing152 can become fixed within the internal volume between fixedjaw244 andmoveable jaw246.
• FIG. 11A is a schematic illustration ofattachment mechanism260 for securingdetachable camera module150 of the present disclosure todistal portion202 of elongateinsertion section module104 ofmodular endoscope100 ofFIG. 5.Attachment mechanism260 can compriseexpandable sleeve262.Sleeve262 can comprise base264, opening266 andinterior space268.Sleeve262 can comprise a boot or bag configured to partiallyenvelope housing152 ofcamera module150.Sleeve262 can be attached to base264 that can attach todistal portion202.Sleeve262 can be fabricated from a resilient material that can be stretched or expanded to allowhousing152 ofcamera module150 to pass throughopening266. As can be seen inFIG. 11A,sleeve262 can include an adjustable or stretchable strap that can extend across opening266 to helpsecure camera module150 withinsleeve262.
• As can be seen inFIG. 11B,expandable sleeve262 can be stretched indistal direction270 to expand opening166 to at least one dimension being greater than the diameter or width ofhousing152. As such,housing152 can be pushed throughopening266 and into theinterior space268. Oncehousing152 is within interior space258,sleeve262 can contract or retract to a smaller size to envelop and at least partially conform to the shape ofhousing152.
• FIG. 12A is a schematic illustration ofattachment mechanism280 for securingdetachable camera module150 of the present disclosure todistal portion202 of elongateinsertion section module104 ofmodular endoscope100 ofFIG. 5.Attachment mechanism280 can comprise threadedengagement282. Threadedengagement282 can comprise threadedsocket284 for connecting toattachment mechanism280 and threadedrim286 connected to, or part of,distal portion202.FIG. 12B is a schematic illustration ofattachment mechanism280 with threadedsocket284 separated from threadedrim286.
• Attachment mechanism280 can comprise any of the attachment mechanisms disclosed or contemplated herein, such asattachment mechanisms200,220,240 and260. In the illustrated examples, threadedsocket284 can comprise a circular ring into whichdistal portion202 can be inserted via threaded engagement. As such threadedsocket284 can comprise internal threading288 (shown in phantom inFIG. 12B) and threadedrim286 can comprise a portion ofdistal portion202 havingexternal threading290. In other examplesdistal portion202 can be provided with internal threading to engage external threading ofsocket284.
• In examples whereendoscope100 is a duodenoscope,distal portion202 ofinsertion section module104 can be provided with an elevator portion (e.g.,elevator54 ofFIG. 3A) for orienting and supporting a plurality of therapeutic tools (e.g., biopsy forceps, cholangioscope, and the like). In such configurations,attachment mechanisms200,220,240 and260 of any ofFIGS. 8A-12B can be located adjacent, e.g., radially outward of central axis CA ifinsertion section module104, to the elevator mechanism. In other configurations, the attachment mechanism can be position axially spaced from the elevator mechanism, as is shown inFIG. 12B withcamera module150 being axially (distally) displaced fromelevator54.
• Housing152 ofcamera module150 can be positioned in the various attachment mechanisms disclosed herein in different orientations relative to central axis CA, as can be seen inFIGS. 8B, 9A, 11A and 12B. Furthermore, though the described attachment mechanisms are shown in side-viewing configurations, the attachment mechanisms can be configured in end-viewing configurations. As shown inFIG. 12B,housing152 ofcamera module150 andattachment mechanism280 can be have other shapes besides the round or circular shaped described herein.
• In optional examples, a protective sheath can be placed aroundcamera module150 to further reduce ingress of biological substances into the camera module. The protective sheath can comprise a flexible bag that can be positioned overcamera module150 andattachment mechanism280 and secured todistal portion202. In examples, the protective sheath can be secured by threadedengagement282. In other examples, the protective sheath can comprise a hard-sided structure matching the shape ofattachment mechanism280 that is secured by force for or snap fit at threadedsocket284.
• In examples,attachment mechanism280, as well as the other attachment mechanisms disclosed herein, can includefluid outlets76 that can connect tofluid lines89 via conduits292 (only one within attachment mechanism. Additionally,distal section202 can compriselumen82 through which other components or capabilities can be inserted to connect toattachment mechanism280. In other examples,distal section202 can be sealed off, such as for use with fully independently functional camera modules.
• According to some examples, navigation and control module106 (FIG. 5) ofmodular endoscope100 can include ergonomicallyshaped handle32 with controls, such as buttons andknob38, that can permit well-known endoscope navigation and control functionalities. Whilehandle38 can include any of the handles known in the art (e.g., handles available with Olympus Corporation's endoscopes, such as TJF-Q180V or TJF-Q190V series endoscopes), in the alternative, the present disclosure provides detachable navigation and control modules according to one or more examples.
• FIGS. 13A, 14A and 14B schematically illustrate detachable navigation andcontrol module300 comprising an example of navigation andcontrol module106 according to the present disclosure. As shown inFIG. 14, navigation andcontrol module106 can includejoysticks302A and302B,arrow buttons304A-304D,auxiliary buttons306A-306D,programable buttons308A and308B,lock buttons310A and310B,lock indicator312 andcoupler314.
• Navigation andcontrol module300 can be detachably coupled toinsertion section module104, such as viacoupler314. In addition, navigation andcontrol module300 can be fluidly isolated frominsertion section module104, and can therefore be in a sterile environment for reuse after using in a single clinical procedure. For examples, holes inhousing315 for each of the illustrated joysticks and buttons can be sealed with an O-ring or the like. In additional examples, the illustrated buttons can comprise portions ofhousing315 connected thereto by monolithic membranes inhousing315. Housing315 can be ergonomically shaped to allow a user togrip module300 and easily manipulatejoysticks302A and302B andbuttons304A-310B. Althoughmodule300 is illustrated as having joysticks and buttons,module300 can be configured to include other operator inputs, such as triggers and gesture controllers (e.g., gyroscopes).
• As shown inFIGS. 14A and 14B,joystick302A can includejoystick driver316,pivot shaft318,pivot gear320, up/downaxis322,angulation wires324A and324B,rotation shaft326,rotation gear328 and pullwires330A and330B.
