ENDOLUMINAL CRAWLER

• US 20110313249A1
• Filed: 05/16/2011
• Published: 12/22/2011
• Est. Priority Date: 06/17/2010
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Viola, Frank J., Power, James M.
• Granted Patent: US 9,326,663 B2
• Time in Patent Office: Days
• US Class Current: 600/114
• CPC Class Codes: A61B 1/00101 the distal tip features being detachable
• CPC Class Codes: A61B 1/00148 using anchoring means
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 2017/00292 mounted on or guided by flexible, e.g. catheter-like, means
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: G02B 23/2476 Non-optical details, e.g. housings, mountings, supports

Abstract

An endoluminal crawler used in endoscopic procedures includes a body and an actuation unit. The body includes a tubular portion. The actuation unit includes an actuator providing a rotational output and a traction belt. The traction belt includes a traction portion and an engaging portion. The traction portion protrudes out of a slot defined in the tubular portion and the engaging portion operatively engages the actuator.

Claims

1. A self-propelled surgical endoluminal device comprising:

a body including a tubular portion defining at least one slot; and

an actuation unit disposed within the body, the actuation unit including;

an actuator providing a rotational output; and

a traction belt including a traction portion and an engaging portion, the traction portion at least partially protruding out of the at least one slot, the engaging portion operatively engaging the actuator.

2. The self-propelled endoluminal device according to claim 1, further comprising at least one roller rotatably supporting the traction belt in the body, wherein the traction belt is continuously looped such that the rotational output of the actuator provides continuous rotation of the traction belt at least partially within the at least one slot.

3. The self-propelled endoluminal device according to claim 1, wherein the body includes a tapered portion extending longitudinally from the tubular portion.

4. The self-propelled endoluminal device according to claim 2, wherein the actuation unit further includes a worm gear defining a longitudinal axis, the worm gear being operatively coupled to the actuator and engaging the engaging portion of the traction belt.

5. The self-propelled endoluminal device according to claim 4, wherein the worm gear defines a working channel therein, the working channel extending along a length of the worm gear and a distal end portion of the body defines an aperture, the aperture being in communication with the working channel.

6. The self-propelled endoluminal device according to claim 2, wherein the actuation unit further includes at least one pinion gear, the at least one pinion gear being operatively coupled to the actuator and engaging the engaging portion of the traction belt such that the rotational output of the actuator rotates the continuously looped traction belt.

7. The self-propelled endoluminal device according to claim 1, wherein the body defines a working channel therein, the working channel extending along the length of the body and a distal end portion of the body defines an aperture, the aperture being in communication with the working channel.

8. The self-propelled endoluminal device according to claim 7, wherein the body includes a viewing window radially surrounding the aperture.

9. The self-propelled endoluminal device according to claim 3, wherein the tapered portion includes a flexible material, the tapered portion being configured to adapt to the shape a tubular organ.

10. The self-propelled endoluminal device according to claim 1, further comprising an internal power source to supply power to the actuator providing the rotational output.

11. The self-propelled endoluminal device according to claim 10, further comprising a light source, the light source being powered by the internal power source.

12. An endoluminal device comprising a body and a traction member disposed within the body, the body having a slot formed therein to provide an opening for the traction member to contact an inner surface of a body lumen, the traction member having a traction surface engageable with the inner surface of the body lumen, the traction member being movable to advance the endoluminal device along the body lumen.

13. The endoluminal device according to claim 12, wherein the traction member comprises a traction belt maintained in a continuous loop movable in a direction along a longitudinal axis of the device.

14. The endoluminal device according to claim 13, further comprising a gear mechanism for moving the traction belt.

15. An endoscope apparatus comprising:

a housing;

a flexible tube longitudinally extending from the housing; and

an endoluminal device attached to the flexible tube, the endoluminal device including;

a body including a tubular portion defining at least one slot; and

an actuation unit disposed within the body, the actuation unit including;

an actuator providing a rotational output; and

a traction belt including a traction portion and an engaging portion, the traction portion partially protruding out of the at least one slot, the engaging portion operatively engaging the actuator.

16. The self-propelled endoluminal device according to claim 15, further comprising at least one roller rotatably supporting the traction belt in the body, wherein the traction belt is continuously looped such that rotational output of the actuator provides continuous rotation of the traction belt at least partially within the at least one longitudinal slot.

17. The endoscope apparatus according to claim 15, wherein the housing defines an aperture in communication with the body, the aperture being configured to receive a surgical tool therethrough and the body defines an opening at a distal portion thereof, the opening being in communication with the aperture for receiving therethrough the surgical tool.

18. The endoscope apparatus according to claim 15, wherein the actuation unit further includes a worm gear defining a longitudinal axis, the worm gear being operatively coupled to the actuator and engaging the engaging portion of the traction belt.

19. The endoscope apparatus according to claim 18, wherein the worm gear defines a working channel therein, the working channel extending along a length of the worm gear.

20. The endoscope apparatus according to claim 15, wherein the actuation unit further includes at least one pinion gear, the at least one pinion gear being operatively engaged to the actuator and engaging the engaging portion of the traction belt such that the rotational output of the actuator rotates the continuously looped traction belt.

21. The endoscope apparatus according to claim 15, wherein the distal end portion of the body includes a viewing window, the viewing window radially surrounding the opening and further comprising a camera in the body adjacent the viewing window.

22. The endoscope apparatus according to claim 15, wherein the body includes a tapered portion, the tapered portion of the body includes a flexible material, the tapered portion being configured to adapt to the shape of a tubular member.