Enhanced control of flexible endoscopes through human-machine interface
First Claim
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1. A motorized system for improving manipulation of an endoscope, comprising:
- a mechanical device that holds and drives the endoscope;
a motion control system having processing circuitry configured to control the mechanical device; and
a human/machine interface that allows a user to control the mechanical device through the motion control system;
wherein the mechanical device comprises;
a base;
a linear platform that causes linear movement of the endoscope, the linear platform being mounted on the base and being linearly movable relative to the base;
a rotation mechanism that causes rotation of the endoscope and of a support that includes two parallel support rods, the rotation mechanism being mounted on the linear platform and being movable with the linear platform; and
a tip-flexion mechanism including a motor that provides motive power that causes bending of the tip of the endoscope, the tip-flexion mechanism being mounted on the support and being movable with the linear platform, whereinthe rotation mechanism further rotates the tip-flexion mechanism together with rotation of the endoscope, and whereinthe two parallel support rods pass through a frame that holds the tip-flexion mechanism, and the frame that holds the tip-flexion mechanism is adjustable along a length of the two parallel support rods.
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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.
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Citations
31 Claims
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1. A motorized system for improving manipulation of an endoscope, comprising:
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a mechanical device that holds and drives the endoscope; a motion control system having processing circuitry configured to control the mechanical device; and a human/machine interface that allows a user to control the mechanical device through the motion control system; wherein the mechanical device comprises; a base; a linear platform that causes linear movement of the endoscope, the linear platform being mounted on the base and being linearly movable relative to the base; a rotation mechanism that causes rotation of the endoscope and of a support that includes two parallel support rods, the rotation mechanism being mounted on the linear platform and being movable with the linear platform; and a tip-flexion mechanism including a motor that provides motive power that causes bending of the tip of the endoscope, the tip-flexion mechanism being mounted on the support and being movable with the linear platform, wherein the rotation mechanism further rotates the tip-flexion mechanism together with rotation of the endoscope, and wherein the two parallel support rods pass through a frame that holds the tip-flexion mechanism, and the frame that holds the tip-flexion mechanism is adjustable along a length of the two parallel support rods. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for using and manipulating an endoscope, the method comprising:
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(a) providing a motorized system for improving manipulation of an endoscope, the motorized system comprising; a mechanical device that holds and drive the endoscope, a motion control system having processing circuitry configured to control the mechanical device, and a human/machine interface that allows a user to control the mechanical device through the motion control system, wherein the mechanical device comprises; a base, a linear platform that causes linear movement of the endoscope, the linear platform being mounted on the base and being linearly movable relative to the base, a rotation mechanism that causes rotation of the endoscope and of a support that includes two parallel support rods, the rotation mechanism being mounted on the linear platform and being movable with the linear platform, and a tip-flexion mechanism including a motor that provides motive power that causes bending of the tip of the endoscope, the tip-flexion mechanism being mounted on the support and being movable with the linear platform, wherein the rotation mechanism further rotates the tip-flexion mechanism together with rotation of the endoscope, and wherein the two parallel support rods pass through a frame that holds the tip-flexion mechanism, and the frame that holds the tip-flexion mechanism is adjustable along a length of the two parallel support rods; (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. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A motorized system for improving manipulation of an endoscope, comprising:
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a mechanical device that holds and drives the endoscope; a motion control system having processing circuitry configured to control the mechanical device; and a human/machine interface that allows a user to control the mechanical device through the motion control system; wherein the mechanical device comprises; a base; a linear platform and a first motor that causes linear movement of the endoscope, the linear platform being mounted on the base and being linearly movable by the first motor relative to the base; a rotation mechanism including a second motor that rotates a support that includes two parallel support rods to cause a rotation of the endoscope in a first rotation direction, the rotation mechanism being mounted on the linear platform and being linearly movable with the linear platform by the first motor; and a tip-flexion mechanism including a third motor that provides motive power that causes bending of a tip of the endoscope in a second rotation direction that is different from the first rotation direction, the tip-flexion mechanism being mounted on the support and being rotatable in the first rotation direction by the second motor and being linearly movable with the linear platform by the first motor, wherein the rotation mechanism rotates the tip-flexion mechanism together with rotation of the endoscope in the first rotation direction, and wherein the two parallel support rods pass through a frame that holds the tip-flexion mechanism, and the frame that holds the tip-flexion mechanism is adjustable along a length of the two parallel support rods. - View Dependent Claims (30, 31)
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Specification