• Joystick302A can be configured to control the directionality ofinsertion section module104, such as by acting upon pull wires.Joystick302A can replace the up-down and right-left angulation knobs (e.g.,knob38 ofFIG. 2) available on conventional endoscope handles.Joystick driver316 can be moved in up-down and right-left directions by a user, such as by engagement with a thumb, to advancedistal end202 ofinsertion section module104. While a single joystick driver can be sufficient, in certain advantageous examples, a second joystick driver, provided byjoystick302B in examples, can be included in navigation andcontrol module300.Joystick302B can advantageously drive a second endoscope. For instance, in certain duodenoscopy procedures (e.g., Endoscopic Retrograde Cholangio-Pancreatography, hereinafter “ERCP” procedures) an auxiliary scope (also referred to as daughter scope, or cholangioscope) can be attached and advanced through the working channel, (e.g., within insertion section module104) of the “main scope” (also referred to as mother scope or duodenoscope). In such instances, it can be advantageous to includejoystick302B for navigating (e.g., advancing, up-down or right-left angulating) the auxiliary scope.
• With continued reference toFIG. 13A, navigation andcontrol module300 can include one or more buttons. For example, in examples,module300 can includebuttons310A and310B for locking the angulation provided byjoystick302A.Buttons310A and310B can function similarly to (and interface similarly with) angulation buttons of endoscope handle shown inFIG. 2.Button310A can comprise an “up” lock button that preventsjoystick302A from moving up.Button310B can comprise a “right” lock button that preventsjoystick302A from moving right. Button310C can comprise an “down” lock button that preventsjoystick302A from moving down. Button310D can comprise a “left” lock button that preventsjoystick302A from moving left.Buttons310A-310D can be configured to physically obstruct movement ofjoystick302A, via appropriate linkages and the like, or can be configured to electronically actuate, e.g., via motor, a linkage to obstruct movement ofjoystick302A.
• Module300 can also include additional buttons for facilitating other endoscope functionalities, including programmable functionalities (e.g., capture image, record video, open suction valve, open irrigation valve, close suction valve, close irrigation valve, and the like).Button308A can be configured to commandcamera module150 to operateimaging unit166.Button308B can be configured to commandcamera module150 to operateillumination unit168. Furthermore,buttons308A-308D can be programmable, or can provide angulation locks for the auxiliary scope, similar to thebuttons304A-304D. Additional buttons can be provided to improve ergonomic comfort for the operator e.g., quick lock buttons positioned near the joystick driver to easily lock the scope in the current location without requiring the operator to remove their fingers from the joystick driver, or additional buttons for elevator functionality in duodenoscopes.
• FIG. 14A shows a section view throughjoystick302A, according to an example, taken alongplane14A-14A shown inFIG. 13A.FIG. 14B shows a section view throughjoystick302A, according to an example, taken alongplane14B-14B shown inFIG. 13A. Navigation andcontrol module300 can be operatively coupled toinsertion section module104 to enable angulation and/or other controls. For example, according to an example,joystick driver316 can be connected viagear320 toangulation wires324A and324B andgear328 toangulation wires330A and330B. (or suitable tension adjusting mechanisms) provided on the working module section (e.g., at the bending section) to control angulation (up-down, right-left).Coupler314 can includesockets332A and332B that can coupleangulation wires324A and324B to wires withininsertion section module104.Coupler314 can also includesockets334A and334B that can coupleangulation wires330A and330B to wires withininsertion section module104.
• As shown inFIG. 14A, as an operator manipulatesjoystick driver316 in a back and forth motion as shown byarrow336, the operation motion is transmitted throughshaft318 to gear320 onaxis322.Gear320 can be coupled toangulation wires324A and324B to control angulation ofendoscope100, such as in up and down directions. Likewise, as shown inFIG. 14B, as an operator manipulatesjoystick drive316 in a rotational motion as shown byarrow338, the operation motion is transmitted throughshaft318 to gear328 onaxis326.Gear328 can be coupled toangulation wires330A and330B to control angulation ofendoscope100, such as in left and right directions. Though not illustrated for simplicity, gears322 and328 can be connected to gearing systems that can amplify or dampen the movements ofjoystick302A to produce greater or less correlation in the movement ofjoystick302A with the movement ofangulation wires324A,324B,330A and330B.
• WhileFIGS. 14A and 14B illustrate the angulation mechanism associated with the main scope (e.g., of insertion section module104),joystick302B (FIG. 13A) cab similarly be coupled to angulation wires of an auxiliary scope (e.g., daughter scope or cholangioscope) to control angulation thereof for certain procedures (e.g., ERCP procedures). In yet another configuration, one ofjoysticks302A and302B can be configured to control up-down angulation of the main scope, while the other ofjoysticks302 and302B can be configured to control left-right angulation.
• FIG. 13B is a schematic illustration of a control circuit for navigation andcontrol module300 ofFIG. 13A.Controller300 illustrated inFIGS. 13A-14B can, in certain optional examples, include appropriate electronics for communicating with and controlling other components, such ascamera module150. The control circuit can includeprocessor340,memory342, wireless communication unit344, force sensors346 andhaptic motors348. Furthermore, the control circuit can be connected to a power source, such as a wirelessly rechargeable battery. For example, wireless communication unit344 can comprise a wireless transponder, beacon, or other circuitry to wirelessly communicate withcamera module150 and/orinsertion section module104 according to any of the disclosed examples. In addition,controller300 illustrated inFIGS. 13A-14 can be programmed to provide haptic feedback (e.g., by vibration of the joystick) to alert the user of too much pushing or bending force or other adverse outcomes during insertion. For example,controller300 be operatively coupled to one or more sensors346 (e.g., force transducer or proximity sensor) to detect force or contact.Processor340 andmemory342 can comprise a controller that can be programmable to: receive sensor input from sensors346, determine if sensor input exceeds thresholds (force exceeds a safe limit, proximity to an abdominal wall is below a safe limit) and provide a signal to an electromagnetic or piezoelectric actuator (e.g., haptic motor348), for generating vibrations to provide haptic feedback to the user.
