ENDOSCOPIC DEVICE WITH HELICAL LUMEN DESIGN
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Abstract
An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.
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Citations
45 Claims
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1-20. -20. (canceled)
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21. A robotic medical system for bronchoscopy, the system comprising:
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a moveable system cart comprising a robotic arm coupled to the moveable system cart; an endoscope removably coupled to the robotic arm, the endoscope comprising an elongated body configured to be inserted into and navigated through bronchial lumens of a patient, wherein a distal end of the elongated body of the endoscope is articulable; a command console comprising a command module configured to allow an operator to remotely control the endoscope, wherein the command module is configured to allow the operator to remotely articulate the distal end of the elongated body, and wherein the command module comprises a trackball; a display; one or more processors configured to; track a location of the endoscope within the bronchial lumens of the patient based on; a relative insertion length of the endoscope, and a fiber optic shape sensor associated with the endoscope; and display navigation guidance to the operator on the display, wherein the navigation guidance comprises a model of the lumens of the patient, a navigation path through the model, an image of the anatomy at the tracked location of the endoscope, and a model of the endoscope. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. A method for performing a robotically-enabled bronchoscopy procedure, the method comprising:
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navigating an endoscope to a first target site within a luminal network of a patient based at least in part on the output of a navigation device positioned within a working channel of the endoscope and on the output of a fiber optic shape sensor, wherein the endoscope is robotically controlled; removing the navigation device from the working channel of the endoscope; inserting a biopsy tool through the working channel of the endoscope; and guiding the biopsy tool to take a biopsy at the target site based at least partially on an output of an external imaging device. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44, 45)
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Specification