Force feedback control system for video endoscope

• US 20050119527A1
• Filed: 09/30/2004
• Published: 06/02/2005
• Est. Priority Date: 04/01/2003
• Status: Active Grant

• Current Assignee: Scimed Life Systems Incorporated (Boston Scientific Corporation)
• Original Assignee: Scimed Life Systems Incorporated (Boston Scientific Corporation)
• Inventors: Boulais, Dennis R., Couvillon, Lucien Alfred Jr., Banik, Michael S., Wiesman, Richard M., Mason, Timothy J., Mehta, Neil Rasik
• Granted Patent: US 8,118,732 B2
• Time in Patent Office: Days
• US Class Current: 600/117
• CPC Class Codes: A61B 1/00018 using electrical cables
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00059 provided with identification means for the endoscope
• CPC Class Codes: A61B 1/00066 Proximal part of endoscope body, e.g. handles A61B1/0052 takes precedence
• CPC Class Codes: A61B 1/00071 Insertion part of the endoscope body A61B1/0055 takes precedence
• CPC Class Codes: A61B 1/00137 End pieces at either end of the endoscope, e.g. caps, seals or forceps plugs
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 1/015 Control of fluid supply or evacuation
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/045 Control thereof
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/0638 providing two or more wavelengths
• CPC Class Codes: A61B 1/0676 at distal tip of an endoscope
• CPC Class Codes: A61B 1/0684 using light emitting diodes [LED]
• CPC Class Codes: A61B 1/31 : for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes

Abstract

A video endoscope system includes a reusable control cabinet and an endoscope that is connectable thereto. The endoscope may be used with a single patient and then disposed. The endoscope includes an illumination mechanism, an image sensor, and an elongate shaft having one or more lumens located therein. An articulation joint at the distal end of the endoscope allows the distal end to be oriented by the actuators in the control cabinet or actuators in a control handle of the endoscope. Fluidics, electrical, navigation, image, display and data entry controls are integrated into the system along with other accessories.

Claims

1. An endoscopic system, comprising:

a housing including one or more actuators that selectively move the distal tip of an endoscope in at least one desired direction;

an endoscope having a distal end that is inserted into the body of a patient and a proximal end that is removably coupled to the housing;

a directional controller for directing the one or more actuators in the housing to move the distal tip of the endoscope in the desired direction;

means for determining a force required to move the distal tip of the endoscope; and

a feedback mechanism coupled to the directional controller for providing feedback to a user of the force required to move the distal tip of the endoscope.

2. The endoscopic system of claim 1, wherein the directional controller is a joystick and the feedback mechanism selectively adjusts the tension of a spring on the joystick.

3. The endoscopic system of claim 1, wherein the directional controller is a joystick that is movable with at least two motors and the feedback mechanism selectively adjusts the torque of the two motors.

4. The endoscopic system of claim 1, wherein the actuators selectively move the distal end of the endoscope in a plurality of directions and the force determining means comprises a processor in the housing that estimates the force required to move the distal tip, wherein the force is supplied to the feedback mechanism, and wherein the feedback is a tactile signal that is proportional to the force required to move the distal end.

5. The endoscopic system of claim 1, wherein the actuators are motors that selectively tension control cables within the endoscope and the means for determining the force required to move the distal tip of the endoscope includes a position sensor and a torque sensor on the motors.

6. The endoscopic system of claim 1, wherein the housing includes a processor that separates a force required to move a proximal portion of the endoscope from the force required to move the distal tip, and wherein the feedback is tactile feedback provided to the user that is proportional to the force required to move the distal tip.

7. The endoscopic system of claim 1, wherein the housing is a control unit including the one or more actuators and the force determining means, the actuators selectively moves the distal end in a plurality of directions and the force determining means estimates a force to move a proximal portion of the endoscope and a force to move a distal tip of the endoscope, wherein the force to move the distal tip is supplied to the feedback mechanism and the feedback is a tactile signal that is proportional to the force required to move the distal tip.

8. A system for providing feedback to a user of an endoscope, comprising:

an endoscope having a distal end that is inserted into a patient and a proximal end that is connectable to a housing;

control cables in the endoscope that are selectively tensioned by actuators in the housing to steer the distal end;

sensors on the actuators that determine a force required to tension the control cables;

a processor that directs the actuators to tension the control cables, and determines an extra force above the force to steer the distal end in a particular direction; and

a feedback mechanism that provides an indication to a user of the extra force.