• FIG. 15 is a schematic illustration of navigation andcontrol module400 according to another example for controllingmodular endoscope100 ofFIG. 2 according to another example. Navigation andcontrol module400 can be particularly suitable in instances whereendoscopy system10 includes a motorized drive (e.g., the motorized drive disclosed in the aforementioned PCT Pub. No. WO 2011/140118 A1 to Frassica et al.) andcamera module150 is self-contained, for instance as shown inFIGS. 6-12B, though navigation andcontrol module400 shown inFIG. 15 can be used for many conventional endoscopy systems.
• Navigation andcontrol module400 can comprise a touchscreendisplay comprising housing402 and touchscreen404.Control module400 can include a wireless communication device to facilitatewireless communication405 withcamera module150 ofmodule endoscope100 and one or more systems, such as, a motorized driver for self-advancement ofendoscope100 upon receiving instructions from theoperator405, provided by one or more “gestures”406 on touchscreen404.
• The operator can interact with touchscreen404 to send instructions toendoscope100, includingcamera module150, for the performance of one or more endoscopy functions. For instance, the operator can interact with touchscreen404 the endoscope using one or more gestures provided on the touchscreen display, including, “pan” gesture (horizontal or vertical direction). Upon receiving the gesture, touchscreen404 can communicate with imaging and control system12 (e.g., including drive motor46) to start advancing the endoscope in a direction corresponding to the movement of the operator's finger, provided during the finger gesture. Additionally, “pinch” to zoom and “tap” to focus gestures can be used.
• Control module400 can be programmed so that touchscreen404 can display one or more indicators or interface icons. In the illustrated example, touchscreen404 can displaybattery icon407,wireless toggle408,power toggle411,angulation lock toggle412,illumination toggle410,video record toggle414 and stillimage toggle416. Touchscreen404 can also display navigation aids, such as imaging unit field ofview418 and anatomy diagram420 withcamera location indicator422.
• The operator can communicate with imaging and control system12 (e.g., a motorized lens assembly for the objective lens) by tapping on touchscreen404, to focus or refocus on an anatomical region. The operator can tap once on the “endoscope imaging unit: field of view”button418 shown inFIG. 15. The gesture can be communicated (wired or wireless communication) to an imaging unit, such as imaging unit166 (FIG. 6B). The imaging unit can include imaging optics (e.g., lens and prism assemblies) provided on a movable housing, which can be moved, for instance by a motorized driver. In such cases, the “tap” gesture can be converted to instructions for actuating the movable imaging optics, to focus on a region or refocus on the same region or a near-by region (subsequent tapping gesture). In the alternative, the imaging optics can include “zoom lenses” which can zoom in response to the tap gesture.
• Other gestures can include tapping on the “record video”toggle414, tapping on “record still image”toggle416 to take a single image of the endoscope field of view, press and hold on “record still image”toggle416 to take a screen shot of the current screen for medical records, or to take a series of shots. In addition, gestures can include tapping on various regions of the interactive graphical user interface, such asangulation toggle412 for angulation lock, adjusting intensity of light output provided byillumination module168 usingillumination toggle410, and toggle wireless communication on/off withwireless toggle408, etc.
• Touchscreen404 can include an interactive graphical user interface, enabling the operator to receive different types of data (e.g., scope specifications such as serial number, type, manufacturer, etc., location of the camera module overlaid on an anatomy map) battery power left on the camera module and the like). Anatomy diagram420 can be provided by medical imaging uploaded to controlmodule400 or can comprise generic anatomical diagrams to generally indicate the shape of the anatomy.Location indicator422 can be provided by a locator provided onwireless camera module150, such as a locator useable with a surgical tracking system or one that can triangulate the position ofcamera module150 within a tracking field.
• FIG. 16 illustrates a block diagram of anexample machine1700 configured as the navigation andcontrol module400 ofFIG. 15 and upon which any one or more of the techniques discussed herein can be performed and with which any of the devices discussed herein can be used. For example,machine1700 can comprise a computing system, including a computing system connected to imaging andcontrol system12 ofFIG. 1.Machine1700 can comprise an example of a controller forendoscopy system10. Assuch instructions1724 can be executed byprocessor1702 to controlmodular camera module150. Information regarding the operation ofbattery icon407,wireless toggle408,power toggle411,angulation lock toggle412,illumination toggle410,video record toggle414, stillimage toggle416, imaging unit field ofview418 and anatomy diagram420 withcamera location indicator422 can be stored inmain memory1704 and accessed byprocessor1702.Main memory1704 can also include instructions for operatingwireless camera module150 based on gestures executed on touchscreen404.Main memory1704 can additionally include inventory information for manufacturers and healthcare facilitators of modular endoscope components so as to provide validation functionality of the modular components.Main memory1704 can additionally include anatomic information for particular patients, such as medical image files.
• In alternative examples,machine1700 can operate as a standalone device or can be connected (e.g., networked) to other machines. In a networked deployment,machine1700 can operate in the capacity of a server machine, a client machine, or both in server-client network environments. In an example,machine1700 can act as a peer machine in peer-to-peer (P2P) (or other distributed) network environment.Machine1700 can be a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a mobile telephone, a web appliance, a network router, switch or bridge, or any machine capable of executing instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations.
