Force feedback control system for video endoscope

• US 8,118,732 B2
• Filed: 09/30/2004
• Issued: 02/21/2012
• Est. Priority Date: 04/01/2003
• Status: Active Grant

• Current Assignee: Scimed Life Systems Incorporated (Boston Scientific Corporation)
• Original Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Inventors: Banik, Michael S., Couvillon, Lucien Alfred Jr., Boulais, Dennis R., Wiesman, Richard M., Mason, Timothy J., Mehta, Neil Rasik
• Primary Examiner(s): KASZTEJNA, MATTHEW JOHN
• Application Number:
  US10/955,949
• Publication Number:
  US 20050119527A1
• Time in Patent Office: 2,700 Days
• Field of Search: 600/118, 600/131, 600/146, 600149-151, 600/153, 600/156
• US Class Current: 600/117
• CPC Class Codes: A61B 1/00018 using electrical cables
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00059 provided with identification means for the endoscope
• CPC Class Codes: A61B 1/00066 Proximal part of endoscope body, e.g. handles A61B1/0052 takes precedence
• CPC Class Codes: A61B 1/00071 Insertion part of the endoscope body A61B1/0055 takes precedence
• CPC Class Codes: A61B 1/00137 End pieces at either end of the endoscope, e.g. caps, seals or forceps plugs
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 1/015 Control of fluid supply or evacuation
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/045 Control thereof
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/0638 providing two or more wavelengths
• CPC Class Codes: A61B 1/0676 at distal tip of an endoscope
• CPC Class Codes: A61B 1/0684 using light emitting diodes [LED]
• CPC Class Codes: A61B 1/31 : for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes

Abstract

A video endoscope system includes a reusable control cabinet and an endoscope that is connectable thereto. The endoscope may be used with a single patient and then disposed. The endoscope includes an illumination mechanism, an image sensor, and an elongate shaft having one or more lumens located therein. An articulation joint at the distal end of the endoscope allows the distal end to be oriented by the actuators in the control cabinet or actuators in a control handle of the endoscope. Fluidics, electrical, navigation, image, display and data entry controls are integrated into the system along with other accessories.

Claims

1. An endoscopic system, comprising:

an endoscope including a shaft and a distal tip;

at least one actuator configured to deflect the distal tip of the endoscope in at least one direction away from an axis of the shaft;

a directional controller configured to direct the at least one actuator; and

a processor in communication with the directional controller and configured to;

actuate the at least one actuator to dither the distal tip of the endoscope in a number of different directions away from the axis of the shaft;

obtain a resistance against the distal tip in each of the number of different directions;

identify a force applied on the shaft of the endoscope based on the resistances against the distal tip in the number of different directions; and

identify a force applied on the distal tip of the endoscope based on the resistances against the distal tip in the number of different directions; and

a feedback mechanism in communication with the processor and the directional controller and configured to provide feedback to a user of only the force applied on the distal tip.

2. The endoscopic system of claim 1, wherein the processor is configured to determine the force applied on the shaft when the obtained resistances in the number of different directions are substantially the same.

3. The endoscopic system of claim 1, wherein the processor is configured to determine the force applied on the distal tip when only one of the obtained resistances is higher than each of the other obtained resistances.

4. The endoscopic system of claim 3, further including a feedback mechanism in communication with the processor and the directional controller and configured to provide feedback to a user of only the force applied on the distal tip.

5. The endoscopic system of claim 4, wherein the feedback mechanism provides feedback to the user of only the force applied on the distal tip when an obtained resistance is higher in only one of the number of different directions than an obtained resistance in each of the other number of different directions.

6. The endoscopic system of claim 4, wherein the directional controller is a joystick, and the feedback mechanism selectively adjusts the tension of a spring on the joystick.

7. The endoscopic system of claim 1, wherein the directional controller is a joystick, and the feedback mechanism selectively adjusts the tension of a spring on the joystick.

8. An endoscopic system, comprising:

an endoscope including a shaft and a distal tip;

at least one actuator configured to deflect the distal tip of the endoscope in at least one direction away from an axis of the shaft;

a directional controller configured to direct the at least one actuator; and

a processor in communication with the directional controller and configured to;

actuate the at least one actuator to dither the distal tip of the endoscope in a number of different directions away from the axis of the shaft;

obtain a resistance against the distal tip in each of the number of different directions;

identify a force applied on the shaft of the endoscope based on the resistances against the distal tip in the number of different directions;

identify a force applied on the distal tip of the endoscope based on the resistances against the distal tip in the number of different directions; and

actuate the at least one actuator to deflect the distal tip with a force greater than the resistance against the distal tip when the processor identifies only the the force applied on the shaft.

9. The endoscopic system of claim 8, wherein the processor is configured to determine the force applied on the shaft when the obtained resistances in the number of different directions are substantially the same.

10. The endoscopic system of claim 8, wherein the processor is configured to determine when only one of the obtained resistances is higher than each of the other obtained resistances.

11. The endoscopic system of claim 8, wherein the force applied on the shaft of the endoscope is indicative of loops in the shaft.

12. The endoscopic system of claim 11, wherein deflection of the distal tip with the force greater than the resistance against the distal tip overcomes the force applied on the shaft.