HANDGRIP FOR ASSESSMENT OF COLONOSCOPE MANIPULATION
First Claim
Patent Images
1. A handgrip for a colonoscope shaft comprising:
- an internal sleeve adapted to be placed over and engaged with said colonoscope shaft,an external sleeve slidingly positioned about the internal sleeve, andan engaging means positioned between said internal and external sleeves, said engaging means further equipped with a force sensor, a torque sensor and an acceleration sensor, said force sensor adapted to measure force applied along said colonoscope shaft, said torque sensor adapted to measure rotational torque applied to said colonoscope shaft, and said acceleration sensor adapted to measure acceleration of motion of said handgrip.
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Abstract
A handgrip for colonoscope shaft is equipped with force, torque, and acceleration sensors allowing for a comprehensive characterization of colonoscope shaft motion, including recognition of obstacles and recording of forces and torques applied at various times during a colonoscopy procedure. An electronic unit is adapted to receive sensors data wirelessly and calculate a variety of motion parameters guiding a medical practitioner during the procedure and aimed at making colonoscopy safer and less painful.
23 Citations
11 Claims
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1. A handgrip for a colonoscope shaft comprising:
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an internal sleeve adapted to be placed over and engaged with said colonoscope shaft, an external sleeve slidingly positioned about the internal sleeve, and an engaging means positioned between said internal and external sleeves, said engaging means further equipped with a force sensor, a torque sensor and an acceleration sensor, said force sensor adapted to measure force applied along said colonoscope shaft, said torque sensor adapted to measure rotational torque applied to said colonoscope shaft, and said acceleration sensor adapted to measure acceleration of motion of said handgrip. - View Dependent Claims (2, 3, 4)
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5. A handgrip system for measuring force, torque and motion acceleration applied to a shaft of a colonoscope, said system comprising:
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a handgrip comprising in turn an internal sleeve adapted to be placed over and releasably engage with said colonoscope shaft, an external sleeve slidingly positioned about the internal sleeve, and an engaging means positioned therebetween and further equipped with a force sensor, a torque sensor, an acceleration sensor, and a data transmission means, and an electronic unit for data receiving and processing. - View Dependent Claims (6, 7, 8, 9, 10)
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11. The handgrip system as in claim 11, wherein said electronic unit is further adapted to calculate rotational acceleration by measuring elevation, rotation and azimuth angles of said handgrip relative to the gravity vector of the Earth;
- measuring 3-D rotational accelerations by said 3-axis rotational gyroscope; and
calculating the rotational acceleration about said colonoscope shaft from said 3-D rotational accelerations accounting for gravity vector of the Earth.
- measuring 3-D rotational accelerations by said 3-axis rotational gyroscope; and
Specification