• Machine (e.g., computer system)1700 can include hardware processor1702 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof),main memory1704 andstatic memory1706, some or all of which can communicate with each other via interlink (e.g., bus)1708.Machine1700 can further includedisplay unit1710, alphanumeric input device1712 (e.g., a keyboard), and user interface (UI) navigation device1714 (e.g., a mouse). In an example,display unit1710,input device1712 andUI navigation device1714 can be a touch screen display.Machine1700 can additionally include storage device (e.g., drive unit)1716, signal generation device1718 (e.g., a speaker),network interface device1720, and one ormore sensors1721, such as a global positioning system (GPS) sensor, compass, accelerometer, or other sensor.Machine1700 can includeoutput controller1728, such as a serial (e.g., Universal Serial Bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, etc.).Input device1712 can includewireless toggle408,power toggle411,angulation lock toggle412,illumination toggle410,video record toggle414 and stillimage toggle416.Output controller1728 can control operation of motors for advancement ofinsertion section module104 as described herein.Display unit1710 can comprise touchscreen404.Sensors1721 can comprise force sensors for sensing the advancement ofinsertion section module104.Sensors1721 can also comprise locations sensors fromwireless camera module150.
• Storage device1716 can include machine readable medium1722 on which is stored one or more sets of data structures or instructions1724 (e.g., software) embodying or utilized by any one or more of the techniques or functions described herein.Instructions1724 can also reside, completely or at least partially, withinmain memory1704, withinstatic memory1706, or withinhardware processor1702 during execution thereof bymachine1700. In an example, one or any combination ofhardware processor1702,main memory1704,static memory1706, orstorage device1716 can constitute machine readable media.
• While machine readable medium1722 is illustrated as a single medium, the term “machine readable medium” can include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) configured to store the one ormore instructions1724. The term “machine readable medium” can include any medium that is capable of storing, encoding, or carrying instructions for execution bymachine1700 and thatcause machine1700 to perform any one or more of the techniques of the present disclosure, or that is capable of storing, encoding or carrying data structures used by or associated with such instructions. Non-limiting machine readable medium examples can include solid-state memories, and optical and magnetic media.
• Instructions1724 can further be transmitted or received overcommunications network1726 using a transmission medium vianetwork interface device1720 utilizing any one of a number of transfer protocols (e.g., frame relay, internet protocol (IP), transmission control protocol (TCP), user datagram protocol (UDP), hypertext transfer protocol (HTTP), etc.). Example communication networks can include a local area network (LAN), a wide area network (WAN), a packet data network (e.g., the Internet), mobile telephone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, and wireless data networks (e.g., Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards known as Wi-Fi®, IEEE 802.16 family of standards known as WiMax®), IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks, among others. In an example,network interface device1720 can include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas to connect tocommunications network1726. In an example,network interface device1720 can include a plurality of antennas to wirelessly communicate using at least one of single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), or multiple-input single-output (MISO) techniques. The term “transmission medium” shall be taken to include any intangible medium that is capable of storing, encoding or carrying instructions for execution bymachine1700, and includes digital or analog communications signals or other intangible medium to facilitate communication of such software.Interface device1720 can be configured to communicate withwireless communication circuit162 ofcamera module150,wireless communication unit172 ofcontrol unit16, a wireless communication unit ofinsertion section module104, wireless communication unit344 and other wireless communication devices described herein.
• FIG. 17 is a schematic illustration ofsterilization apparatus500 for sterilizing the camera modules according to the present disclosure, includingcamera module150.Sterilization apparatus500 can comprisehousing502,access panel504,light sources506,fluid nozzles508,power cable510 andfluid cable512.Power cable510 can connect to power source514 andfluid cable512 can connect to fluid source516.Sterilization apparatus500 can be used for sterilizingcamera module150 prior to reuse after a single use.Sterilization apparatus500 can include one or more UVlight sources506 and optionally, one or morefluid nozzles508 that can supply a jet of fluid (water, cleaning detergent, and the like) at high pressures and high temperatures suitable for cleaningcamera module150 prior to reuse. The sterilization process can be controlled to achieve a desired degree of sterilization to reduce any biological substances to comply with standards (e.g., supplied by regulatory authorities such as Food and Drug Administration.)Camera module150 andcontroller400 can be configured to withstand the pressures and temperatures generated bysterilization apparatus500.Sterilization apparatus500 can be operated at a medical facility, such as a hospital.
• Examples disclosed herein can result in many advantages, including a modular construction, improved ergonomics, and self-contained camera modules for an endoscope.
• FIG. 18 is a blockdiagram illustrating method900 of processing modular endoscope components for performing a surgical procedure. Atstep902, a specific patient can be diagnosed as having a particular condition or as needing a particular evaluation. A surgeon or other qualified medical professional can perform the diagnosis.
• Atstep904, a particular condition of the patient can be identified as needing interaction from a particular therapy or evaluative procedure. For example, a particular organ or anatomic region can be identified as needing a specific intervention or evaluation.
• Atstep906, a particular treatment plan can be developed to address the condition identified atstep904. The treatment plan can include selection of a therapy to be performed, such as ablation, freezing, cauterizing, cutting, attaching and the like. The treatment plan can also include a plan for performing a surgical technique, such as instructions for delivering the selected therapy to the particular organ or anatomic regions, such as by using a camera-enabled endoscope.
• Atstep908, components of a medical device to deliver the selected therapy can be selected. For example, a particular treatment module can be selected to provide the selected therapy, a particular sheath or shaft can be selected to deliver the treatment module, and a particular control module can be selected to control operation of the modular medical device. Features and characteristics of the selected sheath or shaft can be selected, such as the number of delivery lumens needed to provide the treatment, guidance and steering capabilities needed for the selected treatment plan and therapy. Likewise, a camera module and a control module can be selected to facilitate guiding of the treatment module and viewing of the anatomic region or organ.
