ROBOTIC ENDOSCOPE

• US 20100137688A1
• Filed: 02/01/2010
• Published: 06/03/2010
• Est. Priority Date: 10/05/2001
• Status: Active Grant

• Current Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Original Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Inventors: Couvillon, Lucien Alfred Jr.
• Granted Patent: US 8,328,714 B2
• Time in Patent Office: Days
• US Class Current: 600/140
• CPC Class Codes: A61B 1/00059 provided with identification means for the endoscope
• CPC Class Codes: A61B 1/00103 designed for single use
• CPC Class Codes: A61B 1/0053 using distributed actuators, e.g. artificial muscles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0058 using shape-memory elements
• CPC Class Codes: A61B 1/2736 Gastroscopes
• CPC Class Codes: A61M 2025/0058 having an electroactive polymer material, e.g. for steering purposes, for control of flexibility, for locking, for opening or closing
• CPC Class Codes: G06Q 10/06 Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 50/28 Logistics, e.g. warehousing, loading, distribution or shipping
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

An endoscope is provided which comprises an elongated body adapted for insertion into a body lumen, and a plurality of electrically controlled actuators associated with the body which are controllable to impart an orientation to the body that is complimentary to the natural orientation of the lumen into which the endoscope is inserted.

Claims

1. A medical device comprising an elongated body that comprises (a) a tubular structural member and (b) electrically controlled electroactive polymer actuators that are controllable to impart a desired orientation to said body, wherein a first plurality of said actuators are disposed upon a first flexible sheet and wherein a second plurality of said actuators are disposed upon a second flexible sheet.

2. The medical device of claim 1, wherein said electroactive polymer actuators comprise an electroactive polymer selected from the group consisting of polyaniline, polypyrrole, and polyacetylene.

3. The medical device of claim 1, wherein each of said actuators is connected to a controlling device by way of interconnection lines that are printed on said flexible sheets

4. The medical device of claim 1, wherein each of said flexible sheets is rolled into the form of a tube.

5. The medical device of claim 1, wherein the first plurality of said actuators disposed upon the first flexible sheet is oriented in a different direction from the second plurality of said actuators disposed upon the second flexible sheet

6. A medical device comprising an elongated body that comprises (a) a tubular structural member comprising a plurality of structural elements, and wherein said structural elements are disposed on at least one first sheet that is rolled into the form of a tube and (b) electrically controlled electroactive polymer actuators that are controllable to impart a desired orientation to said body, wherein a plurality of said actuators are disposed upon at least one second sheet that is rolled into the form of a tube.

7. The medical device of claim 6, wherein said electroactive polymer actuators comprise an electroactive polymer selected from the group consisting of polyaniline, polypyrrole, and polyacetylene.

8. The medical device of claim 6, wherein each of said actuators is connected to a controlling device by way of interconnection lines that are printed on said at least one second sheet.

9. The medical device of claim 6, wherein said at least one second sheet is rolled into the form of a tube around said tubular structural member.

10. The medical device of claim 6, wherein each of said actuators is connected to a controlling device by way of interconnection lines that are printed on said at least one second sheet.

11. An EAP actuator assembly comprising a first plurality of electroactive polymer actuators disposed upon a first flexible sheet and a second plurality of electroactive polymer actuators disposed upon a second flexible sheet, wherein said first and second sheets are fixed together to form a laminate.

12. The EAP actuator assembly of claim 11, wherein the first and second sheets are rolled into the form of a tube.

13. The EAP actuator assembly of claim 11, wherein said electroactive polymer actuators comprise an electroactive polymer selected from the group consisting of polyaniline, polypyrrole, and polyacetylene.

14. The EAP actuator assembly of claim 11, wherein each of said actuators is connected to a controlling device by way of interconnection lines that are printed on said flexible sheets.

15. The EAP actuator assembly of claim 11, wherein the first plurality of said actuators disposed upon said first flexible sheet is oriented in a different direction from the second plurality of said actuators disposed upon said second flexible sheet.

16. The EAP actuator assembly of claim 11, wherein the first and second sheets are rolled into the form of a tube around a structural member.

17. A method of forming a deflectable tubular medical device component comprising rolling an actuator sheet that comprises a plurality of electroactive polymer electroactive polymer actuators disposed on a flexible sheet into a tube.

18. The method of claim 17, wherein said electroactive polymer actuators comprise an electroactive polymer selected from the group consisting of polyaniline, polypyrrole, and polyacetylene.

19. The method of claim 17, wherein each of said actuators is connected to a controlling device by way of interconnection lines that are printed on said flexible sheet.

20. The method of claim 17, wherein the actuator sheet is rolled into a tube around a structural member.