ENHANCED CONTROL OF FLEXIBLE ENDOSCOPES THROUGH HUMAN-MACHINE INTERFACE

• US 20130123580A1
• Filed: 09/10/2012
• Published: 05/16/2013
• Est. Priority Date: 09/09/2011
• Status: Active Grant

• Current Assignee: Children's National Medical Center
• Original Assignee: Children's National Medical Center
• Inventors: Peters, Craig, Cleary, Kevin, Luo, Haifeng
• Granted Patent: US 9,173,551 B2
• Time in Patent Office: Days
• US Class Current: 600/118
• CPC Class Codes: A61B 1/00006 of control signals
• CPC Class Codes: A61B 1/0014 Fastening element for attaching accessories to the outside of an endoscope, e.g. clips, clamps or bands
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/307 for the urinary organs, e.g. urethroscopes, cystoscopes
• 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 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'

Abstract

An electromechanical drive system with drop-in capability allows manipulation of the majority of existing endoscopes. The invention does not require retrofitting of existing endoscopes and maintains the current clinical workflow. The drive system can be controlled through a human/machine interface, which could consist of a variety of different input devices, including a joystick, keyboard, or game controller.

Claims

1. A motorized system for improving manipulation of an endoscope, comprising:

a mechanical device for holding and driving the endoscope;

a motion control system for controlling the mechanical device; and

a human/machine interface for allowing a user to control the mechanical device through the motion control system;

wherein the mechanical device comprises;

a base;

a linear platform for causing linear movement of the endoscope, the linear platform being mounted on the base to be linearly movable relative to the base;

a rotation mechanism for causing rotation of the endoscope, the rotation mechanism being mounted on the linear platform to be movable with the linear platform; and

a tip-flexion mechanism for causing bending of the tip of the endoscope, the tip-flexion mechanism being mounted on the linear platform to be movable with the linear platform.

2. The motorized system of claim 1, wherein the human/machine interface comprises a six-degree-of-freedom (6-DOF) controller.

3. The motorized system of claim 2, wherein the 6-DOF controller comprises a mouse.

4. The motorized system of claim 1, wherein the linear platform comprises:

a moving part mounted on the base to be linearly movable relative to the base; and

at least one support rod, extending from the moving part, on which the rotation mechanism and the tip-flexion mechanism are mounted.

5. The motorized system of claim 1, wherein the linear platform further comprises at least one member for removably holding a body of the endoscope.

6. The motorized system of claim 5, comprising at least one said member for removably holding the body of the endoscope, and wherein said at least one member for removably holding the body of the endoscope comprises:

a docking frame for holding the handle of the endoscope; and

a cover panel removably attachable to the docking frame for retaining the body of the endoscope.

7. The motorized system of claim 6, wherein the tip-flexion mechanism is attached to the fixed frame.

8. The motorized system of claim 6, wherein the rotation mechanism comprises:

a rotation shaft for engaging with the handle of the endoscope;

a motor;

a drive wheel coaxial with the motor; and

a loop for conveying rotational movement from the drive wheel to the rotation shaft.

9. The motorized system of claim 1, wherein the tip-flexion mechanism is adapted to engage with a lever on a handle of the endoscope to actuate the lever to bend the tip of the endoscope.

10. The motorized system of claim 9, wherein the tip-flexion mechanism comprises:

a motor;

an engaging element for engaging with the lever; and

a mechanical linkage for conveying movement from the motor to the engaging element.

11. The motorized system of claim 10, wherein the mechanical linkage comprises:

a first belt pulley connected coaxially to the motor;

a belt;

a second belt pulley connected to the first belt pulley by the belt; and

a shaft connected coaxially to the second pulley; and

wherein the engaging element is on the shaft.

12. The motorized system of claim 10, wherein the engaging element comprises a pole.

13. The motorized system of claim 1, wherein the motion control system comprises a computer programmed to provide automatic or semi-automatic control of the mechanical device.

14. A method for using and manipulating an endoscope, the method comprising:

(a) providing a motorized system for improving manipulation of an endoscope, the motorized system comprising;

a mechanical device for holding and driving the endoscope;

a motion control system for controlling the mechanical device; and

a human/machine interface for allowing a user to control the mechanical device through the motion control system;

wherein the mechanical device comprises;

a base;

a linear platform for causing linear movement of the endoscope, the linear platform being mounted on the base to be linearly movable relative to the base;

a rotation mechanism for causing rotation of the endoscope, the rotation mechanism being mounted on the linear platform to be movable with the linear platform; and

a tip-flexion mechanism for causing bending of the tip of the endoscope, the tip-flexion mechanism being mounted on the linear platform to be movable with the linear platform;

(b) providing the endoscope in the device;

(c) inserting the endoscope into a patient; and

(d) using the motorized system to manipulate the endoscope within the patient.

15. The method of claim 14, wherein the human/machine interface comprises a six-degree-of-freedom (6-DOF) controller.

16. The method of claim 15, wherein the 6-DOF controller comprises a mouse.

17. The method of claim 14, wherein the linear platform comprises:

a moving part mounted on the base to be linearly movable relative to the base; and

at least one support rod, extending from the moving part, on which the rotation mechanism and the tip-flexion mechanism are mounted.

18. The method of claim 14, wherein the linear platform further comprises at least one member for removably holding a body of the endoscope, and wherein step (b) comprises inserting the endoscope into the at least one member.

19. The method of claim 18, wherein the at least one member for removably holding the body of the endoscope comprises:

a docking frame for holding the body of the endoscope; and

a cover panel removably attachable to the body frame for retaining the body of the endoscope.

20. The method of claim 19, wherein the tip-flexion mechanism is attached to the fixed frame.

21. The method of claim 19, wherein the rotation mechanism comprises:

a rotation shaft for engaging with the handle of the endoscope;

a motor;

a drive wheel coaxial with the motor; and

a loop for conveying rotational movement from the drive wheel to the rotation shaft.

22. The method of claim 14, wherein the tip-flexion mechanism is adapted to engage with a lever on a handle of the endoscope to actuate the lever to bend the tip of the endoscope.

23. The method of claim 22, wherein the tip-flexion mechanism comprises:

a motor;

an engaging element for engaging with the lever; and

a mechanical linkage for conveying movement from the motor to the engaging element.

24. The method of claim 23, wherein the mechanical linkage comprises:

a first belt pulley connected coaxially to the motor;

a belt;

a second belt pulley connected to the first belt pulley by the belt; and

a shaft connected coaxially to the second pulley; and

wherein the engaging element is on the shaft.

25. The method of claim 23, wherein the engaging element comprises a pole.

26. The method of claim 14, wherein the motion control system comprises a computer programmed to provide automatic or semi-automatic control of the mechanical device, and wherein step (d) is performed under the automatic or semi-automatic control of the computer.

27. The method of claim 14, wherein the endoscope is a ureteroscope.

28. The method of claim 14, wherein step (c) comprises manually inserting the endoscope into a region of interest in the patient and using the mechanical device to move the endoscope within the region of interest.