• Atstep910, the selected components ofstep908 can be assembled. The selected components can be assembled at a medical facility where the procedure is to be performed, atstep912A. For example, the modular components can be user-assembled. In particular, a camera module can be attached using an attachment mechanism, such as one of the attachment devices described herein, e.g.,attachment devices200,220,240,260 and280. Additionally, a control module can be selected, such asmodule300 ormodule400. The selected components can be assembled at a manufacturing facility, atstep912B.
• Atstep914, the procedure planned for atstep906 can be performed with the medical device assembled atstep910.
• Atstep916, the assembled medical device used in the procedure atstep914 can be disassembled. The medical device can be disassembled at the medical facility ofstep912A or can be sent offsite to be disassembled at the manufacturing facility ofstep912B or another repurposing facility. The modular components can be user-disassembled by operating an attachment mechanism.
• Atstep918, the disassembled components can be sorted into components that can be disposed of atstep920A and components that can be reused atstep920B.
• Atstep922, the disposable components can be disposed of, such as by being destroyed or discarded. The disposable components can comprise a disposable insertion sheath.
• Atstep924, the reusable components ofstep920B can be cleaned and sterilized for reuse. The reusable components can comprise a detachable camera module and a detachable control module. As such, the cleaned and sterilized components can be returned to inventory of the medical facility or manufacturing facility to be used in additional procedures. In examples,camera module150 andcontrol module300 can be cleaned and sterilized usingsterilization apparatus500.
VARIOUS NOTES & EXAMPLES
• Example 1 can include or use subject matter such as a modular endoscopy system that can comprise a first modular section comprising control and navigation functionality, and a second modular section user-detachably connectable to the first modular section via an attachment mechanism, the second modular section being patient insertable, wherein the first modular section is positionable at a proximal end section of the second modular section and is configured to steer and bend a portion of the second modular section.
• Example 2 can include, or can optionally be combined with the subject matter of Example 1, to optionally include a second modular section that includes an insertion section module that can comprise an elongate working section.
• Example 3 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 or 2 to optionally include a third modular section that is user-detachably connectable to the second modular section.
• Example 4 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 3 to optionally include a third modular section that comprises an imaging and illumination module operatively connectable to a distal portion the elongate working section.
• Example 5 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 4 to optionally include a distal end section of the second modular section that comprises an elevator mechanism configured to orient and support one or more therapeutic tools extended through the second modular section.
• Example 6 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 5 to optionally include navigation and control functionality that is configured to operate the elevator mechanism.
• Example 7 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 6 to optionally include a first modular section that can further comprises a rechargeable power source configured to provide power to the navigation and control functionality.
• Example 8 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 7 to optionally include a first modular section that further comprises a wireless communication circuit configured to send or receive data or instructions from the second modular section or an imaging and control system.
• Example 9 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 8 to optionally include, when attached, a first modular section and a second modular section that are generally co-axially positioned along a longitudinal axis of the second modular section.
• Example 10 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 9 to optionally include an attachment mechanism that comprises a socket for coupling angulation wires.
• Example 11 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 10 to optionally include a first modular section that comprises a joystick.
• Example 12 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 11 to optionally include a joystick that comprises one or more devices for manipulating angulation wires.
• Example 13 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 12 to optionally include a joystick that comprises one or more lock buttons to inhibit movement of the one or more devices for manipulating angulation wires.
• Example 14 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 13 to optionally include a joystick that further comprises one or more programable buttons.
• Example 15 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 14 to optionally include a first modular section that further comprises a force sensor for sensing force applied to an angulation wire.
• Example 16 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 15 to optionally include a haptic feedback device configured to vibrate the joystick based on feedback from the force sensor.
• Example 17 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 16 to optionally include a first modular section that comprises a computing device comprising a touchscreen display.
• Example 18 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 17 to optionally include a computing device that comprises a wireless communication device.
• Example 19 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 18 to optionally include a computing device that comprises non-transitory memory having instructions stored therein for gesture control of an endoscope in communication with the computing device.
• Example 20 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 19 to optionally include a first modular section that comprises a first near-field communication device, and a second modular section that comprises a second near-field communication device, wherein near-field communication can be established between the first modular section and the second modular section.
• Example 21 can include, or can optionally be combined with the subject matter of one or any combination of Examples 1 through 20 to optionally include a second modular section that includes memory having stored therein one or more of manufacturer information, model number information and serial number information.
• Example 22 can include or use subject matter such as a method of using a modular endoscopy system that can comprise attaching a first modular section of the modular endoscopy system to a second modular section of the modular endoscopy system, positioning at least a portion of the modular endoscopy system within a patient, steering a portion of the second modular section to an anatomy location of the patient via the first modular section, removing the modular endoscopy system from the patient, and detaching the second modular section from the first modular section after removal of the modular endoscopy system from the patient.
• Example 23 can include, or can optionally be combined with the subject matter of Example 22, to optionally include assembling the first and second modular components of the modular endoscopy system at a surgical facility.
• Example 24 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 or 23 to optionally include a first modular component that comprises an insertion section module, and a second modular component that comprises a control module.
• Example 25 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 through 24 to optionally include disposing of the insertion section module, and cleaning and sanitizing the control module.
• Example 26 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 through 25 to optionally include cleaning and sanitizing the control module by positioning the camera module within a sterilization apparatus comprising an enclosure having an ultraviolet light source and a fluid jet.
• Example 27 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 through 26 to optionally include reusing the cleaned and sanitized reusable components in a subsequent medical procedure.
• Example 28 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 through 27 to optionally include positioning at least the portion of the modular endoscopy system within the patient by inserting a portion of the insertion section module into the patient to position while holding the control module.
• Example 29 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 through 28 to optionally include establishing a near-field communication link between the first modular section and the second modular section.
• Example 30 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 through 29 to optionally include a second modular section that includes memory having stored therein one or more of manufacturer information, model number information and serial number information.
• Example 31 can include, or can optionally be combined with the subject matter of one or any combination of Examples 22 through 30 to optionally include identifying a specific treatment for the patient, and selecting the first modular section capable of treating the patient with the identified treatment.
• Example 32 can include or use subject matter such as a navigation and control module for an endoscope that can comprise an ergonomically shaped housing, a joystick mounted to the housing in an articulable manner, and an angulation wire connected to the joystick.
• Example 33 can include, or can optionally be combined with the subject matter of Example 32, to optionally include a joystick that comprises a pivot shaft, a driver connected to a first end of the pivot shaft, and a gear connected to a second end of the pivot shaft, wherein one or more angulation wires are connected to the gear.
• Example 34 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 or 33 to optionally include a pivot shaft is configured to pivot about a pivot axis to push and pull the one or more angulation wires.
• Example 35 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 through 34 to optionally include a pivot shaft that is configured to rotate about a rotation axis to push and pull the one or more angulation wires.
• Example 36 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 through 35 to optionally include a lock button configured to inhibit movement of the pivot shaft.
• Example 37 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 through 36 to optionally include a coupler connected to the angulation wire.
• Example 38 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 through 37 to optionally include a force sensor coupled to the angulation wire.
• Example 39 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 through 38 to optionally include a haptic feedback device coupled to the angulation wire.
• Example 40 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 through 39 to optionally include a wireless communication device located in the housing.
• Example 41 can include, or can optionally be combined with the subject matter of one or any combination of Examples 32 through 40 to optionally include a plurality of buttons configured to control operation of a camera module connected to the endoscope.
• Example 42 can include or use subject matter such as a method of controlling an endoscope that can comprise coupling an insertion section module of the endoscope to a motorized drive device, establishing a wireless communication connection between the motorized drive device and a navigation and control module, executing gestures on a touchscreen of the navigation and control module to control axial movement of the insertions section module with the motorized drive device.
• Example 43 can include, or can optionally be combined with the subject matter of Example 42, to optionally include controlling operation of a wireless camera module coupled to a distal end of the insertion section module with the touchscreen of the navigation and control module.
• The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventor also contemplates examples in which only those elements shown or described are provided. Moreover, the present inventor also contemplates examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.
• In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.
• In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.
• Method examples described herein can be machine or computer-implemented at least in part. Some examples can include a computer-readable medium or machine-readable medium encoded with instructions operable to configure an electronic device to perform methods as described in the above examples. An implementation of such methods can include code, such as microcode, assembly language code, a higher-level language code, or the like. Such code can include computer readable instructions for performing various methods. The code may form portions of computer program products. Further, in an example, the code can be tangibly stored on one or more volatile, non-transitory, or non-volatile tangible computer-readable media, such as during execution or at other times. Examples of these tangible computer-readable media can include, but are not limited to, hard disks, removable magnetic disks, removable optical disks (e.g., compact disks and digital video disks), magnetic cassettes, memory cards or sticks, random access memories (RAMs), read only memories (ROMs), and the like.
• The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C.F.R. § 1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims (43)

The claimed invention is:

1. A modular endoscopy system, comprising:

a first modular section comprising control and navigation functionality; and

a second modular section user-detachably connectable to the first modular section via an attachment mechanism, the second modular section being patient insertable;

wherein the first modular section is positionable at a proximal end section of the second modular section and is configured to steer and bend a portion of the second modular section.

2. The modular endoscopy system ofclaim 1, wherein the second modular section includes an insertion section module, the insertion section module comprising an elongate working section.

3. The modular endoscopy system ofclaim 2, further comprising a third modular section, the third modular section being user-detachably connectable to the second modular section.

4. The modular endoscopy system ofclaim 3, wherein the third modular section comprises an imaging and illumination module operatively connectable to a distal portion the elongate working section.

5. The modular endoscopy system ofclaim 3, wherein the distal end section of the second modular section comprises an elevator mechanism configured to orient and support one or more therapeutic tools extended through the second modular section.

6. The modular endoscopy system ofclaim 5, wherein the navigation and control functionality is configured to operate the elevator mechanism.

7. The modular endoscopy system ofclaim 1, wherein the first modular section further comprises a rechargeable power source configured to provide power to the navigation and control functionality.

8. The modular endoscopy system ofclaim 1, wherein the first modular section further comprises a wireless communication circuit, configured to send or receive data or instructions from the second modular section, or an imaging and control system.

9. The modular endoscopy system ofclaim 1, wherein, when attached, the first modular section and the second modular section are generally co-axially positioned along a longitudinal axis of the second modular section.

10. The modular endoscopy system ofclaim 1, wherein the attachment mechanism comprises a socket for coupling angulation wires.

11. The modular endoscopy system ofclaim 1, wherein the first modular section comprises a joystick.

12. The modular endoscopy system ofclaim 11, wherein the joystick comprises one or more devices for manipulating angulation wires.

13. The modular endoscopy system ofclaim 12, wherein the joystick comprises one or more lock buttons to inhibit movement of the one or more devices for manipulating angulation wires.

14. The modular endoscopy system ofclaim 12, wherein the joystick further comprises one or more programable buttons.

15. The modular endoscopy system ofclaim 12, wherein the first modular section further comprises a force sensor for sensing force applied to an angulation wire.

16. The modular endoscopy system ofclaim 15 further comprising a haptic feedback device configured to vibrate the joystick based on feedback from the force sensor.

17. The modular endoscopy system ofclaim 1, wherein the first modular section comprises a computing device comprising a touchscreen display.

18. The modular endoscopy system ofclaim 17, wherein the computing device comprises a wireless communication device.

19. The modular endoscopy system ofclaim 17, wherein the computing device comprises non-transitory memory having instructions stored therein for gesture control of an endoscope in communication with the computing device.

20. The modular endoscopy system ofclaim 1, wherein:

the first modular section comprises first near-field communication device; and

the second modular section comprises a second near-field communication device;

wherein near-field communication can be established between the first modular section and the second modular section.

21. The modular endoscopy system ofclaim 20, wherein the second modular section includes memory having stored therein one or more of manufacturer information, model number information and serial number information.

22. A method of using a modular endoscopy system, the method comprising:

attaching a first modular section of the modular endoscopy system to a second modular section of the modular endoscopy system;

positioning at least a portion of the modular endoscopy system within a patient;

steering a portion of the second modular section to an anatomy location of the patient via the first modular section;

removing the modular endoscopy system from the patient; and

detaching the second modular section from the first modular section after removal of the modular endoscopy system from the patient.

23. The method ofclaim 22, further comprising assembling the first and second modular components of the modular endoscopy system at a surgical facility.

24. The method ofclaim 22, wherein:

the first modular component comprises an insertion section module; and

the second modular component comprises a control module.

25. The method ofclaim 24, further comprising:

disposing of the insertion section module; and

cleaning and sanitizing the control module.

26. The method ofclaim 25, wherein cleaning and sanitizing the control module comprises positioning the camera module within a sterilization apparatus comprising an enclosure having an ultraviolet light source and a fluid jet.

27. The method ofclaim 25, further comprising reusing the cleaned and sanitized reusable components in a subsequent medical procedure.

28. The method ofclaim 24, wherein positioning at least the portion of the modular endoscopy system within the patient comprises inserting a portion of the insertion section module into the patient to position while holding the control module.

29. The method ofclaim 22, further comprising establishing a near-field communication link between the first modular section and the second modular section.

30. The method ofclaim 29, wherein the second modular section includes memory having stored therein one or more of manufacturer information, model number information and serial number information.

31. The method ofclaim 22, further comprising:

identifying a specific treatment for the patient; and

selecting the first modular section capable of treating the patient with the identified treatment.

32. A navigation and control module for an endoscope, the navigation and control module comprising:

an ergonomically shaped housing;

a joystick mounted to the housing in an articulable manner; and

an angulation wire connected to the joystick.

33. The navigation and control module ofclaim 32, wherein the joystick comprises:

a pivot shaft;

a driver connected to a first end of the pivot shaft; and

a gear connected to a second end of the pivot shaft;

wherein one or more angulation wires are connected to the gear.

34. The navigation and control module ofclaim 33, wherein the pivot shaft is configured to pivot about a pivot axis to push and pull the one or more angulation wires.

35. The navigation and control module ofclaim 33, wherein the pivot shaft is further configured to rotate about a rotation axis to push and pull the one or more angulation wires.

36. The navigation and control module ofclaim 33, further comprising a lock button configured to inhibit movement of the pivot shaft.

37. The navigation and control module ofclaim 32, further comprising a coupler connected to the angulation wire.

38. The navigation and control module ofclaim 32, further comprising a force sensor coupled to the angulation wire.

39. The navigation and control module ofclaim 33, further comprising a haptic feedback device coupled to the angulation wire.

40. The navigation and control module ofclaim 32, further comprising a wireless communication device located in the housing.

41. The navigation and control module ofclaim 40, further comprising a plurality of buttons configured to control operation of a camera module connected to the endoscope.

42. A method of controlling an endoscope, the method comprising:

coupling an insertion section module of the endoscope to a motorized drive device;

establishing a wireless communication connection between the motorized drive device and a navigation and control module;

executing gestures on a touchscreen of the navigation and control module to control axial movement of the insertions section module with the motorized drive device.

43. The method ofclaim 42, further comprising controlling operation of a wireless camera module coupled to a distal end of the insertion section module with the touchscreen of the navigation and control module.

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